CN113687564B - Camera clamp for surgical navigation and radioactive implantation system and use method thereof - Google Patents

Abstract

The invention discloses a camera clamp for a surgical navigation and radioactive implantation system and a using method thereof, wherein the camera clamp comprises a shell, an infrared camera, a color camera and a single-lens-hole light guide mechanism; a camera cabin and a lens cabin are arranged in the shell; the infrared camera and the color camera are arranged in a camera chamber in the shell in a consistent manner; the middle part of the shell corresponding to the outer side of the lens bin is provided with a light inlet lens; the single-lens light guide mechanism is arranged in the lens bin and can synchronously guide light to the infrared camera and the color camera; compared with the traditional infrared camera and the traditional color camera which respectively enter light through the lenses, the camera fixture provided by the invention realizes single-lens light entering through the prism mechanism, the light is split and guided into the infrared camera and the color camera through the prism mechanism, the focus position is accurately and synchronously imaged at the same camera visual angle, the white light image and the infrared light image are conveniently and accurately registered and fused in the follow-up process, and the accuracy of an operation navigation and radioactive implantation system is greatly improved.

Description

Camera clamp for surgical navigation and radioactive implantation system and use method thereof

Technical Field

The invention relates to the technical field of surgical navigation and implantation equipment, in particular to a camera clamp for a surgical navigation and radioactive implantation system.

Background

The most effective method for cancer treatment is surgical resection or chemotherapy, but it is difficult for a doctor to make an effective judgment about a cancer tissue or a tumor boundary with a small size by means of the naked eye and experience of touch. Therefore, providing doctors with accurate and intuitive images of the focal zone becomes a hot point of research;

the system is mainly used for navigating operation or radioactive implantation and is mainly used for operation treatment and radioactive treatment of tumors; accurately identifying the position of the tumor in the operation process, guiding a doctor to perform surgical excision, guiding the radioactive seed source to be accurately implanted into a tumor target area, and treating the tumor in a radiotherapy mode;

currently, navigation implantation systems need to be used with infrared cameras and color cameras, such as chinese patent application publication No. CN113197666A, application No. 202011185985.1 entitled apparatus and system for surgical navigation, which describes that an infrared positioning and tracking unit includes an infrared camera and an infrared light source, and a surgical scene shooting unit includes at least one visible light camera (equivalent to the color camera in this application); at present, cameras are mostly arranged side by adopting cameras, two lens holes are correspondingly arranged, the cameras are close in distance, so that different cameras can obtain incident light with the same visual angle, but with the improvement of image imaging precision requirements, because the traditional two cameras adopt two lenses for light entering, the images of focuses at the same moment with the same visual angle under different cameras are difficult to obtain, and the accurate registration and fusion of infrared graphs and color images are difficult to realize; the currently common practice is that the central axes of the infrared camera and the color camera are parallel and the distance between the central axes is as small as possible, but it is still difficult to obtain an image which is acquired by the focus at the same time under different cameras and can realize accurate registration and fusion.

Disclosure of Invention

The technical problem to be solved by the invention is that the existing camera clamp adopts cameras to be installed side by side and is correspondingly provided with two mirror holes, so that images of focuses at the same moment at the same visual angle under different cameras are difficult to obtain due to different visual angles of the cameras, and the subsequent accurate fusion of the images is inconvenient; the invention provides the following technical scheme:

a camera fixture for a surgical navigation and radiological implantation system; the device comprises a shell, an infrared camera, a color camera and a single-lens-hole light guide mechanism; the shell is provided with a light inlet hole mirror; the infrared camera and the color camera are installed in the shell in a consistent mode, the lens faces the light inlet hole mirror, the single-lens-hole light guide mechanism is installed between the light inlet hole mirror and the infrared camera and between the single-lens-hole light guide mechanism and the color camera, and incident light with the same visual angle of the infrared camera and the color camera can be achieved.

As a further technical scheme of the invention: a camera cabin and a lens cabin are arranged in the shell; the infrared camera and the color camera are arranged in the camera cabin; the light inlet hole lens is arranged at the middle position of the shell on the corresponding side of the lens bin; the camera bin and the lens bin are communicated at the positions of the infrared camera and the lens of the color camera, and the single-lens-hole light guide mechanism is installed in the lens bin.

As a further technical scheme of the invention: the single-lens-hole light guide mechanism comprises a light splitting prism and a light guide prism; the beam splitter prism is arranged at the position of the light inlet hole mirror in the lens bin, the beam splitter prism is arranged in parallel with the light inlet hole mirror, the beam splitter prism can rotate, and the distance between the beam splitter prism and the light inlet hole mirror can be adjusted; the number of the light guide prisms is 2, and the light guide prisms are respectively arranged on the front sides of the infrared camera and the color camera lenses in the lens bin in parallel; the light guide prism can be synchronously and relatively rotationally adjusted.

As a further technical scheme of the invention: the beam splitting prism is fixed in the lens bin through a beam splitting adjusting mechanism; the light guide prism is arranged in the lens bin through the synchronous light guide mechanism; the light splitting adjusting mechanism comprises a supporting guide rail, a roller frame, a connecting shaft piece, a light splitting rotating mechanism and a light splitting moving mechanism; the number of the supporting guide rails is 2, the supporting guide rails are respectively and symmetrically arranged along two ends of the beam splitter prism, the roller frame is a U-shaped support, the connecting shaft piece comprises a connecting plate and a convex shaft, and the middle part of the outer side of the connecting plate is fixedly connected with the convex shaft; two ends of the beam splitter prism are respectively and fixedly provided with a connecting shaft piece; the convex shafts of the connecting shaft pieces on the two sides are rotationally matched on the roller frame, extend out of the roller frame and are in sliding fit with the supporting guide rails; the light splitting rotating mechanism comprises a sliding block, a light splitting rotating motor, a driving bevel gear and a driven bevel gear; the sliding block is in rotating fit with a convex shaft of a connecting shaft piece and is in sliding fit with the supporting guide rail; the light splitting rotating motor is arranged on the sliding block and is in transmission connection with a driving bevel gear, the driven bevel gear is sleeved on a convex shaft of the connecting shaft piece, and the driving bevel gear is in meshing transmission with the driven bevel gear; the light splitting moving mechanism comprises a moving screw rod, a moving sleeve and a moving motor; the mobile motor is fixed on the lens bin; one end of the movable screw rod is in transmission connection with the movable motor, the other end of the movable screw rod is in meshing transmission with the movable sleeve, and the outer end of the movable sleeve is fixedly connected with the middle of the roller frame.

As a further technical scheme of the invention: the support guide rail comprises a guide rail plate and a base; one end of the guide rail plate is arranged on the lens bin through the base, and the other end of the guide rail plate is provided with a sliding groove matched with the protruding shaft.

As a further technical scheme of the invention: the two side edges of the sliding block are curled inwards to form clamping grooves, and the sliding block is clamped on the outer side of the guide rail plate through the clamping grooves and is in sliding fit with the guide rail plate.

As a further technical scheme of the invention: the synchronous light guide mechanism comprises a light guide frame, a connecting shaft piece, a driven chain wheel, a driving chain wheel, a transmission chain belt, a light guide motor and a transmission gear; the light guide frame, the driven chain wheel and the driving chain wheel are arranged in one-to-one correspondence with the light guide prisms; two ends of the light guide prism are respectively connected with a connecting shaft piece, and the connecting shaft pieces are rotationally matched on the light guide frame; the driven chain wheel is sleeved on a convex shaft of the connecting shaft piece at one side of the light guide prism; the two driving sprockets are arranged on the wheel carrier in the middle of the two light guide prisms; a transmission chain belt is sleeved between the driving chain wheel and the driven chain wheel; the light guide motor is arranged on the lens bin and is in transmission connection with the wheel shaft of one driving sprocket, and the wheel shafts of the two driving sprockets are in transmission fit with the two transmission gears coaxial with the sprockets.

As a further technical scheme of the invention: a fixing frame is arranged on one side of the shell, a plurality of fixing holes are formed in the fixing frame, the fixing frame is mounted on the mechanical arm through bolts, a light source light supplementing mechanism is further arranged on the shell and comprises a fixed light supplementing structure and a movable fixed point light supplementing mechanism; the fixed light supplementing structure comprises a light source plate; the light source plate is annular, and a light source for light supplement is arranged on the light source plate; the device also comprises a movable fixed-point light supplementing mechanism, wherein the movable fixed-point light supplementing mechanism can be used for performing fixed-point light supplementing on the position of a focus; the light source can be a common white light source or an infrared light source for exciting a focus area dyed by the molecular probe to generate infrared light.

As a further technical scheme of the invention: the movable fixed-point light supplementing mechanism comprises a light supplementing base, a sliding ring, a gear ring power mechanism, a fixed base, an inclination angle adjusting shaft, a fixed sleeve, an inclination angle adjusting motor, a telescopic sleeve, a telescopic motor, a telescopic lead screw, a lamp holder and a light supplementing lamp; the light supplementing seat is arranged on the front side of the lens bin, and the light inlet lens and the light source plate are arranged in the middle of the light supplementing seat; the light supplementing seat is provided with an annular groove corresponding to the outer side of the light source plate, and the sliding ring is sleeved in the annular groove, is in running fit with the light supplementing seat and extends into the light supplementing seat; the fixed seat is arranged on a sliding ring outside the light compensating seat, one end of the fixed sleeve is rotatably connected with the fixed seat through the inclination angle adjusting shaft, and the other end of the fixed sleeve is in sliding fit with the telescopic sleeve; one end of the inclination angle adjusting shaft is connected with an inclination angle adjusting motor, one end of the telescopic screw rod is sleeved in the fixed sleeve and is in transmission connection with the telescopic motor, and the other end of the telescopic screw rod is in meshing transmission with the telescopic sleeve; the outer end of the telescopic sleeve is fixedly connected with a lamp holder, and the light supplementing lamp is arranged on the lamp holder; the gear ring is fixedly connected to the slip ring in the light supplementing base; the inner wall of the fixed sleeve is symmetrically provided with wire grooves; a line protrusion is arranged on the outer side of the end part of the telescopic sleeve and is in sliding fit with the line groove; the gear ring power mechanism comprises a driving gear and a driving motor, the driving motor is fixed in the lens bin and is in transmission connection with the driving gear, and the driving gear is in meshing transmission with the gear ring; the light supplement lamp is a white light source lamp or an infrared light source lamp used for exciting a focus area dyed by the molecular probe to generate infrared light.

The use method of the camera clamp for the surgical navigation and radioactive implantation system comprises the following steps:

the method comprises the following steps: under the condition that the focus area dyed by the molecular probe is irradiated by infrared light and white light, the camera clamp carries an infrared camera and a color camera, and the light inlet aperture lens is aligned to the focus position;

step two: the single-lens-hole light guide mechanism adjusts the position relation of the internal prism, so that common visible light and excited infrared light in a focus area synchronously enter the lens of the infrared camera and the lens of the color camera, and incident light with the same visual angle obtains a near-infrared image and a color image of the focus area at the same moment;

step three: the camera fixture can be used for carrying out comprehensive light supplement or fixed-point light supplement on the position of the focus as required, and near-infrared images, color image precision and infrared characteristic information of the focus area are improved.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention provides a camera clamp for a surgical navigation and radioactive implantation system, which is ingenious in structural arrangement and reasonable in arrangement, compared with the traditional infrared camera and a traditional color camera which respectively enter light through lenses, the camera clamp realizes single-lens light entering through a set of prism mechanism, the single-lens light entering is guided into the infrared camera and the color camera through light splitting of the prism mechanism, the focus position is accurately and synchronously imaged by incident light with the same visual angle, and the accuracy of the surgical navigation and radioactive implantation system is greatly improved.

2. The invention further designs and specifically designs a single-lens-hole light guide mechanism, which comprises a beam splitter prism, two light guide prisms, a beam splitting adjusting mechanism and a synchronous light guide mechanism, realizes the rotation angle and distance of the beam splitter prism and the synchronous rotation angle electric adjustment of the two light guide prisms, further conveniently adjusts the position relation of the beam splitter prism and the light guide prisms, and realizes the convenient and fast adjustment and adaptation of focus areas dyed by molecular probes to synchronously split light and guide the light into an infrared camera and a color camera;

3. the single-aperture light guide mechanism is convenient and fast to adjust, on one hand, the position of a focus is convenient to fast adjust and use before an operation is started, and the operation is convenient to fast prepare, and on the other hand, the single-aperture light guide mechanism can be fast adjusted in real time and is convenient and fast to use in the operation process;

4. the invention further designs a light source light supplementing mechanism which comprises a fixed light supplementing structure and a movable fixed point light supplementing mechanism and can supplement white light or infrared light for exciting a focus area dyed by the molecular probe to generate infrared light, wherein the fixed light supplementing structure realizes large-area light supplementing, and the movable fixed point light supplementing mechanism carries out quick movable fixed point light supplementing according to needs, so that the precision and the definition of infrared imaging and color imaging are further improved or the light source requirements of special positions are met.

Drawings

Fig. 1 is a schematic structural view of a camera jig for a surgical navigation and radioactive implantation system.

Fig. 2 is an exploded view of a camera fixture for a surgical navigation and radiological implantation system.

Fig. 3 is a schematic structural diagram of a camera chamber in a camera fixture for a surgical navigation and radioactive implantation system.

Fig. 4 is a schematic structural view of a mobile fixed-point light supplement mechanism in a camera fixture for a surgical navigation and radioactive implantation system.

FIG. 5 is an exploded view of the engagement of the fixed sleeve and the telescoping sleeve in the camera fixture for the surgical navigation and radiological implantation system.

Fig. 6 is a schematic structural view of a light-splitting adjustment mechanism of a camera clamp for a surgical navigation and radioactive implantation system.

Fig. 7 is a schematic structural diagram of a beam splitting rotation mechanism in a camera fixture for a surgical navigation and radioactive implantation system.

Fig. 8 is a schematic structural diagram of a synchronous light guide mechanism in a camera fixture for a surgical navigation and radioactive implantation system.

Fig. 9 is an illustration of the intra-lens bay assembly of the camera fixture for the surgical guidance and radiological implantation system.

FIG. 10 is a schematic structural diagram of another embodiment of a fixing seat and a sliding ring in a camera fixture for a surgical navigation and radioactive implantation system.

In the figure: 1. a housing; 2. a fixed mount; 21. a fixing hole; 30. fixing the light supplementing structure; 31. moving the fixed-point light supplementing mechanism; 301. a light compensating seat; 302. a slip ring; 303. a ring gear; 304. a gear ring power mechanism; 3041. a drive gear; 3042. a drive motor; 305. a fixed seat; 3051. a tilt angle adjusting shaft; 3052. a tilt angle adjusting motor; 306. a fixed sleeve; 3061. a wire slot; 3062. a rotating flange; 307. a telescopic sleeve; 308. a telescopic motor; 309. a telescopic screw rod; 310. a lamp socket; 311. a light supplement lamp; 4. an infrared camera; 5. a color camera; 6. a beam splitting prism; 61. a beam splitting adjustment mechanism; 611. supporting the guide rail; 612. a roller frame; 613. a coupling member; 614. a light-splitting rotation mechanism; 615. a light-splitting movement mechanism; 7. a light guide prism; 71. a synchronous light guide mechanism; 711. a light guide frame; 712. a driven sprocket; 713. a drive sprocket; 714. a drive chain belt; 715. a light guide motor; 716. a transmission gear; 717. a wheel carrier; 100. a light inlet aperture mirror; 200. a light source board; 201. a point light source.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The first embodiment is as follows: referring to fig. 1-9, a camera fixture for a surgical navigation and radiological implantation system; the device comprises a shell 1, a fixing frame 2, a light source light supplementing mechanism 3, an infrared camera 4, a color camera 5, a beam splitter prism 6 and a light guide prism 7; the fixing frame 2 is fixedly connected to one side of the shell 1, 4 fixing holes 21 are formed in the fixing frame 2, and the fixing frame 2 is installed on the mechanical arm through bolts;

a camera chamber 11 and a lens chamber 12 are arranged in the shell 1; the infrared camera 4 and the color camera 5 are uniformly arranged in a camera chamber 11 in the shell 1; the camera cabin 11 is provided with lens holes 110 corresponding to the lenses of the infrared camera 4 and the color camera 5 respectively;

the light source light supplementing mechanism 3 comprises a fixed light supplementing structure 30 and a movable fixed point light supplementing mechanism 31;

the fixed light supplement structure 30 comprises a light supplement base 301 and a light source plate 200;

the light compensating seat 301 is arranged on the front side of the lens bin 12, and the light inlet aperture mirror 100 is arranged in the middle of the light compensating seat 301; the light source plate 200 is arranged on the light supplementing base and outside the light inlet mirror 100; the light source plate 200 is annular, and point light sources 201 are uniformly arranged on the light source plate 200;

the movable fixed-point light supplementing mechanism 31 comprises a slip ring 302, a gear ring 303, a gear ring power mechanism 304, a fixed seat 305, a fixed sleeve 306, an expansion sleeve 307, an expansion motor 308, an expansion screw 309, a lamp holder 310 and a light supplementing lamp 311;

the light supplementing base 301 is provided with an annular groove 3011 corresponding to the outer side of the light source board 200, the slip ring 302 is sleeved in the annular groove 3011, is in running fit with the light supplementing base 301, and extends into the light supplementing base 301; the top of the light supplementing base is provided with an end cover 312 corresponding to the annular groove 3011;

the fixed seat 305 is arranged on the slip ring 302 outside the light compensating seat 301, one end of a fixed sleeve 306 is connected with the fixed seat 305, the other end of the fixed sleeve 306 is in sliding fit with a telescopic sleeve 307, the telescopic screw rod 309 is sleeved in the fixed sleeve 306, one end of the telescopic screw rod is in transmission connection with a telescopic motor 308, and the other end of the telescopic screw rod is in meshing transmission with the telescopic sleeve 307; the outer end of the telescopic sleeve 307 is fixedly connected with a lamp holder 310, and a light supplement lamp 311 is arranged on the lamp holder 310;

the gear ring 303 is fixedly connected to the slip ring 302 in the light compensation seat 310;

the inner wall of the fixed sleeve 306 is symmetrically provided with wire grooves 3061; a line protrusion 3071 is arranged on the outer side of the end part of the telescopic sleeve 307, and the line protrusion 3071 is in sliding fit with the line groove 3061;

the gear ring power mechanism 304 comprises a driving gear 3041 and a driving motor 3042, the driving motor 3042 is fixed in the lens chamber 12 and is in transmission connection with the driving gear 3041, and the driving gear 3041 is in meshing transmission with the gear ring 303.

The beam splitter prism 6 is arranged at the position of the light inlet aperture mirror 100 in the lens bin 12, and the beam splitter prism 6 is arranged in parallel with the light inlet aperture mirror 100;

the number of the light guide prisms 6 is 2, and the light guide prisms are respectively arranged in parallel at the front sides of the lenses of the infrared camera 4 and the color camera 5 in the lens bin 12;

the beam splitting prism 6 is fixed in the lens bin 12 through a beam splitting adjusting mechanism 61; the light guide prism 7 is arranged in the lens bin 12 through a synchronous light guide mechanism 71; the light splitting adjusting mechanism 61 comprises a support guide rail 611, a roller frame 612, a connecting shaft 613, a light splitting rotating mechanism 614 and a light splitting moving mechanism 615;

the number of the support guide rails 611 is 2, and the support guide rails are respectively and symmetrically arranged along two ends of the beam splitter prism 6; the roller frame 612 is a U-shaped bracket;

the connecting shaft 613 comprises a connecting plate 6131 and a protruding shaft 6132, and the middle part of the outer side of the connecting plate 6131 is fixedly connected with the protruding shaft 6132;

the two ends of the beam splitting prism 6 are respectively and fixedly provided with a connecting shaft piece 613; the connecting plate 6131 of the connecting shaft 613 is fixedly connected with the end of the beam splitting prism 6;

the protruding shafts 6132 of the connecting shaft pieces 613 at the two sides are rotationally matched on the roller frame 612, and the protruding shafts 6132 extend out of the roller frame 612 to be in sliding fit with the supporting guide rail 611;

the light splitting rotating mechanism 614 comprises a sliding block 6141, a light splitting rotating motor 6142, a driving bevel gear 6143 and a driven bevel gear 6144; the sliding block 6141 is in rotating fit with a convex shaft 6132 of a connecting shaft piece 613 and is in sliding fit with the support guide rail 611;

the beam splitting rotating motor 6142 is arranged on the sliding block 6141 and is in transmission connection with a driving bevel gear 6143, the driven bevel gear 6144 is sleeved on a convex shaft 6132 of the connecting shaft piece 613, and the driving bevel gear 6143 is in meshing transmission with the driven bevel gear 6144;

the beam splitting moving mechanism 615 comprises a moving screw 6151, a moving sleeve 6152 and a moving motor 6153;

the mobile motor 6153 is fixed on the lens bin;

one end of the movable screw rod 6151 is connected with a movable motor 6153 in a transmission way, the other end of the movable screw rod 6151 is meshed with a movable sleeve 6152 in a transmission way, and the outer end of the movable sleeve 6152 is fixedly connected with the middle part of the roller frame 612;

the support rail 611 includes a rail plate 6111 and a base 6112;

one end of the guide rail plate 6111 is mounted on the lens chamber 12 through the base 6112, and the middle part of the other end is provided with a chute 6113 in sliding fit with the protruding shaft 6132;

the two side edges of the slide block 6141 are curled inwards to form a slot 61410, and the slide block 6141 is clamped outside the guide rail plate 6111 through the slot 61410 and is in sliding fit with the guide rail plate 6111.

The synchronous light guide mechanism 71 comprises a light guide frame 711, a driven chain wheel 712, a driving chain wheel 713, a driving chain belt 714, a light guide motor 715 and a driving gear 716;

the light guide frame 711, the driven chain wheel 712 and the driving chain wheel 713 are arranged in one-to-one correspondence with the light guide prisms 7;

the two ends of the light guide prism 7 are respectively connected with a connecting shaft 613, and the connecting shaft 613 is rotatably matched on the light guide frame 711;

the driven sprocket 712 is sleeved on a protruding shaft 6132 of a connecting shaft 613 at one side of the light guide prism 7;

two driving sprockets 713 are arranged on the wheel frame 717 at the middle of the two light guide prisms 7; a driving chain belt 714 is sleeved between the driving chain wheel 713 and the driven chain wheel 712;

the light guide motor 715 is installed on the lens chamber 12, the light guide motor 715 is in transmission connection with the wheel axle of one driving sprocket 713, and the wheel axles of the two driving sprockets 713 are in transmission fit through two transmission gears 716.

Example two: please refer to fig. 10; the embodiment adds the following technical features on the basis of the first embodiment:

the fixed seat 305 in the movable fixed point light supplementing mechanism 31 is a U-shaped seat, the fixed seat 305 is fixed on the sliding ring 302, the end of the fixed sleeve 306 is provided with a rotating flange 3062, the rotating flange 3062 is hinged to the fixed seat 305 through an inclination angle adjusting shaft 3051, the sliding ring 302 is provided with an inclination angle adjusting motor 3052, and the inclination angle adjusting motor 3052 is in transmission connection with the inclination angle adjusting shaft 3051; the inclination angle adjustment motor 3052 rotates to drive the inclination angle adjustment shaft 3051 to rotate, so as to adjust the inclination angles of the fixed sleeve 306 and the light supplement lamp 311, thereby realizing the inclination angle adjustment of the light supplement lamp 311, and further increasing the light supplement range of the light supplement lamp 311 in the fixed-point light supplement mechanism 31.

The use method of the camera clamp for the surgical navigation and radioactive implantation system comprises the following steps:

the method comprises the following steps: under the condition that the focus area dyed by the molecular probe is irradiated by infrared light and white light, the camera clamp carries an infrared camera and a color camera, and the light inlet aperture lens is aligned to the focus position;

step two: the single-lens-hole light guide mechanism adjusts the position relation of the internal prism, so that common visible light and excited infrared light in the focus area synchronously enter the lens of the infrared camera and the lens of the color camera, and incident light with the same visual angle obtains near-infrared images and color images which can be accurately fused in the focus area at the same moment;

step three: the camera fixture can be used for carrying out comprehensive light supplement or fixed-point light supplement on the position of the focus as required, so that the precision and the definition of a near-infrared image and a color image in the focus area are improved.

The working principle of the invention is as follows: during operation, the housing 1 is mounted on a mechanical arm (not shown) of the navigation implantation system through the fixing frame 2, under the condition that a focus area dyed by a molecular probe is irradiated by infrared light and white light, the light entrance holescope 100 is aligned with the position of the focus, the light splitting adjusting mechanism 61 and the synchronous light guide mechanism 71 quickly adjust the position relationship between the light splitting prism 6 and the light guide prism 7 as required, and specifically, the moving motor 6153 drives the moving screw 6151 to rotate, so as to drive the moving sleeve 6152 to linearly move along the moving screw 6151, and further drive the roller frame 612 and adjust the distance between the light splitting prism 6; a beam splitting rotating motor 6142 on the sliding block 6141 drives the beam splitting prism 6 to rotate through a bevel gear, so that the rotation angle adjustment is realized; the light guide motor 715 synchronously drives the driving sprocket 713 and the driving chain belt 714 to drive the driven sprocket 712 to synchronously rotate through the transmission gear 716, so as to drive the light guide prism 7 to synchronously rotate, thereby realizing the rotation angle adjustment; so that the focus position light synchronously enters the lens of the infrared camera 4 and the color camera 5; the incident light with the same visual angle realizes the accurate and synchronous imaging of the focus part infrared camera 4 and the color camera 5, thereby greatly improving the accuracy of the operation navigation and radioactive implantation system;

in addition, the light source light supplementing mechanism 3 further comprises a fixed light supplementing structure 30 and a movable fixed point light supplementing mechanism 31, and can supplement white light or be used for exciting a focus area dyed by a molecular probe to generate infrared light, wherein the fixed light supplementing structure 30 realizes large-area light supplementing, and the movable fixed point light supplementing mechanism 31 can rapidly and movably supplement light at a fixed point as required, so that the accuracy and the definition of infrared imaging and color imaging are further improved or the light source requirements of special positions are met;

specifically, a light source 201 on a light source board 200 is used for large-area light supplement, and a movable fixed-point light supplement mechanism 31 drives a light supplement lamp 311 to touch any position of a plane range outside a lens, so that fixed-point light supplement can be performed on a special focus position as required, specifically, a telescopic motor 308 drives a telescopic screw 309 to rotate, the telescopic screw 309 drives a telescopic sleeve 307 to move along the telescopic screw 309, the light supplement lamp 311 is driven to move radially, in addition, a driving motor 3042 drives a driving gear 3041 to rotate, the driving gear 3041 is in meshing transmission with a gear ring 303 to drive the gear ring 303 to rotate, the gear ring 303 drives a slip ring 302 to rotate, the slip ring 302 drives a fixed sleeve 306 and the telescopic sleeve 307 to rotate, and further drives the light supplement lamp 311 to rotate, the radial movement and the rotational displacement are overlapped to realize touch at any position of the plane, so that fixed-point light supplement is convenient; in addition, the inclination angle adjusting motor 3052 rotates to drive the inclination angle adjusting shaft 3051 to rotate, so that the inclination angles of the fixed sleeve 306 and the light supplement lamp 311 are adjusted, the inclination angle of the light supplement lamp 311 is adjusted, and the light supplement range of the light supplement lamp 311 in the fixed-point light supplement mechanism 31 is further increased.

Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims (7)

1. A camera fixture for a surgical navigation and radiological implantation system; the device is characterized by comprising a shell, an infrared camera, a color camera and a single-lens-hole light guide mechanism; the shell is provided with a light inlet hole mirror; the infrared camera and the color camera are uniformly arranged in the shell, and the lens faces the light inlet lens;

the single-lens-hole light guide mechanism is arranged between the light inlet lens and the infrared camera and the color camera and can guide incident light with the same visual angle to the infrared camera and the color camera; a camera chamber and a lens chamber are arranged in the shell; the infrared camera and the color camera are arranged in the camera cabin; the light inlet hole lens is arranged at the middle position of the shell on the corresponding side of the lens bin; the camera bin and the lens bin are communicated at the positions of the infrared camera and the color camera, and the single-lens light guide mechanism is arranged in the lens bin; the single-lens-hole light guide mechanism comprises a beam splitter prism and a light guide prism; the beam splitter prism is arranged at the position of the light inlet hole mirror in the lens bin, the beam splitter prism is arranged in parallel with the light inlet hole mirror, the beam splitter prism can rotate, and the distance between the beam splitter prism and the light inlet hole mirror can be adjusted; the number of the light guide prisms is 2, and the light guide prisms are respectively arranged on the front sides of the infrared camera and the color camera in the lens bin in parallel; the light guide prism can be synchronously and relatively rotationally adjusted; the beam splitting prism is fixed in the lens bin through a beam splitting adjusting mechanism; the light guide prism is arranged in the lens bin through the synchronous light guide mechanism; the light splitting adjusting mechanism comprises a supporting guide rail, a roller frame, a connecting shaft piece, a light splitting rotating mechanism and a light splitting moving mechanism; the number of the supporting guide rails is 2, the supporting guide rails are respectively and symmetrically arranged along two ends of the beam splitter prism, the roller frame is a U-shaped support, the connecting shaft piece comprises a connecting plate and a convex shaft, and the middle part of the outer side of the connecting plate is fixedly connected with the convex shaft; two ends of the beam splitter prism are respectively and fixedly provided with a connecting shaft piece; the convex shafts of the connecting shaft pieces on the two sides are rotationally matched on the roller frame, extend out of the roller frame and are in sliding fit with the supporting guide rails;

the light splitting rotating mechanism comprises a sliding block, a light splitting rotating motor, a driving bevel gear and a driven bevel gear; the sliding block is in running fit with a convex shaft of a connecting shaft piece and is in sliding fit with the supporting guide rail; the light splitting rotating motor is arranged on the sliding block and is in transmission connection with a driving bevel gear, the driven bevel gear is sleeved on a convex shaft of the connecting shaft piece, and the driving bevel gear is in meshing transmission with the driven bevel gear; the light splitting moving mechanism comprises a moving screw rod, a moving sleeve and a moving motor; the mobile motor is fixed on the lens bin; one end of the movable screw rod is in transmission connection with the movable motor, the other end of the movable screw rod is in meshing transmission with the movable sleeve, and the outer end of the movable sleeve is fixedly connected with the middle of the roller frame.

2. The camera fixture for a surgical navigation and radiological implantation system according to claim 1, wherein the support rail includes a rail plate and a base; one end of the guide rail plate is arranged on the lens bin through the base, and the other end of the guide rail plate is provided with a sliding groove matched with the protruding shaft.

3. The camera fixture for surgical navigation and radiological implantation system according to claim 2, wherein two sides of the slider are curled inward to form a slot, and the slider is clamped outside the guide rail plate by the slot to be slidably engaged with the guide rail plate.

4. The camera fixture for surgical navigation and radiological implantation system according to claim 3, wherein the synchronous light guide mechanism includes a light guide frame, a coupling member, a driven sprocket, a driving chain belt, and a light guide motor

And a transmission gear; the light guide frame, the driven chain wheel and the driving chain wheel are arranged in one-to-one correspondence with the light guide prisms; two ends of the light guide prism are respectively connected with a connecting shaft piece, and the connecting shaft pieces are rotationally matched on the light guide frame; the driven chain wheel is sleeved on a convex shaft of the connecting shaft piece at one side of the light guide prism; the two driving sprockets are arranged on the wheel carrier in the middle of the two light guide prisms; a transmission chain belt is sleeved between the driving chain wheel and the driven chain wheel; the light guide motor is arranged on the lens bin and is in transmission connection with a wheel shaft of one driving chain wheel, and the wheel shafts of the two driving chain wheels are in transmission fit with the two transmission gears coaxial with the chain wheels.

5. The camera fixture for surgical navigation and radioactive implantation system according to any one of claims 1 to 4, wherein a fixing frame is provided at one side of the housing, the fixing frame is provided with a plurality of fixing holes, the fixing frame is mounted on the mechanical arm through bolts, and the housing is further provided with a light source light supplement mechanism;

the light source light supplementing mechanism comprises a fixed light supplementing structure and a movable fixed point light supplementing mechanism; the fixed light supplementing structure comprises a light source plate; the light source plate is annular, and a light source for light supplement is arranged on the light source plate; the movable fixed-point light supplementing mechanism can supplement light to a focus area under the light inlet aperture lens at a fixed point.

6. The camera fixture for surgical navigation and radiological implantation system according to claim 5, the movable fixed-point light supplementing mechanism comprises a light supplementing base, a sliding ring, a gear ring power mechanism, a fixed base, an inclination angle adjusting shaft,

The device comprises a fixed sleeve, an inclination angle adjusting motor, a telescopic sleeve, a telescopic motor, a telescopic screw rod, a lamp holder and a light supplementing lamp; the light supplementing base is arranged on the front side of the lens bin, and the light inlet hole lens and the light source plate are arranged in the middle of the light supplementing base; the light supplementing seat is provided with an annular groove corresponding to the outer side of the light source plate, and the sliding ring is sleeved in the annular groove, is in running fit with the light supplementing seat and extends into the light supplementing seat; the fixed seat is arranged on a sliding ring outside the light compensating seat, one end of the fixed sleeve is rotatably connected with the fixed seat through the inclination angle adjusting shaft, and the other end of the fixed sleeve is in sliding fit with the telescopic sleeve; one end of the inclination angle adjusting shaft is connected with an inclination angle adjusting motor, one end of the telescopic screw rod is sleeved in the fixed sleeve and is in transmission connection with the telescopic motor, and the other end of the telescopic screw rod is in meshing transmission with the telescopic sleeve; the outer end of the telescopic sleeve is fixedly connected with a lamp holder, and the light supplementing lamp is arranged on the lamp holder; the gear ring is fixedly connected to the slip ring in the light supplementing base; the inner wall of the fixed sleeve is symmetrically provided with wire grooves; a line protrusion is arranged on the outer side of the end part of the telescopic sleeve and is in sliding fit with the line groove; the gear ring power mechanism comprises a driving gear and a driving motor, the driving motor is fixed in the lens bin and is in transmission connection with the driving gear, and the driving gear is in meshing transmission with the gear ring.

7. A method of using the camera fixture for a surgical navigation and radiological implantation system of claim 6, comprising the steps of:

the method comprises the following steps: under the condition that the focus area dyed by the molecular probe is irradiated by infrared light and white light, the camera clamp carries an infrared camera and a color camera, and the light inlet aperture lens is aligned to the focus position;

step two: the single-lens-hole light guide mechanism adjusts the position relation of the internal prism, so that common visible light and excited infrared light in the focus area synchronously enter the lens of the infrared camera and the lens of the color camera, and a near-infrared image and a color image of the focus area at the same moment are obtained through incident light with the same visual angle;

step three: the camera fixture can be used for carrying out comprehensive light supplement or fixed-point light supplement on the position of the focus as required, and near-infrared images, color image precision and infrared characteristic information of the focus area are improved.

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