CN205007111U - Control formula laser surgery system in advance - Google Patents
Control formula laser surgery system in advance Download PDFInfo
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- CN205007111U CN205007111U CN201520585040.7U CN201520585040U CN205007111U CN 205007111 U CN205007111 U CN 205007111U CN 201520585040 U CN201520585040 U CN 201520585040U CN 205007111 U CN205007111 U CN 205007111U
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Abstract
The utility model provides a control formula laser surgery system in advance, includes: frame and set up controller, display device, laser emission device, depth sensor and the image collector in the frame, wherein: controller and laser emission device link to each other and export the enabled instruction, and the controller links to each other with the frame and the rotatory instruction of going up and down of transmission, and the real -time depth information that the drawing of site links to each other with the controller and exports the laser emission device is gathered like, depth sensor in the consecutive and real -time demonstration of image collector, controller and display device. The utility model discloses can obtain in advance to perform the operation position and depth information and feedback control laser excitation showing and are improving medical safety.
Description
Technical field
The utility model relates to a kind of technology of laser medical equipment field, specifically a kind of pre-control formula laser surgery system.
Background technology
Laser, as operation tool, has accurately, fast, totally, can not cause the advantages such as mechanical damage, in subject extensive uses such as ophthalmology, beauty treatment, oral cavities.In recent years, ultra high power psec, the femtosecond laser developed based on new material new technique, peak power can reach terawatt (TW) level, and it without hot injury, is called as " cold laser " to perienchyma, can apply cutting and the boring operation of sclerous tissues.But, owing to lacking mechanical force feedback, in manual operation laser surgery procedures, laser beam certainly exists the moving process such as acceleration, deceleration, and the output of laser generator is constant, cause to be cut be organized in laser beam accelerating sections, braking section energy accumulation uneven, cause depth of cut seriously uneven; In addition, in surgical operation, environment is completely non-structured, and different patient, different parts exist individuality difference, different operation can relate to difference and the surgery planning of complexity and design, above reason easily causes laser beam displacement, the safety problems such as depth of cut is uneven, speed runaway.Existing laser surgery system is mainly irradiated with a laser the situation of change of biological tissue by imaging system Real Time Observation, needed for operation, and the laser irradiation dose in Non-follow control operation process.Because laser osteotomy scanning speed is fast, precision is high, Non-follow control is difficult to guarantee accurate surgical effect.
Technology of surgery navigation can carry out surgical simulation and prediction in the preoperative, important anatomy structure profound level can hidden in art is visual, solve anatomical structure deep in body " visible " problem, SebastianStopp, HerbertDeppe, TimLueth. exist " Anewconceptfornavigatedlasersurgery " (LasersinMedicalScience.2008,23,261 ?266; ) in disclose a kind of method utilizing navigation system to obtain the laser surgery of positional information feedback control; But operation guiding system can only control position and the direction of laser, can not control the degree of depth of laser surgery.
Through finding the retrieval of prior art, Chinese patent literature CN101849868A, date of publication 2010.10.06, disclose a kind of automatic control laser operation equipment, which provides a kind of control amount for surgical, improve the automatic control laser operation equipment for the treatment of accuracy.It is identified by controller the lesion tissue of CCD camera collection and the image of normal structure and spectrum and processes, when cut is to normal structure, understand the mutation process with light intensity and color, this mutation process detected at any time and control laser shutdown in time.But this process will inevitably cause laser to the injury of unplanned operative site normal structure.
American documentation literature US2014/0276679A1, March 14 2013 applying date, disclose a kind of method of the exploring laser light ophthalmologic operation degree of depth: when the super superpower laser action of ultrashort pulse is in time organizing, its cutting mechanism be mediated by plasma organize fusion processes, by the depth localization of article on plasma generating unit, the depth information of laser surgery can be obtained.But this method can only be used for the depth survey of transparent eyeball tissue, the depth survey of the nontransparent histoorgan such as skeleton and dental hard tissue can not be used for.
Utility model content
This utility model is for the surgical laser system of existing laser equipment for delicate area, there is laser beam displacement, the defects such as depth of cut is uneven, a kind of pre-control formula laser surgery system is proposed, operative site and depth information can be obtained in advance and feedback control laser excitation, significantly improve medical safety.
This utility model is achieved through the following technical solutions:
This utility model relates to a kind of pre-control formula laser surgery system, comprise: frame and be arranged at controller in frame, display device, laser beam emitting device, depth transducer and image acquisition device, wherein: controller is connected with laser beam emitting device and exports enabled instruction, controller is connected with frame and transmits rotation and lifting instruction, image acquisition device, controller and display device are connected successively and show collection position image in real time, and depth transducer is connected with controller and the real-time deep information of Output of laser discharger.
Described frame comprises: pillar stand, overarm, cantilever and hanger bracket, and wherein: pillar stand and overarm and be rotationally connected, cantilever and overarm are slidably connected, thus cantilever can move freely in direction, front, rear, left and right.
Described controller comprises: display control card, surgery planning and storage card, surgical navigational control card, laser controlling card and optical coherence image-forming information transaction card, wherein: display control card is connected with display device and transmits collection position image and operating user interface information, image acquisition device is connected with surgical navigational control card and Transmission Fibers handle and operative site instantaneous operating conditions information, laser controlling card is connected with laser instrument and transmits laser switch information, depth transducer is connected with optical coherence image-forming information transaction card and light intensity space distribution information after transmitting reference laser light arm and sample arm coherent imaging.
Described display device comprises: the display be connected with controller respectively and human-machine operation equipment, wherein: display is connected with display control card and receives collection position image, human-machine operation equipment is connected with display control card and exports operating user interface information.
Described laser beam emitting device comprises: laser instrument, the light path system be arranged in frame, optical fiber interface fiber arm and the optical fiber handle be arranged in frame, wherein: laser instrument is connected with the laser controlling card in controller and receives enabled instruction, the laser that laser instrument exports is guided to depth transducer by light path system, optical fiber interface, fiber arm and is treated operative site successively.
Described laser instrument adopts the laser instrument of ultrashort pulse superenergy, and it is exported energy, pulsewidth and frequency parameter and is adjusted by laser controlling card.
Laser beam in cantilever is coupled in the optical fiber of fiber arm by described optical fiber interface.
Described depth transducer is preferably disposed in described optical fiber handle, this depth transducer comprises: entrance convex lens, 50/50 beam splitter, optical filter, reflecting mirror, object lens convex lens, optical filter and photon detector, wherein: 50/50 beam splitter is positioned at center, entrance convex lens and, reflecting mirror and object lens convex lens are positioned on the transmitted light path of 50/50 beam splitter, flat reflector, optical filter and photon detector are positioned on the reflected light path of 50/50 beam splitter, photon detector is connected with the optical coherence image-forming information transaction card in controller and Output of laser interferes rear light distribution information.
Described optical fiber handle is preferably provided with dynamic reference support.
Described image acquisition device comprises: side arm mechanism, navigator photographic head box and be arranged at its inside two CCD photographic head, along the equally distributed infrared LED lamp of photographic head periphery and image pick-up card, wherein: navigator photographic head box is fixedly connected with side arm mechanism, side arm mechanism is connected with frame, CCD photographic head is just to optical fiber handle and dynamic reference support thereof, and be connected with image pick-up card and transmission optics analogue signal, image pick-up card is connected with the surgical navigational control card in controller and output optical fibre handle position information.
The number of described infrared LED lamp is preferably six.
Described side arm mechanism is connected with gantry rotation, navigator photographic head box is connected by spherical joint with side arm, CCD photographic head has up, down, left, right, before and after and rotates 7 joint freedom degrees, ensures that optical fiber handle and dynamic reference support thereof are positioned at the ken of two photographic head.
Described dynamic reference support is preferably provided with hand switch and tracer, tracer has some fluorescent balls, by the CCD photographic head location in image acquisition device and can be followed the tracks of by fluorescent balls reflective infrared LED light signal.
The number of described fluorescent balls is preferably four, and four fluorescent balls are arranged at different planes.
Technique effect
Compared with prior art, this utility model has following beneficial effect:
1) this utility model is by obtaining operative site and the laser excitation of depth information feedback control in advance, and this pre-control mode reduces the dependence to laser operator, makes laser operations easy.
2) this utility model is by increasing hand switch control mode, and the Redundant Control mode of this multi-level pre-control formula reduces the contingent accident of laser surgery to greatest extent, improves operation safety.
3) this utility model is by becoming compacter, efficient system laser surgery system, operation guiding system and optical coherence system combination, has more high-performance than existing laser surgery system.
Accompanying drawing explanation
The schematic diagram of Fig. 1 pre-control laser surgery system;
The laser optical path schematic diagram of Fig. 2 A pre-control laser surgery system;
The laser optical path of Fig. 2 B pre-control laser surgery system and depth survey schematic diagram;
Fig. 3 pre-control laser surgery system modular structure and control flow schematic diagram;
In figure: laser instrument 101, controller 102, column support 103, overarm 104, cantilever 105, optical fiber interface 106, fiber arm 107, hand switch 108, depth transducer 109, display 110, handle side 111, tracer 112, hanger bracket 113, CCD photographic head 114, surgical navigator photographic head box 115, optical fiber handle 116, side arm mechanism 117, bone anatomical tissue 118, dynamic reference support 119, laser controlling connectivity port 120, laser excitation connectivity port 121, image pick-up card 122 is along photographic head infrared LED lamp 123, column support internal reflection eyeglass 201, optical glass 202 in overarm, entrance convex lens 211, 50/50 beam splitter 212, sample arm reflection mirror 213, object lens convex lens 214, reference arm reflecting mirror 215, optical filter 216, photon detector 217.
Detailed description of the invention
Below embodiment of the present utility model is elaborated; the present embodiment is implemented under premised on technical solutions of the utility model; give detailed embodiment and concrete operating process, but protection domain of the present utility model is not limited to following embodiment.
Embodiment 1
As shown in Figure 1, the present embodiment comprises: frame and be arranged at controller 102 in frame, display device, laser beam emitting device, depth transducer 109 and image acquisition device, wherein: controller 102 is connected with laser beam emitting device and exports enabled instruction, controller 102 is connected with frame and transmits rotation and lifting instruction, image acquisition device, controller 102 are connected successively with display device and show collection position image in real time, and depth transducer 109 is connected with controller 102 and the real-time deep information of Output of laser discharger.
The present embodiment controls the pulse energy of laser instrument by controller 102, the output parameter such as frequency and pulse width, this controller 102 comprises: display control card, surgery planning and storage card, surgical navigational control card, laser controlling card and optical coherence image-forming information transaction card, wherein: display control card is connected with display device and transmits collection position image and operating user interface information, image acquisition device is connected with surgical navigational control card and Transmission Fibers handle and operative site instantaneous operating conditions information, laser controlling card is connected with laser instrument and transmits laser switch information, depth transducer is connected with optical coherence image-forming information transaction card and light intensity space distribution information after transmitting reference laser light arm and sample arm coherent imaging.
Described frame comprises: pillar stand 103, overarm 104, cantilever 105 and hanger bracket 113.
Described laser beam emitting device comprises: laser instrument 101, the light path system be arranged in frame, optical fiber interface fiber arm 107 and optical fiber handle 116, wherein: laser instrument 101 is connected with the laser controlling card in controller and receives enabled instruction, the laser that laser instrument 101 exports is guided to depth transducer by light path system, optical fiber interface, fiber arm 107 and is treated operative site successively.
Described depth transducer 109 is arranged in optical fiber handle 116, and this depth transducer 109 comprises: entrance convex lens 211,50/50 beam splitter 212, optical filter 216, object lens convex lens 214, reference arm reflecting mirror and photon detector 217.Laser planoconvex lens 211, after 50/50 beam splitter 212, be divided into two bundles, be respectively reference light arm and sample light arm, reference light arm enters optical filter 216 after reference plane are launched, sample light arm leads after object lens convex lens 214 focuses on through reflecting mirror 213 and enters organizational interface through handle side 111 derivation, and laser sample light arm after organizing different aspects to reflect also enters optical filter 216, then merges with reference to light arm and sample light arm to produce interference pattern.The function of photon detector 217 is two-way detector arraies.After sample light arm carries out depth scan to tissue, depth structure information can be obtained.
Described optical fiber handle 116 can be suspended on hanger bracket, and overarm and cantilever can move freely in direction, front, rear, left and right, guides optical fiber handle 116 to be arranged in surgical scene.
Described image acquisition device comprises: side arm mechanism 117, navigator photographic head 114 box and be arranged at two CCD photographic head 114 of its inside, along equally distributed infrared LED lamp and the image pick-up card 122 of photographic head 114 periphery, wherein: navigator photographic head 114 box is fixedly connected with side arm mechanism, side arm mechanism 117 is connected with frame, CCD photographic head 114 is just to optical fiber handle 116 and dynamic reference support 119 thereof, and be connected with image pick-up card 122 and transmission optics analogue signal, image pick-up card 122 is connected with the surgical navigational control card in controller and output optical fibre handle 116 positional information.
Described side arm mechanism 117, by being connected with frame, realizes up, down, left, right, before and after and spinning movement, ensures that surgical scene light enters two photographic head simultaneously.
Described optical fiber handle 116 is provided with hand switch 108, and switch is connected with controller, and open-close on-off controls startup and the closedown of laser instrument by controller.
Described dynamic reference support 119 is provided with tracer 112, and tracer can be located by two CCD photographic head 114 and follow the tracks of.
As shown in Figure 3, this device realizes controlling in the following manner:
Step 1) whether surgical navigational control card arrive planning cutting position by CCD photographic head detection optical fiber handle, and concrete steps comprise:
1.1 navigation system prepare: opening controller, display, CCD photographic head, and infrared LED lamp, enables display control card, display surgery planning and registration point including level information
1.2 registrations: dynamic reference support is fixed on the region of anatomy subject to registration, adjustment CCD camera position, ensures to need registration point to be positioned at the central visual field district of navigation picture, CCD photographic head with need registration point to block without object; CCD photographic head obtains the spatial positional information needing registration point, and corresponding with registration point including level information, and calculate registration error value through least-squares algorithm, error amount is less than 0.5mm, completes registration process.
1.3 real-time trackings: take off and moving fiber handle from hanger bracket, make handle side tip to the correspondence position of required cutting anatomical tissue, CCD photographic head is immediately caught laser handle side relative to X ?Y-axis position, region of anatomy locus and information is passed back controller, and X-axis is herein perpendicular to cutting planes and along line of cut direction of advance; Y-axis is perpendicular to cutting planes perpendicular to line of cut direction of advance.Owing to carrying out registration, the including level information of handle side tip shows over the display.
Step 2) optical coherence image-forming information transaction card is by depth transducer examinations part thickness to be cut, and concrete steps comprise:
2.1 controllers send instruction, excite optically coherent imaging laser, and laser is along the depth transducer in light path, optical fiber interface, fiber arm arrival optical fiber handle in frame.Laser planoconvex lens is divided into two bundles by 50/50 beam splitter, is respectively reference light arm and sample light arm after focusing on.
2.2 reference light arms enter optical filter after reference arm reflecting mirror is launched, sample light arm is through reflecting mirror guiding object lens convex lens, derive through handle side after focusing and enter organizational interface, the sample light arm of laser after organizing interior different aspects to reflect also enters optical filter, and reference light arm and sample light arm interfere generation interference pattern mutually.
2.3 photon detectors are two-way detector arraies, collect the light distribution information of interference pattern and feed back to optical coherence image-forming information transaction card, produce a two-dimentional data set, calculate the thickness in district to be cut.
Step 3) navigator fix, severity control pre-control type laser emergence pattern, concrete steps comprise:
The laser excitation connectivity port of 3.1 laser generators is connected with the laser controlling connectivity port of controller by circuit, and controller sends instruction and controls start, the shutdown of laser instrument and revise Laser output amount.
3.2 surgical navigational control cards obtain the spatial positional information of handle side tip, and show virtual handle side tip position and planning line of cut position relative space relation over the display in real time, as do not arrived at planning line of cut position, operation moving fiber handle, until handle side tip arrives surgery planning osteotomy line position.
3.3 optical coherence image-forming information transaction cards obtain site depth information feed back to be cut to controller, if part thickness to be cut does not reach marginal value (the maximum tissue thickness that a laser pulse can cut), controller excitation-emission pulse osteotomy laser, at inter-train pause, coherent imaging laser is launched again, and obtains depth information, so circulates, until osteotomy district thickness reaches marginal value, controller stops laser and points out along osteotomy line moving fiber handle.
Hand switch on 3.4 optical fiber handles is connected with controller, closes hand switch and to be connected with laser controlling card the closedown of Non-follow control laser instrument, when occurring in art that unexpected hand switch of closing closes laser generator at once.
Claims (10)
1. a pre-control formula laser surgery system, it is characterized in that, comprise: frame and be arranged at controller in frame, display device, laser beam emitting device, depth transducer and image acquisition device, wherein: controller is connected with laser beam emitting device, controller is connected with frame, image acquisition device, controller are connected successively with display device, and depth transducer is connected with controller.
2. pre-control formula laser surgery system according to claim 1, it is characterized in that, described controller comprises: display control card, surgery planning and storage card, surgical navigational control card, laser controlling card and optical coherence image-forming information transaction card, wherein: display control card is connected with display device, surgical navigational control card is connected with image acquisition device, laser controlling card is connected with laser instrument, and depth transducer is connected with optical coherence image-forming information transaction card.
3. pre-control formula laser surgery system according to claim 1, it is characterized in that, described display device comprises: the display be connected with controller respectively and human-machine operation equipment, and wherein: display is connected with display control card, human-machine operation equipment is connected with display control card.
4. pre-control formula laser surgery system according to claim 1, it is characterized in that, described laser beam emitting device comprises: laser instrument, the light path system be arranged in frame, optical fiber interface fiber arm and the optical fiber handle be arranged in frame, wherein: laser instrument is connected with the laser controlling card in controller.
5. pre-control formula laser surgery system according to claim 4, it is characterized in that, described depth transducer is arranged in described optical fiber handle, this depth transducer comprises: entrance convex lens, 50/50 beam splitter, optical filter, reflecting mirror, object lens convex lens, optical filter and photon detector, wherein: 50/50 beam splitter is positioned at center, entrance convex lens and, reflecting mirror and object lens convex lens are positioned on the transmitted light path of 50/50 beam splitter, flat reflector, optical filter and photon detector are positioned on the reflected light path of 50/50 beam splitter, photon detector is connected with the optical coherence image-forming information transaction card in controller.
6. the pre-control formula laser surgery system according to claim 4 or 5, it is characterized in that, described optical fiber handle is provided with dynamic reference support.
7. pre-control formula laser surgery system according to claim 1, it is characterized in that, described image acquisition device comprises: side arm mechanism, navigator photographic head box and be arranged at its inside two CCD photographic head, along the equally distributed infrared LED lamp of photographic head periphery and image pick-up card, wherein: navigator photographic head box is fixedly connected with side arm mechanism, side arm mechanism is connected with frame, CCD photographic head is just connected with image pick-up card to optical fiber handle and dynamic reference support thereof, and image pick-up card is connected with the surgical navigational control card in controller.
8. pre-control formula laser surgery system according to claim 7, is characterized in that, described side arm mechanism is connected with gantry rotation, and navigator photographic head box is connected by spherical joint with side arm.
9. the pre-control formula laser surgery system according to claim 7 or 8, is characterized in that, described dynamic reference support is provided with hand switch and tracer, tracer has some fluorescent balls.
10. pre-control formula laser surgery system according to claim 9, is characterized in that, the number of described fluorescent balls is four, and four fluorescent balls are arranged at different planes.
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| CN201520585040.7U CN205007111U (en) | 2015-08-06 | 2015-08-06 | Control formula laser surgery system in advance |
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| CN201520585040.7U CN205007111U (en) | 2015-08-06 | 2015-08-06 | Control formula laser surgery system in advance |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108209878A (en) * | 2018-03-06 | 2018-06-29 | 南京生命源医药实业有限公司 | Visualization system and method |
| CN110341910A (en) * | 2019-06-25 | 2019-10-18 | 浙江大学 | A kind of underwater steel construction surface marine growth cleaning robot and its omnidirectional imaging system |
-
2015
- 2015-08-06 CN CN201520585040.7U patent/CN205007111U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108209878A (en) * | 2018-03-06 | 2018-06-29 | 南京生命源医药实业有限公司 | Visualization system and method |
| CN110341910A (en) * | 2019-06-25 | 2019-10-18 | 浙江大学 | A kind of underwater steel construction surface marine growth cleaning robot and its omnidirectional imaging system |
| CN110341910B (en) * | 2019-06-25 | 2020-12-25 | 浙江大学 | Underwater steel structure surface marine organism cleaning robot and panoramic imaging system thereof |
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