CN208017582U - Area of computer aided Minimally Invasive Surgery device - Google Patents
Area of computer aided Minimally Invasive Surgery device Download PDFInfo
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- CN208017582U CN208017582U CN201720704916.4U CN201720704916U CN208017582U CN 208017582 U CN208017582 U CN 208017582U CN 201720704916 U CN201720704916 U CN 201720704916U CN 208017582 U CN208017582 U CN 208017582U
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- invasive surgery
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Abstract
The utility model discloses a kind of area of computer aided Minimally Invasive Surgery devices, including：Central processing unit and the surgical apparatus with optical tracking label and camera being connect by data line with central processing unit.Area of computer aided Minimally Invasive Surgery device further comprise the support arm being connected at the top of central processing unit, first manipulator at the top for being set to support arm, be set to support arm side the second manipulator and be set to support arm the other side third manipulator, infrared optics position indicator is connected on first manipulator, it is connected with video display in art on second manipulator, 3-dimensional image display is connected on third manipulator.
Description
Technical field
The utility model belongs to the field of medical instrument technology more particularly to a kind of minimally invasive surgery system.
Background technology
In modern medicine, Minimally Invasive Surgery is one of main development trend of clinical medicine.Endoscope is a kind of common
Medical instrument is entered in patient body by the small notch that underwent operative is done when in use, endoscope is imported to the device of preliminary examination
Official.Operative treatment risk is not only reduced, the grieved sense that patient brings because the edge of a knife is excessive is decreased.
But in order to adapt to the needs of Minimally Invasive Surgery, the volume very little of endoscope is placed in the camera shooting of endoscope front end
The image of head shooting is also very limited, and doctor is difficult to quickly and clearly differentiate device residing for endoscope by the image of endoscope shooting
The specific location of official and captured image are in the concrete position for being intended to carry out operation organ.
Currently, doctor is mostly before the surgery, to be first subject to the position of lesion using the iconographies such as nuclear magnetic resonance, CT equipment
Judge, then formulates operation plan using its image data.And area of computer aided minimal invasive techniques be it is a kind of pass through it is reasonable, fixed
Amount utilizes CT/MRI/PET multimode datas and navigation system, carries out the technology of surgical operation plan, intervention and evaluation.It is main
It is to navigate as the endoscope of surgical instrument using various medical images, to provide hand most possibly for surgeon
The information of art near sites.
However, since these medical images or image data are usually all preoperative acquisitions, and during surgery often
It is difficult to the showing simultaneously of the medical image by the true picture that shoots in vivo and these preoperative acquisitions are entered, it is more difficult to quick
And it is accurately determined lesions position.
As Chinese patent application 200910039684.5 discloses a kind of operation navigation device comprising host computer, with
The arm that host computer is connected, the manipulator being connected on arm, the display and catcher being set on manipulator should
Operation navigation device further includes the guiding tool of operation with catcher cooperating, and guiding tool of operation includes being arranged on
Optical tracking marks, and optical tracking label is captured by trace by passive infrared optical alignment mode.However, should
Operation navigation device is determined to lesions position by internal image Processing Algorithm and three-dimensional location, is difficult to same
When will in preoperative diagnosis image and art shoot image show simultaneously.
For another example Chinese patent application 201520698883.8 discloses a kind of surgical navigation systems based on image,
Including：Spatial digitizer shows equipment, infrared optics position indicator, host computer, mobile holder, wherein in host computer also with
Medical image segmentation module, space orientation module, scanner uni image-forming module and three-dimensional registration module are connected.However, the base
In the surgical navigation systems of image be the three-dimensional and art preoperative CT, MRI divided and rebuild using three-dimensional registration module
Three-dimensional data acquired in middle 3-D scanning is overlapped, and the two is made to be integrated, and then recycles surgical instrument to carry out minimally invasive
Operation, display be in preoperative diagnosis image and art shoot image combination, doctor can not individually obtain preoperative diagnosis image or
Image is shot in art.
Therefore it provides a kind of simultaneously can not only can also show preoperative diagnosis image with shooting image in art and be combined
Computer minimally invasive surgery system becomes urgent problem in the industry.
Invention content
The purpose of this utility model is to provide one kind can show that image and preoperative image are in order to surgical procedure in art simultaneously
And observe the area of computer aided Minimally Invasive Surgery device and method of the concrete condition of lesions position.
First, the first of the utility model has been designed to provide a kind of area of computer aided Minimally Invasive Surgery device, including：In
Central processor and the surgical apparatus with optical tracking label and camera being connect by data line with central processing unit.Meter
The top that calculation machine auxiliary Minimally Invasive Surgery device further comprises the support arm being connected at the top of central processing unit, is set to support arm
The first manipulator, be set to support arm side the second manipulator and be set to support arm the other side third machine
Tool hand is connected with infrared optics position indicator on the first manipulator, video display in art, third machine is connected on the second manipulator
Tool is connected with 3-dimensional image display on hand.
Selectively, central processing unit is equipped with：The image receiver module that sets gradually, three-dimension varying module, site matching
Module and space orientation module, wherein image receiver module is for receiving image in preoperative diagnosis image and art；Three-dimension varying
Module, which is used to convert preoperative diagnosis image, generates three-dimensional image；Site matching module is used for three-dimensional image and art
Middle image carries out space site Corresponding matching；And space orientation module is for receiving the optics captured by infrared optics position indicator
Trace labelling is to determine specific location of the cursor for representing surgical apparatus in three-dimensional image.
Selectively, central processing unit is additionally provided with the size change between three-dimension varying module and site matching module
Module is used to that the size of three-dimensional image to be amplified and/or be reduced.
Selectively, central processing unit is additionally provided with the rotary module communicated to connect with space orientation module, is used to control
Cursor carries out 360 degree rotation.
Selectively, 3-dimensional image display is touch-screen display.
Selectively, preoperative diagnosis image includes：CT images and nuclear magnetic resonance image.
Selectively, the quantity of optical tracking label is at least three.
Selectively, the first manipulator, the second manipulator and third manipulator are three freedom degree manipulator.
Selectively, central processing unit is provided with CD-ROM drive and/or USB interface for reading preoperative diagnosis image.
Selectively, surgical apparatus can be specially in endoscope, minimally invasive pincers, dissector, laparoscope scissors, diathermy forceps
Any one.
Selectively, central processing unit is equipped with the network interface for obtaining preoperative diagnosis image by network.
Selectively, video display and 3-dimensional image display include gesture induction component in art.
Second of the utility model is designed to provide a kind of user of above computer auxiliary Minimally Invasive Surgery device
Method comprising：Preoperative diagnosis image is read by central processing unit, and is generated three-dimensional image；Pass through infrared optics
Position indicator captures the optical tracking label of surgical apparatus, thus it is speculated that goes out the residing spatial position of surgical apparatus；Pass through image in art
Image in the art of the focal area of the camera shooting of display display surgical apparatus；And it is shown by 3-dimensional image display
Specific location of the surgical apparatus in three-dimensional image.
The utility model has the beneficial effects that：(1), the simple structure of surgical apparatus, it is compact-sized and easily operated；
(2), the true picture shot in the three-dimensional image and art that preoperative diagnosis image generates can be shown simultaneously, it not only can be clearly
Understand the specific site of organ residing for surgical apparatus, while the concrete condition of lesions position can also be clearly observed；(3),
In the course of surgery, three-dimensional image can be amplified at any time by 3-dimensional image display and is waited for more clearly from observing
The ambient conditions of operative site ensure that operation is more smoothly accurate and successfully carry out；(4), manipulator has three degree of freedom energy
Enough freely, positioning is reliable, facilitates the viewing of doctor for the movement of guarantee display and infrared ray catcher.
Description of the drawings
Fig. 1 shows the organigram of the area of computer aided Minimally Invasive Surgery device of the utility model.
Fig. 2 shows the organigrams of the central processing unit of the utility model.
Fig. 3 shows the flow chart of the application method of the area of computer aided Minimally Invasive Surgery device of the utility model.
Specific implementation mode
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and should not be understood as to the utility model
Limitation.
Fig. 1 is please referred to, as a kind of non-limiting embodiment, the area of computer aided Minimally Invasive Surgery device of the utility model
Including：Surgical apparatus 100, central processing unit 200, support arm 300, the first manipulator 400, the second manipulator 500 and third
It is fixed to be connected separately with infrared optics on first manipulator 400, the second manipulator 500 and third manipulator 600 for manipulator 600
Video display 510 and 3-dimensional image display 610 in position instrument 410, art.
Wherein, set on surgical apparatus 100 there are three optical tracking label 110 and camera (not shown), thus utilize into
The true lesion image of presentation of focal area can be taken by entering the camera on surgical apparatus 100 in patient body.
Central processing unit 200 can receive such as CT images and nuclear magnetic resonance figures by the CD-ROM drive 201 or USB interface 202 being arranged on
The preoperative diagnosis image of picture is simultaneously generated three-dimensional image, while can also pass through data line 120 and 100 phase of surgical apparatus
Connection, to receive image in the art by the focal area of the camera shooting of surgical apparatus 100.
Infrared optics position indicator 410 can capture the label of the optical tracking on surgical apparatus 100, to deduce surgical apparatus
Spatial position residing for 100.Video display 510 can then be shown by the lesion of the camera shooting of surgical apparatus 100 in art
Image in the art in region.And what 3-dimensional image display 610 was shown is then the 3 dimensional drawing generated by central processing unit 200
Picture, while can also show specific location of the surgical apparatus 100 in three-dimensional image.Doctor is when performing the operation as a result,
Visually determine the concrete facticity position of surgical apparatus 100 on video display 510 in art by infrared optics position indicator 410
Set, meanwhile, 3-dimensional image display 610 synchronously show generated according to the preoperative diagnosis image of patient's patient part it is opposite
Specific location of the three-dimensional image and surgical apparatus 100 for the focal zone answered in three-dimensional image, doctor pass through simultaneously
Using two image datas, more accurate the case where clearly understanding lesion, it is ensured that the accuracy and success rate of operation.
In this nonlimiting, as shown in Fig. 2, central processing unit 200 is equipped with：Image receiver module 210, three-dimensional
Conversion module 220, site matching module 230, space orientation module 240, size change over module 250 and rotary module 260.
Wherein, image receiver module 210 can be received by CD-ROM drive on central processing unit 200 or USB interface such as CT images and
Image in the art of preoperative diagnosis image and surgical apparatus 100 shooting of nuclear magnetic resonance image.Three-dimension varying module 220 then can be by art
Preceding diagnostic image conversion generates three-dimensional image.Site matching module with 230 then by image in three-dimensional image and art into
Row space site Corresponding matching, space orientation module 240 then receive the optical tracking mark captured by infrared optics position indicator 410
Note, to determine to represent specific location of the cursor of surgical apparatus 100 in three-dimensional image.When needs are to disease
Stove area carries out more careful observation or it should be understood that when macro position of the surgical apparatus 100 residing for lesion organ, size
Conversion module 250 can zoom in or out the size of three-dimensional image, while control cursor using rotary module 260
360 degree rotation is carried out, the more careful subtle situation for specifically observing focal area.
As a kind of non-limiting embodiment, the first manipulator 400, the second manipulator 500 and third manipulator 600
Three degree of freedom is all had, so as to neatly adjust video display 510 and three-dimensional in infrared optics position indicator 410, art
The direction of video display 610, convenient in the viewing angle of operating room small space endoadaptation doctor, facilitating the operation of doctor.
As another non-limiting embodiment, 3-dimensional image display 610 is touch-screen display, to more square
Just operation of the doctor for three-dimensional image improves the operation ease of operation.
Based on same thought, the utility model additionally provides the application method of area of computer aided Minimally Invasive Surgery device, such as
Shown in Fig. 3, in step sl, the preoperative diagnosis image of patient is read by central processing unit first, and is generated three-dimensional vertical
Body image.Then, in step s 2, the optical tracking that surgical apparatus is captured by infrared optics position indicator marks, thus it is speculated that sells
Spatial position residing for art equipment.Then, in step s3, show that the camera of surgical apparatus is clapped by video display in art
Image in the art for the focal area taken the photograph finally in step s 4, shows that surgical apparatus is vertical in three-dimensional by 3-dimensional image display
Specific location in body image.So as to full apparent understanding lesion the case where, with more quickly and accurately complete perform the operation.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means that specific features, structure or feature described in conjunction with this embodiment or example include
In at least one embodiment or example of the utility model.In the present specification, schematic expression of the above terms need not
It must be directed to identical embodiment or example.In addition, without conflicting with each other, those skilled in the art can incite somebody to action
The feature of different embodiments or examples and different embodiments or examples described in this specification is combined.
Although the embodiments of the present invention have been shown and described above, it is to be understood that above-described embodiment is
Illustratively, it should not be understood as limiting the present invention, those skilled in the art are in the scope of the utility model
Inside it can make changes, modifications, alterations, and variations to the above described embodiments.
Claims (8)
1. a kind of area of computer aided Minimally Invasive Surgery device, including：Central processing unit and pass through data with the central processing unit
The surgical apparatus with optical tracking label and camera of line connection, it is characterised in that：The area of computer aided Minimally Invasive Surgery
Device further comprises the support arm being connected at the top of the central processing unit, first machine at the top for being set to the support arm
Tool hand, be set to the support arm side the second manipulator and be set to the support arm the other side third machine
Tool hand is connected with infrared optics position indicator on first manipulator, and being connected with image in art on second manipulator shows
Device is connected with 3-dimensional image display on the third manipulator.
2. area of computer aided Minimally Invasive Surgery device as described in claim 1, which is characterized in that the 3-dimensional image display is
Touch-screen display.
3. area of computer aided Minimally Invasive Surgery device as described in claim 1, which is characterized in that the number of the optical tracking label
Amount is at least three.
4. area of computer aided Minimally Invasive Surgery device as described in claim 1, which is characterized in that first manipulator, described
Second manipulator and the third manipulator are three freedom degree manipulator.
5. area of computer aided Minimally Invasive Surgery device as described in any one of claims 1 to 4, which is characterized in that the operation
Equipment is any one in endoscope, minimally invasive pincers, dissector, laparoscope scissors and diathermy forceps.
6. area of computer aided Minimally Invasive Surgery device as described in any one of claims 1 to 4, which is characterized in that the center
Processor is provided with CD-ROM drive and/or USB interface.
7. area of computer aided Minimally Invasive Surgery device as described in any one of claims 1 to 4, which is characterized in that the center
Processor is equipped with network interface.
8. area of computer aided Minimally Invasive Surgery device as described in any one of claims 1 to 4, which is characterized in that in the art
Video display and 3-dimensional image display include gesture induction component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720704916.4U CN208017582U (en) | 2017-06-16 | 2017-06-16 | Area of computer aided Minimally Invasive Surgery device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720704916.4U CN208017582U (en) | 2017-06-16 | 2017-06-16 | Area of computer aided Minimally Invasive Surgery device |
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| Publication Number | Publication Date |
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| CN208017582U true CN208017582U (en) | 2018-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720704916.4U Active CN208017582U (en) | 2017-06-16 | 2017-06-16 | Area of computer aided Minimally Invasive Surgery device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111821024A (en) * | 2020-03-27 | 2020-10-27 | 台湾骨王生技股份有限公司 | Operation navigation system and imaging method thereof |
| CN116584871A (en) * | 2023-05-18 | 2023-08-15 | 江苏欧曼电子设备有限公司 | Fluorescent endoscope intelligent camera shooting inspection device |
-
2017
- 2017-06-16 CN CN201720704916.4U patent/CN208017582U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111821024A (en) * | 2020-03-27 | 2020-10-27 | 台湾骨王生技股份有限公司 | Operation navigation system and imaging method thereof |
| CN116584871A (en) * | 2023-05-18 | 2023-08-15 | 江苏欧曼电子设备有限公司 | Fluorescent endoscope intelligent camera shooting inspection device |
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