CN113397724A - Magnetic suspension follow-up supporting system for laparoscopic surgery - Google Patents
Magnetic suspension follow-up supporting system for laparoscopic surgery Download PDFInfo
- Publication number
- CN113397724A CN113397724A CN202110660769.6A CN202110660769A CN113397724A CN 113397724 A CN113397724 A CN 113397724A CN 202110660769 A CN202110660769 A CN 202110660769A CN 113397724 A CN113397724 A CN 113397724A
- Authority
- CN
- China
- Prior art keywords
- magnetic
- surgery
- magnetic suspension
- follow
- laparoscopic surgery
- 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
- 239000000725 suspension Substances 0.000 title claims abstract description 51
- 238000002357 laparoscopic surgery Methods 0.000 title claims abstract description 27
- 238000001356 surgical procedure Methods 0.000 claims abstract description 11
- 210000000707 wrist Anatomy 0.000 claims abstract description 8
- 238000005339 levitation Methods 0.000 claims description 7
- 239000004020 conductor Substances 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000009941 weaving Methods 0.000 claims description 2
- 206010049565 Muscle fatigue Diseases 0.000 abstract description 3
- 206010050031 Muscle strain Diseases 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000005461 lubrication Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 206010065369 Burnout syndrome Diseases 0.000 description 1
- 206010013954 Dysphoria Diseases 0.000 description 1
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 208000023178 Musculoskeletal disease Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000005670 electromagnetic radiation Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 208000017445 musculoskeletal system disease Diseases 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
- 208000011580 syndromic disease Diseases 0.000 description 1
Images
Classifications
-
- 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
- A61B90/20—Surgical microscopes characterised by non-optical aspects
- A61B90/25—Supports therefor
-
- 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
- A61B90/60—Supports for surgeons, e.g. chairs or hand supports
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Pathology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Dentistry (AREA)
- Magnetic Treatment Devices (AREA)
Abstract
The invention is suitable for the technical field of medical treatment, and provides a magnetic suspension follow-up supporting system for laparoscopic surgery, which comprises a magnetic surgery blanket, a floater capable of being suspended on a magnetic surgery bed and used for supporting an elbow and a wrist and a pedal switch; the invention provides a magnetic suspension follow-up supporting system for laparoscopic surgery, which can solve the problems of arm muscle fatigue and reduced motion accuracy caused by the fact that the shoulder, neck and other areas of a surgeon bear main physical pressure, improve the surgery efficiency and prevent occupational muscle strain of the surgeon. The invention creates a special supporting space without contact, friction and lubrication, which not only provides flexible hand and wrist support for operators, but also is more beneficial to the arrangement and the aseptic principle of an operating room.
Description
Technical Field
The invention belongs to the technical field of medical treatment, and particularly relates to a magnetic suspension follow-up supporting system for laparoscopic surgery.
Background
Laparoscopic surgery offers the advantage of minimally invasive surgery for the patient, but increases the risk of musculoskeletal disease for the surgeon due to the ergonomical underperformance of laparoscopy. A "surgical fatigue syndrome" is reported among laparoscopic surgeons, and occurs typically 4 hours after laparoscopic surgery, with symptoms including mental exhaustion, dysphoria, impaired surgical judgment, and reduced dexterity. In addition, the laparoscopic surgery has a problem of difficult operation compared to the open surgery because of low efficiency of instruments, reduced freedom of movement, and low comfort against the ergonomic principle in use. Because of these limitations, the physical workload of laparoscopic surgery greatly exceeds that required for equivalent open surgery.
Previous basic ergonomic studies have shown that the support of the shoulder, elbow and wrist by the endoscopic surgeon significantly improves the accuracy of laparoscopic procedures, which indicates the need to avoid muscle strain in the shoulder and arm during laparoscopic surgery. The use of the armrest as a forearm support reduces energy consumption and provides comfort, thereby improving the working efficiency of laparoscopic surgery. Therefore, the construction of a suitable support system is the key to reduce fatigue and ensure the precision of forearm movement in laparoscopic surgery.
Laparoscopic support systems currently being developed include three types, including a lower arm support type, a suspension support type, and a wearable pneumatic vest type. Lower arm supported ETHOSTMThe ergonomic chair is a representative, effectively relieves muscle fatigue of an operator and solves the following problem of the supporting device. The lower wall support type occupies a large operating room space, and the suspension type support system solves the problem. However, the suspended support requires the device to be fixed to the top end of the operating room, and installation and implementation are inconvenient. A wearable vest would save more operating room space and provide more convenient movement for the surgeon, but it increases the burden of preoperative preparation for the surgeon. The development key points of the new generation of laparoscopic surgery support system are as follows: 1) the system can move along with the operation operator, and gives the operator wider operation space. 2) The support system is easy to implement and install.
Magnetic levitation systems use electromagnetic forces to levitate, rotate, or move a levitated object, which is a non-contact mode of operation. At present, domestic research on magnetic suspension systems has good achievements, which are mainly reflected in living products, such as: magnetic suspension tellurion, magnetic suspension damping seat, magnetic suspension train, etc. The invention applies the magnetic suspension supporting technology to form a laparoscope operation follow-up supporting system.
Disclosure of Invention
An object of an embodiment of the present invention is to provide a magnetic suspension follow-up supporting system for laparoscopic surgery to solve the above problems in the background art.
In order to achieve the above objects, an embodiment of the present invention provides a magnetic suspension follow-up support system for laparoscopic surgery, including a magnetic surgical blanket, a floater suspendable on a magnetic surgical bed for supporting an elbow and a wrist, and a pedal switch.
Preferably, the float comprises a permanent magnet, an infrared emitting device, a power source and a housing cover.
Preferably, the magnetic surgical blanket comprises a plurality of magnetic levitation devices, an infrared switch, a programmable circuit board, and a braided blanket.
Preferably, the magnetic suspension devices are densely distributed on the weaving blanket at equal intervals, and the single magnetic suspension adjusting device comprises four coils and two Hall elements; the coil is connected with the Hall element through a circuit; the infrared switch is connected with the unit magnetic suspension device in series to control the power supply of the magnetic suspension device.
Preferably, the bottom surface of the woven carpet is coated with a conductive material.
Preferably, the installation position of the Hall element is positioned at the middle height of the four coils, and the magnetic lines of force are parallel to the Hall element; the Hall element is used as a sensor for controlling the magnetic force of the coil, and is used for enabling the floater to be balanced by the magnetic force and the gravity to achieve suspension.
Preferably, an operational amplifier amplifying circuit is used in the circuit, the amplified signal is collected by a single chip microcomputer, and a control signal is output through a PID algorithm; the signal drives a large current control board, and the coil magnetic field is controlled through the change of voltage so as to control the height of suspended matters.
In summary, due to the adoption of the technical scheme, the method has the following beneficial effects:
the embodiment of the invention provides a magnetic suspension follow-up supporting system for laparoscopic surgery, which can solve the problems of arm muscle fatigue and reduced motion accuracy caused by the fact that the shoulder, neck and other areas of a surgeon bear main physical pressure, improve the surgery efficiency and prevent occupational muscle strain of the surgeon.
The invention creates a special supporting space without contact, friction and lubrication, which not only provides flexible hand and wrist support for operators, but also is more beneficial to the arrangement and the aseptic principle of an operating room.
Drawings
Fig. 1 is a structural schematic diagram of a magnetic suspension follow-up support system for laparoscopic surgery.
Fig. 2 is a top view of a unit magnetic suspension device in a magnetic suspension follow-up support system for laparoscopic surgery.
Fig. 3 is a circuit schematic diagram of a unit magnetic suspension device in a magnetic suspension follow-up supporting system for laparoscopic surgery.
Notations for reference numerals: 1-magnetic operating blanket, 2-elbow supporting floater, 3-wrist supporting floater, 4-operating table, 5-unit magnetic suspension device, 6-permanent magnet, 7-coil and 8-Hall element.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are described in further detail below with reference to specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the embodiments of the invention and are not limiting of the embodiments of the invention.
Example 1
A magnetic suspension follow-up supporting system for laparoscopic surgery comprises a magnetic surgery blanket, a floater which can be suspended on a magnetic surgery bed and is used for supporting an elbow and a wrist, and a pedal switch; the float comprises a permanent magnet, an infrared emitting device, a power supply and a shell cover. When the floater is constructed through connection, the permanent magnet is arranged at the center of the floater, and the infrared emission device and the power supply are arranged in the shell cover of the floater.
The magnetic surgical blanket comprises a plurality of magnetic levitation devices, an infrared switch, a programmable circuit board and a woven blanket. The magnetic suspension devices are densely distributed on the woven blanket at equal intervals, the specifications of the woven blanket and the operating table are consistent, namely the length of the woven blanket is 2.1 meters, the width of the woven blanket is 0.5 meter, the magnetic suspension units are arranged on the woven blanket at intervals of 4cm, and each magnetic suspension adjusting device comprises four coils and two Hall elements; the coil and the Hall element are connected through the circuit of FIG. 2; the infrared switch and the unit magnetic suspension device are connected in series to form a suspension unit, and the plurality of suspension units are connected in parallel to control the power supply of the magnetic suspension device.
In order to reduce electromagnetic radiation, the bottom surface of the woven blanket is coated with a conductive material.
The installation position of the Hall element is positioned at the middle height of the four coils, and the magnetic line of force is parallel to the Hall element; the Hall element is used as a sensor for controlling the magnetic force of the coil, and is used for enabling the floater to be balanced by the magnetic force and the gravity to achieve suspension.
An LM324 digital amplifying circuit is used in the circuit, the amplified signal is collected by an ATMag8 single chip microcomputer, and a control signal is output through a PID algorithm; the signal drives a large current control board, and the coil magnetic field is controlled through the change of voltage so as to control the height of suspended matters.
The working principle is as follows: when the magnetic operating blanket is used, the magnetic operating blanket is laid on an operating bed, the wrist or the elbow of an operator passes through the middle of the floater, when the magnetic operating blanket and the floater are electrified, the infrared transmitting device of the floater transmits a vertically downward infrared signal, and the infrared induction switch of the magnetic suspension unit right below the floater is closed after receiving the signal, so that in a static state, except that the four unit coils right below the floater are electrified, the rest coils are not electrified.
The operator forms a stable suspension at position a. When a horizontal movement demand exists, the operator pedals the switch to close the existing electrified coil, actively moves the arm to an ideal position B and then turns on the switch, at the moment, the suspension unit is closed under the position A, the infrared switch of the suspension unit is closed under the position B, and the floater forms stable suspension again.
When the vertical sliding is needed, in order to enable the suspension to be more stable, the PID controlled balance algorithm is adopted for controlling, the Hall element degree (the position of the floater) of the control interface is adjusted, the PID function input variable is changed along with the adjustment, the output is assigned to the PWM driving coil, and therefore when the arm needs to move up and down, the stable suspension height of the floater can be changed only by adjusting the set target value.
It will be evident to those skilled in the art that the embodiments of the present invention are not limited to the details of the foregoing illustrative embodiments, and that the embodiments of the present invention are capable of being embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the embodiments being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. A magnetic suspension follow-up supporting system for laparoscopic surgery is characterized by comprising a magnetic surgery blanket, a floater capable of being suspended on a magnetic surgery bed and used for supporting an elbow and a wrist and a pedal switch.
2. A laparoscopic magnetic levitation follow-up support system as claimed in claim 1, wherein said float comprises a permanent magnet, an infrared emitting device, a power source and a housing cover.
3. A laparoscopic surgery magnetic levitation follow-up support system as claimed in claim 2, wherein said magnetic surgery blanket comprises a plurality of magnetic levitation devices, an infrared switch, a programmable circuit board and a weaving blanket.
4. A magnetic suspension follow-up support system for laparoscopic surgery as claimed in claim 2, wherein said magnetic suspension means are equidistantly densely distributed on the braided blanket, and the single magnetic suspension adjusting means comprises four coils and two hall elements; the coil is connected with the Hall element through a circuit; the infrared switch is connected with the unit magnetic suspension device in series to control the power supply of the magnetic suspension device.
5. A magnetic levitation servo support system for laparoscopic surgery as claimed in claim 4, wherein said braided blanket is coated with a conductive material on its bottom surface.
6. A magnetic suspension follow-up support system for laparoscopy as recited in claim 4, wherein the Hall element is installed at the middle height of the four coils, and the magnetic lines of force are parallel to the Hall element; the Hall element is used as a sensor for controlling the magnetic force of the coil, and is used for enabling the floater to be balanced by the magnetic force and the gravity to achieve suspension.
7. A magnetic suspension follow-up supporting system for laparoscopic surgery as claimed in claim 6, wherein an operational amplifier amplifying circuit is used in the circuit, the amplified signal is collected by a single chip microcomputer, and a control signal is output through PID algorithm; the signal drives a large current control board, and the coil magnetic field is controlled through the change of voltage so as to control the height of suspended matters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110660769.6A CN113397724A (en) | 2021-06-15 | 2021-06-15 | Magnetic suspension follow-up supporting system for laparoscopic surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110660769.6A CN113397724A (en) | 2021-06-15 | 2021-06-15 | Magnetic suspension follow-up supporting system for laparoscopic surgery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113397724A true CN113397724A (en) | 2021-09-17 |
Family
ID=77683902
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110660769.6A Pending CN113397724A (en) | 2021-06-15 | 2021-06-15 | Magnetic suspension follow-up supporting system for laparoscopic surgery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113397724A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105997412A (en) * | 2016-08-01 | 2016-10-12 | 张晋 | Surgical bed provided with thoracoscopic surgery assisting device |
| JP3211861U (en) * | 2017-05-12 | 2017-08-10 | ミシェル リン ルシェーＭｉｃｈｅｌｅ Ｌｙｎｎ Ｌｕｃｉｅｗ | Movable wrist support device |
| CN107315493A (en) * | 2017-06-02 | 2017-11-03 | 广州途威慧信息科技有限公司 | A kind of magnetic suspension mouse pad device |
| CN109998703A (en) * | 2019-04-19 | 2019-07-12 | 杨琨 | A kind of laparoscopic procedure person follow-up support system |
| CN110658720A (en) * | 2019-09-27 | 2020-01-07 | 电子科技大学 | Novel exhibition stand system based on neural network |
-
2021
- 2021-06-15 CN CN202110660769.6A patent/CN113397724A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105997412A (en) * | 2016-08-01 | 2016-10-12 | 张晋 | Surgical bed provided with thoracoscopic surgery assisting device |
| JP3211861U (en) * | 2017-05-12 | 2017-08-10 | ミシェル リン ルシェーＭｉｃｈｅｌｅ Ｌｙｎｎ Ｌｕｃｉｅｗ | Movable wrist support device |
| CN107315493A (en) * | 2017-06-02 | 2017-11-03 | 广州途威慧信息科技有限公司 | A kind of magnetic suspension mouse pad device |
| CN109998703A (en) * | 2019-04-19 | 2019-07-12 | 杨琨 | A kind of laparoscopic procedure person follow-up support system |
| CN110658720A (en) * | 2019-09-27 | 2020-01-07 | 电子科技大学 | Novel exhibition stand system based on neural network |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1955612B1 (en) | Electrical actuator system for articles of furniture | |
| Yang et al. | A review of intensified conditioning of personal micro-environments: Moving closer to the human body | |
| CN204446389U (en) | A kind of counteracting bedsores Neurology Department sick bed | |
| CN113397724A (en) | Magnetic suspension follow-up supporting system for laparoscopic surgery | |
| CN204542723U (en) | A kind of doctor trained in Western medicine diagnosis and treatment bed | |
| CN102940532B (en) | Operating microscope rack | |
| CN205268477U (en) | Medical composite set of internal medicine nursing | |
| CN202005803U (en) | Medical hoist tower | |
| CN201899508U (en) | Integral X-ray C-shaped arm imaging device | |
| CN208958586U (en) | A kind of pressure sore prevention mattress | |
| CN102512249B (en) | Bone trauma auxiliary diagnosing treatment platform | |
| CN202236073U (en) | Rocker arm hoist tower | |
| CN104546281A (en) | Ophthalmic surgery nursing device | |
| CN207785672U (en) | Physical therapy lamp | |
| CN106308989B (en) | Wave medical treatment traction pad | |
| CN114176489A (en) | Magnetic control system of magnetic suspension capsule robot | |
| CN201921333U (en) | Automatic positioning equipment for hospital beds | |
| CN201899632U (en) | Bed head nursing rack for patients lying in bed | |
| CN109452974A (en) | A kind of collapsible assisting minimally invasive single hole operating robot | |
| CN104473694A (en) | Special three-layer rotatable pedal for medical operating room | |
| CN105476742B (en) | High fever Cooling bed | |
| CN201812086U (en) | Radiograph reading device | |
| CN219877888U (en) | Multifunctional intelligent sleeping pillow | |
| CN209645664U (en) | A kind of Breast Surgery physical therapy device | |
| CN107315493A (en) | A kind of magnetic suspension mouse pad device |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210917 |
|
| RJ01 | Rejection of invention patent application after publication |