CN210277364U

CN210277364U - Integrated external-view mirror laparoscope system

Info

Publication number: CN210277364U
Application number: CN201920214975.2U
Authority: CN
Inventors: 乔铁; 雷凌云; 高瑞; 乔景亮
Original assignee: Guangzhou Qiaotie Medical Technology Co ltd
Current assignee: Guangzhou Qiaotie Medical Technology Co ltd
Priority date: 2019-02-20
Filing date: 2019-02-20
Publication date: 2020-04-10
Anticipated expiration: 2029-02-20

Abstract

The utility model discloses an integrated external-view mirror laparoscope system, which comprises a laparoscope device, an external-view mirror device and a robot; the robot comprises a working trolley, a camera manipulator and a plurality of display screens; one end of the camera manipulator is movably connected with the working trolley, and the other end of the camera manipulator is a free end; the display screens are respectively connected with the laparoscope device and the outside mirror device; the laparoscope device is arranged on the workbench vehicle; the external view mirror device comprises a scene camera and/or a surgical field imaging device; the scene camera shooting equipment is rotatably arranged on the working trolley; the surgical field imaging equipment is detachably connected with the free end of the camera manipulator. The utility model discloses can help the main sword doctor to make accurate judgement to pathological change, be favorable to reducing the operation risk.

Description

Integrated external-view mirror laparoscope system

Technical Field

The utility model belongs to the field of medical equipment, concretely relates to integration outside mirror peritoneoscope system.

Background

In abdominal surgery, minimally invasive surgery, open abdominal surgery, or minimally invasive mid-open abdominal surgery is often used.

Minimally invasive surgery is usually performed by a laparoscope, has small incision, less bleeding in the surgery, quick postoperative recovery, less psychological pressure of a patient and smaller scar after recovery, so that about 90 percent of abdominal surgeries are performed by minimally invasive surgery in actual use.

And 5 to 10 percent of patients with serious diseases need to select an open abdominal operation, and the open abdominal operation has the advantages of touch feeling and more visual operation visual field than a laparoscopic operation.

The minimally invasive translaparotomy is usually performed by minimally invasive surgery because the surgery is uncertain, the minimally invasive surgery is difficult to handle due to poor vision or more serious diseases than expected, the minimally invasive surgery is required to be switched to the laparotomy midway, and about 5% of the surgeries are minimally invasive translaparotomy.

However, in the operation processes, no diagnosis equipment is used in a matched manner, and the doctor of the main knife can only rely on visual observation to perform the operation, so that the doctor of the main knife can not make accurate judgment on certain pathological changes, and the operation risk is increased.

Therefore, a new technology is needed to solve the above problems in the prior art.

SUMMERY OF THE UTILITY MODEL

For solving the above-mentioned problem among the prior art, the utility model provides an integration outside mirror peritoneoscope system can help the main sword doctor to make accurate judgement to pathological change, is favorable to reducing the operation risk.

The utility model adopts the following technical scheme:

an integrated endoscope laparoscope system, which comprises a laparoscope device, an endoscope device and a robot;

the robot comprises a working trolley, a camera manipulator and a plurality of display screens; one end of the camera manipulator is movably connected with the working trolley, and the other end of the camera manipulator is a free end; the display screens are respectively connected with the laparoscope device and the outside mirror device;

the laparoscope device is arranged on the working trolley;

the external view mirror device comprises scene camera equipment and/or operative field imaging equipment; the scene camera shooting equipment is rotatably arranged on the working trolley; the surgical field imaging equipment is detachably connected with the free end of the camera manipulator.

Further as an improvement of the technical solution of the present invention, the scene camera device includes an image processing host and at least one first high definition camera; the image processing host is arranged on the working trolley; the first high-definition camera is arranged above the working trolley; the image processing host is connected with the first high-definition camera.

Further as the utility model discloses technical scheme's improvement, the angle of view of first high definition digtal camera is more than or equal to 90.

Further conduct the utility model discloses technical scheme's improvement, art wild imaging device includes one or more among high definition camera device, 3D imaging device, the infrared thermal imaging device, the confocal scanning imaging device of laser, OCT imaging device and the color Doppler supersound imaging device.

Further as an improvement of the technical solution of the present invention, the high-definition camera device includes a second camera host and a second high-definition camera that can be focused; the second camera shooting host is arranged on the working trolley; the second high-definition camera is detachably arranged at the free end of the camera manipulator; and the second camera host is connected with the second high-definition camera.

Further as the utility model discloses technical scheme's improvement, the resolution ratio of second high definition digtal camera is 1920 x 1080 resolution ratio, at least 1300 ten thousand pixels, and the frame rate is not less than 30fps, and the magnification is no less than 22 times.

Further as an improvement of the technical solution of the present invention, the 3D imaging device includes a 3D camera and a 3D host; the 3D camera comprises a first independent camera and a second independent camera, the first independent camera and the second independent camera are mounted at the free end of the camera manipulator, and the first independent camera and the second independent camera are respectively connected with the 3D host; the first independent camera and the second independent camera are used for simultaneously and respectively imaging the same target; the 3D host computer is installed on the working trolley, and the 3D host computer is used for carrying out 3D processing on the imaging of the first independent camera and the second independent camera and outputting the processed 3D image to the display screen.

Further as an improvement of the technical scheme of the utility model, the infrared thermal imaging device comprises an infrared camera and an infrared thermal imaging host; the infrared camera is arranged at the free end of the camera manipulator; the detection temperature precision of the infrared camera is 0.5 ℃, and the thermal sensitivity of the infrared camera is less than or equal to 0.05 ℃; the infrared thermal imaging host is arranged on the working trolley and used for processing the images shot by the infrared camera and forming thermal images to be output to the display screen.

Further as an improvement of the technical solution of the present invention, the confocal laser scanning imaging device includes a scanning focusing lens, a laser light source host and a first computer; the scanning focusing lens is arranged at the free end of the camera manipulator, and a detector, a first scanning device, a confocal device and an optical device which are connected in sequence are arranged in the scanning focusing lens; the laser light source host is arranged on the working trolley and is connected with the first scanning device; the first computer is connected with the detector and used for collecting, processing and converting data of the detector and outputting the data to the display screen in the form of images.

Further as the improvement of the technical proposal of the utility model, the scanning linear velocity of the first scanning device is at least 2500 lines/second, the resolution ratio is not less than 256 multiplied by 256, and the frame rate is not less than 4 frames/second; the adjustment range of the pinhole of the confocal device is more than 12-256 μm; the spectral range of the laser light source host is adjusted to be more than 400-750nm, and the adjustment precision is less than or equal to 2.5 nm.

Further as the improvement of the technical solution of the present invention, the OCT imaging apparatus includes an OCT scanning lens, an OCT host, and a second computer; the OCT scanning lens is arranged at the free end of the camera manipulator in a swinging way, the distance between the OCT scanning lens and a measured target is adjustable, and the OCT scanning lens comprises a third high-definition camera and a second scanning device; the OCT host computer is arranged on the working trolley and connected with the OCT scanning lens, and comprises a diode light source, a spectrometer, a driving electronic device and a controller; the second computer is installed on the working trolley and is respectively connected with the OCT scanning lens and the OCT host, and the second computer is used for controlling the OCT scanning lens, collecting and processing data of the OCT scanning lens and the OCT host, forming an OCT image and outputting the OCT image to the display screen.

Further as the utility model discloses technical scheme's improvement, second scanning device's scanning rate is 5500 ~ 36000 line/second, and 20 frames/second are no less than to real-time imaging rate, and the scanning range is not more than 12mm x 3.4 mm.

Further as an improvement of the technical solution of the present invention, the color doppler ultrasound imaging apparatus includes an ultrasound probe, an ultrasound imaging host and an operation panel; the ultrasonic probe is arranged at the free end of the camera manipulator; the ultrasonic imaging host and the operation panel are arranged on the working trolley and are respectively connected with the ultrasonic probe; the ultrasonic imaging host is used for storing and viewing images acquired by the ultrasonic probe; the operation panel is used for controlling the swing of the ultrasonic probe.

Further as an improvement of the technical scheme of the utility model, the working trolley comprises a trolley base, a bracket fixed on the trolley base, a mechanical upright post, a plurality of imaging manipulators and a plurality of layers of bearing clapboards; the mechanical upright is fixed on the working trolley, and the upper end of the mechanical upright is connected with the camera manipulator; one end of the imaging manipulator is fixedly connected with the upper end of the mechanical upright post, the bearing partition plate is movably connected with the bracket, and the height of the bearing partition plate relative to the bracket is adjustable; the bottom of platform truck base is equipped with a plurality of universal castor.

Further as the utility model discloses technical scheme's improvement, the video display manipulator has 5 degrees of freedom at least, and the length of video display manipulator is adjustable.

Further as an improvement of the technical solution of the present invention, the camera manipulator has at least 5 degrees of freedom; the free end of the camera manipulator is provided with a clamping head, and the operative field imaging equipment is connected with the clamping head. Compared with the prior art, the beneficial effects of the utility model are that:

the utility model integrates the laparoscope device and the external view mirror device together, and is installed on the robot together, thus being capable of simultaneously meeting the operation requirements of minimally invasive surgery, open abdominal surgery or open abdominal surgery in minimally invasive surgery; under the help of the outside-view mirror device, the doctor of the main knife can be helped to make accurate judgment on pathological changes, so that the operation scheme is adjusted pertinently, the operation time is shortened, the operation risk is reduced, the pain of a patient is relieved, and the pressure of the doctor is relieved.

Drawings

The technology of the present invention will be further described in detail with reference to the accompanying drawings and detailed description:

fig. 1 is a schematic overall structure diagram of a first embodiment of the present invention;

fig. 2 is a schematic structural view of the robot of the present invention;

fig. 3 is a schematic view of the connection between the image display manipulator and the display screen according to the present invention;

fig. 4 is a schematic view of the back of the robot of the present invention;

FIG. 5 is a schematic view of the laparoscope of the present invention;

FIG. 6 is an enlarged view of the working end of the laparoscope of the present invention;

fig. 7 is a schematic view of a first high-definition camera according to a first embodiment of the present invention mounted on a mechanical column;

fig. 8 is a schematic overall structure diagram of a second embodiment of the present invention;

figure 9 is a schematic view of the second high definition camera of figure 8;

fig. 10 is a schematic overall structure diagram of a third embodiment of the present invention;

fig. 11 is a schematic view of the 3D camera of fig. 10;

fig. 12 is a schematic overall structure diagram of a fourth embodiment of the present invention;

FIG. 13 is a schematic view of the infrared camera of FIG. 12;

fig. 14 is a schematic overall structure diagram of a fifth embodiment of the present invention;

FIG. 15 is a schematic diagram of the scan focus lens of FIG. 14;

fig. 16 is a schematic overall structure diagram of a sixth embodiment of the present invention;

FIG. 17 is a schematic diagram of the OCT scanning lens of FIG. 16;

fig. 18 is a schematic view of the overall structure of the seventh embodiment of the present invention

Fig. 19 is a schematic view of the ultrasound probe of fig. 18.

Detailed Description

The conception, specific structure and technical effects of the present invention will be described clearly and completely with reference to the accompanying drawings and embodiments, so as to fully understand the objects, aspects and effects of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The same reference numbers will be used throughout the drawings to refer to the same or like parts.

It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, the description of the upper, lower, left, right, etc. used in the present invention is only relative to the mutual positional relationship of the components of the present invention in the drawings.

The first embodiment is as follows:

the integrated exoscope laparoscopic system, as shown in fig. 1 to 7, includes a laparoscopic device 1, an exoscope device 2, and a robot 3.

As shown in fig. 1 to 4, the robot 3 includes a working trolley 31, a mechanical upright 32, a camera manipulator 33, a plurality of display manipulators 34, and a plurality of display screens 35; the mechanical upright column 32 is fixed on the working trolley 31; one end of the image display manipulator 34 is fixedly connected with the upper end of the mechanical upright post 32, and the other end is movably connected with the display screen 35; one end of the camera manipulator 33 is movably connected with the upper end of the mechanical upright post 32, and the other end is a free end; the plurality of display screens 35 are respectively connected to the laparoscope device 1 and the external view mirror device 2.

The working trolley 31 comprises a trolley base 311, a bracket 312 fixed on the trolley base 311 and a plurality of layers of bearing clapboards 313; the left side and the right side of the bearing partition 313 are movably connected with the bracket 312, the height of the bearing partition 313 relative to the bracket 312 can be adjusted, and the height between the bearing partitions 313 can be conveniently adjusted according to the specific condition of a bearing article so as to adapt to the bearing article; the bottom of platform truck base 311 is equipped with a plurality of universal truckle 3111, specifically is 4 universal auto-lock wheels, conveniently adjusts the position of whole integration exterior mirror peritoneoscope system to adapt to the operation demand.

The image display manipulator 34 has at least 5 degrees of freedom, the length of the image display manipulator 34 is adjustable, and the motion of the image display manipulator 34 can be adjusted in a manual or motor-driven or intelligent control driving (such as voice control) mode.

In the present embodiment, as shown in fig. 2 and 3, the visualization robot 34 includes a visualization large arm 341, and a visualization small arm 342 rotatably connected to one end of the visualization large arm 341; one end of the large imaging arm 341 far away from the small imaging arm 342 is fixedly connected with the mechanical upright post 32; the length of the small imaging arm 342 is adjustable, and one end, far away from the large imaging arm 341, of the small imaging arm 342 is rotatably connected with the display screen 35, so that the display is conveniently driven to display in a proper angle direction, and a doctor can conveniently check the image.

Specifically, the small arm 342 has three segments, which are respectively a first small arm segment 3421, a second small arm segment 3422 and a third small arm segment 3423, wherein the first small arm segment 3421, the second small arm segment 3422 and the third small arm segment 3423 are sequentially and rotatably connected, the outer end of the first small arm segment 3421 is rotatably connected with the large arm 341, and the display screen 35 at the outer end of the third small arm segment 3423 is rotatably connected.

The imaging manipulator 33 has at least 5 degrees of freedom; the free end of the camera manipulator 33 is provided with a clamping head 331, the surgical field imaging device is connected with the clamping head 331, and the movement of the camera manipulator 33 can be adjusted in a manual or motor-driven or intelligent control-driven (such as voice control) mode. In the present embodiment, as shown in fig. 2, the camera manipulator 33 includes a large imaging arm 332, a small imaging arm 333, and a chuck 331; one end of the large camera arm 332 is movably connected with the mechanical upright post 32, and the other end is rotatably connected with one end of the small camera arm 333; the other end of the small camera arm 333 is hinged with the clamping head 331, and the operative field imaging equipment is connected with the clamping head 331, so that the adjustment is convenient. The collet 331 is provided with a plurality of mounting holes for connection with different operative field imaging devices.

The imaging manipulator 33 and the visualization manipulator 34 are both commonly used manipulators in medical equipment, and only one of them is selected for the description above, but the actual use is not limited to this.

As shown in fig. 1, 5 and 6, the laparoscope device 1 comprises a first camera host 11, a cold light source host 12 and a laparoscope 13; the first camera main unit 11 and the cold light source main unit 12 are mounted on a bearing partition 313 of the working trolley 31; the laparoscope 13 is connected with the first camera main unit 11 and the cold light source main unit 12. The laparoscope device 1 is a necessary tool for performing an abdominal minimally invasive surgery, cold light emitted by the cold light source host 12 is emitted through the laparoscope 13 to illuminate in the abdominal cavity of a patient, meanwhile, the laparoscope 13 feeds back a shot picture to the first camera host 11, the shot picture is displayed on the display screen 35 after being processed by the first camera host 11, and a doctor operates an instrument to perform a surgery according to the displayed image picture.

Specifically, as shown in fig. 5 and 6, the laparoscope 13 is a hard tube laparoscope, and is provided with a working end 131, a cold light source connector end 132 and a camera control end 133, wherein the length of the working end 131 is 100 mm-350 mm, the diameter is less than or equal to 15.0mm, and the edge of the end of the working end 131 is passivated; the cold light source connector end 132 is connected with the cold light source host 12 through a light guide optical fiber to provide cold light source illumination for the laparoscope 13. The end face of the working end 131 is provided with a camera 1311 and a cold light outlet 1312, the camera 1311 has at least 2 times of optical zoom function, the effective resolution is 1280 × 720 or 1920 × 1080, and an optical lens or an electronic optical lens can be adopted; the image pickup control terminal 133 is provided with buttons and a focus ring, and can perform various function settings and zooming.

In this embodiment, an optical lens is selected. The cold light emitted by the cold light source is emitted into the abdominal cavity through the cold light outlet 1312, the light reflected in the abdominal cavity is reflected on the camera through the optical lens to be converted into a digital image signal, the digital image signal is transmitted to the first camera main unit 11 through the data line to be processed and stored, the digital image signal is directly displayed on the display or the display after passing through the image regulator, and the size and the definition of the image are adjusted through the button and the focusing ring of the camera control end 133.

Wherein, the external-view mirror device 2 comprises a scene camera 21 and/or a surgical field imaging device; the scene camera 21 is rotatably mounted on the mechanical upright 32; the operative field imaging apparatus is detachably connected to the free end of the camera manipulator 33. The surgical field imaging device comprises one of a high-definition camera 22, a 3D imaging device 23, an infrared thermal imaging device 24, a laser confocal scanning imaging device 25, an OCT imaging device 26 and a color Doppler ultrasound imaging device 28.

Note that, in the present embodiment, the outside mirror device 2 is selected as the scene imaging apparatus 21.

Specifically, as shown in fig. 1 and 7, the scene camera 21 includes an image processing host 211 and at least one first high-definition camera 212; the image processing main unit 211 is mounted on a bearing partition 313 of the work carriage 31; the first high definition camera 212 is mounted on the mechanical upright 32; the image processing host 211 is connected to a first high-definition camera 212.

In this embodiment, the number of the first high-definition cameras 212 is 4, the field angle of the first high-definition cameras 212 is greater than or equal to 90 °, the panoramic camera is used for shooting and recording medical scenes, and the shot pictures are displayed on the display screen 35 after being processed by the image processing host 211, so that the overall grasping of the doctor in the operating room is facilitated, and the regulation and control of the doctor are facilitated.

On the other hand, when the minimally invasive surgery is performed, the scene imaging device 21 is matched with the laparoscope device 1 under the condition that the patient who takes the minimally invasive surgery agrees, so that the operation action of the main surgeon (particularly the top surgeon) in the abdomen and the operation method of the instruments outside the abdomen can be recorded simultaneously, the operation action of the main surgeon (particularly the top surgeon) in the abdomen and the operation action of the instruments outside the abdomen can be in one-to-one correspondence, the minimally invasive surgery teaching device can be used for operation teaching, students can learn the operation method of high-level doctors, and the minimally invasive surgery device is beneficial to improving the operation technology.

Example two:

an integrated outside view laparoscope system comprises a laparoscope device 1, an outside view device 2 and a robot 3. The external view mirror device 2 includes a scene imaging apparatus 21 or a surgical field imaging apparatus. The laparoscope device 1 and the robot 3 in this embodiment are substantially the same as those in the first embodiment, and will not be described herein.

The external viewing mirror device 2 in the present embodiment adopts a surgical field imaging apparatus, specifically, the surgical field imaging apparatus adopts a high-definition camera device 22.

As shown in fig. 8 and 9, the high-definition camera 22 includes a second camera host 221 and a second high-definition camera 222 capable of focusing; the second camera main unit 221 is mounted on the bearing partition 313 of the work carriage 31; the second high-definition camera 222 is detachably mounted on the chuck 331 at the free end of the camera manipulator 33; the second camera host 221 is connected with the second high-definition camera 222; also included is an LED illumination lamp 223 adjacent to the second high definition camera 222. When the open-abdomen type operation is performed, the second high-definition camera 222 can shoot the operative field in real time and is processed and projected onto the display screen 35 through the second camera host 221, so that the doctor only needs to look at the display screen 35 at head for performing the operation, does not need to look down to the operative field at the abdomen, and is beneficial to the cervical vertebra health of the doctor.

Specifically, the resolution of the second high-definition camera 222 is 1920 × 1080 resolution, at least 1300 ten thousand pixels, the frame rate is not lower than 30fps, and the magnification is not less than 22 times, because the second high-definition camera 222 shoots a clear picture, and can magnify at least 22 times, compared with the conventional visual field, the visual field can be seen more clearly, which is beneficial for an active doctor to make more accurate judgment, and is particularly beneficial for the surgical treatment of tiny pathological changes.

Based on the structures, the integrated external-view mirror laparoscope system of the embodiment meets the basic requirements of minimally invasive surgery, open abdominal surgery or minimally invasive mid-open abdominal surgery, and is suitable for the three types of abdominal surgeries; compared with the traditional open-abdomen type operation, the doctor can see the operative field more clearly through the high-definition camera 22, which is beneficial to the operation; meanwhile, the scene camera equipment 21 is arranged, so that a doctor can grasp the condition of the whole operating room, and the command operation is facilitated; the scene camera device 21 can also record the operation technique of the main scalpel doctor on the instruments outside the abdomen during the abdominal minimally invasive surgery, and the operation technique corresponds to the operation in the abdomen one by one, which is beneficial to teaching.

Example three:

The external viewing mirror device 2 in the present embodiment adopts a surgical field imaging apparatus, specifically, the surgical field imaging apparatus adopts a 3D imaging device 23, as shown in fig. 10 and 11, the 3D imaging device 23 includes a 3D camera 231 and a 3D host 232.

The 3D camera 231 includes a first independent camera 2311 and a second independent camera 2312, and the first independent camera 2311 and the second independent camera 2312 are fixed together and mounted on the chuck 331 at the free end of the camera manipulator 33. The first and second

independent cameras

2311 and 2312 are connected with the 3D host 232, respectively; the first and second

independent cameras

2311 and 2312 are used for simultaneously and respectively imaging the same target; the 3D master 232 is installed on the bearing partition 313 of the workbench 31, and the 3D master 232 is configured to perform 3D processing on the images of the first independent camera 2311 and the second independent camera 2312 and output the processed 3D images to the display screen 35.

Through above structure, use two independent cameras to simulate two eyes of people, come to shoot same object alone, shoot the back and carry out 3D through 3D host 232 and handle formation 3D image and show on display screen 35. The 3D host 232 can output 3D images of 3 modes, which are three-dimensional stereoscopic images that can be seen only by wearing 3D glasses, or naked-eye 3D images that can be seen without wearing 3D glasses, or displayed on a display in a three-dimensional stereoscopic model form.

The 3D technology 3D provides a plane image, but the 3D imaging device 23 can display the operative field on the display screen 35 in the abdomen opening stage of the open abdomen type operation or the minimally invasive middle open abdomen type operation, so that the active doctor does not need to look over the head, and the cervical vertebra health of the doctor is facilitated; the image displayed on the display screen 35 by the 3D imaging device 23 is a 3D image, so that brand-new fineness and definition which cannot be realized by the traditional imaging technology can be provided, and the 3D imaging device has better recording and visualization modes of medical procedures with better depth, shape and shape, is more realistic, and is beneficial for doctors to diagnose more spectra; the doctor can also carry out the operation according to the three-dimensional structure image of tissue and guide, operation planning, 3D operation simulation rehearsal and 3D operation simulation teaching to and human organ shape reproduction etc. and can print out human organ model with the 3D printer combination.

Example four:

The external viewing mirror device 2 in the present embodiment adopts a surgical field imaging apparatus, specifically, an infrared thermal imaging device 24, as shown in fig. 12 and 13.

The infrared thermal imaging device 24 includes an infrared camera 241 and an infrared thermal imaging host 242; the infrared camera 241 is arranged on a clamping head 331 at the free end of the camera manipulator 33; the detection temperature precision of the infrared camera 241 is 0.5 ℃, and the thermal sensitivity of the infrared camera 241 is less than or equal to 0.05 ℃; the infrared thermal imaging host 242 is installed on the bearing partition 313 of the working trolley 31, and the infrared thermal imaging host 242 is used for performing image processing on the picture shot by the infrared camera 241, forming a thermal image and outputting the thermal image to the display screen 35.

The infrared rays detected by the infrared camera 241 are filtered, collected, modulated and photoelectrically induced to be converted into electrical signals, and the electrical signals are converted into digital signals through A/D conversion, and then the image is processed by the infrared thermal imaging host 242 to form a thermal image which is displayed on the display.

Different pathological tissues have different blood flow volumes, so that the temperatures of the pathological tissues have slight differences, for example, the blood flow volume of an inflammatory pathological area is higher, the temperature is slightly higher than that of a normal tissue, but the pathological tissues are difficult to distinguish visually, and the infrared thermal imaging device 24 can easily distinguish the pathological tissues, so that a doctor can clearly determine the pathological tissues during an operation, the precision and the operation speed are improved, the operation time is shortened, and the pain of a patient is relieved.

Example five:

The external viewing mirror device 2 in the present embodiment adopts a surgical field imaging apparatus, specifically, the surgical field imaging apparatus adopts a confocal laser scanning imaging device 25.

As shown in fig. 14 and fig. 15, the confocal laser scanning imaging device 25 includes a scanning focusing lens 251, a laser light source host 252, and a first computer 253; the scanning focusing lens 251 is installed at the free end of the camera manipulator 33, and a detector, a first scanning device, a confocal device and an optical device which are connected in sequence are arranged in the scanning focusing lens 251; the laser light source main machine 252 is arranged on the bearing partition 313 of the working trolley 31 and is connected with the first scanning device; the first computer 253 is connected with the detector, and the first computer 253 is used for collecting, processing and converting the data of the detector and outputting the data to the display screen 35 in the form of images.

Specifically, the linear scanning speed of the first scanning device is at least 2500 lines/second, the resolution is not less than 256 multiplied by 256, and the frame rate is not less than 4 frames/second; the adjustment range of the pinhole of the confocal device is more than 12256 mu m; the spectral range of the laser source host 252 is adjusted to be more than 400750nm, and the adjustment precision is less than or equal to 2.5 nm.

The working process and characteristics are as follows: the laser light source main machine 252 is used as a light source, the laser light source main machine 252 emits laser, the laser is transmitted to the scanning focusing lens 251 through a light guide beam, the first computer 253 is used for controlling, planar scanning imaging is carried out on a target, obtained data are transmitted to the first computer 253 through a data line for imaging, the first computer 253 is used for carrying out digital image processing observation, analysis, three-dimensional reconstruction simulation and output on an observed object, and finally, the digital image processing observation, analysis, three-dimensional reconstruction simulation and output are displayed on the display screen 35.

The confocal laser scanning imaging device 25 has high resolution and high sensitivity, can perform tomography and imaging on a sample, perform nondestructive observation and analysis on the three-dimensional spatial structure of cells, observe fixed cells and tissue slices, and perform real-time dynamic observation and detection on the structure, molecules, ions and life activities of living cells, thereby providing an effective means for research and diagnosis of basic medicine and clinical medicine.

The conventional operation does not have the laser confocal scanning imaging device 25, when a tumor is found, the tissue needs to be stripped and sent to an analysis room for pathological analysis, and the next action is carried out after the analysis result is fed back, so that the waiting time is too long, the operation time is prolonged, the doctor has high pressure, and the pain of a patient is increased. In the embodiment, the tumor found during the abdominal operation can be analyzed for pathological conditions during the operation by the confocal laser scanning imaging device 25 to determine whether the tumor is a benign tumor or a malignant tumor, and then further actions are performed, so that the waiting time is reduced, the operation time is greatly shortened, and the pain of the patient is reduced.

Example six:

The external view mirror device 2 in the present embodiment employs a surgical field imaging apparatus, specifically, the surgical field imaging apparatus employs an OCT imaging device 26.

As shown in fig. 16 and 17, the OCT imaging device 26 includes an OCT scanning lens 261, an OCT host 262, and a second computer 263; the OCT scan lens 261 can be arranged at the free end of the camera manipulator 33 in a swinging mode, the distance between the OCT scan lens 261 and a measured object can be adjusted, and the OCT scan lens 261 comprises a third high-definition camera and a second scanning device; the OCT host 262 is mounted on a bearing partition 313 of the working trolley 31 and connected with the OCT scanning lens 261, and the OCT host 262 includes a diode light source, a spectrometer, driving electronics, and a controller; the diode light source is a superluminescent diode; the second computer 263 is installed on the bearing partition 313 of the working trolley 31 and is respectively connected with the OCT scanning lens 261 and the OCT host 262, and the second computer 263 is used for controlling the OCT scanning lens 261, collecting and processing data of the OCT scanning lens 261 and the OCT host 262, and forming an OCT image to be output to the display screen 35.

Specifically, the scanning speed of the second scanning device is 5500-36000 lines/second, the real-time imaging speed is not less than 20 frames/second, and the scanning range is not more than 12mm multiplied by 3.4 mm.

The second computer 263 adopts high-performance hardware and high-end image processing software for processing, and has the functions of data acquisition, data processing, scanning control, OCT image output and the like.

After the light emitted by the superluminescent diode in the OCT host 262 is optically processed by the host, the light is connected to the OCT scanning lens 261 via a light guide beam, the OCT scanning lens 261 performs planar scanning on the target to be measured, and transmits the acquired planar scanning image data to the second computer 263, and the two-dimensional or three-dimensional structural tomographic image of the tissue displayed in a pseudo-color form is obtained by processing the image by the computer. The OCT scan lens 261 is installed at the front end of the camera manipulator 33, and can provide real-time images during OCT data acquisition, and the distance to the target to be measured is controlled and adjusted by a manual or second computer 263, so as to obtain scan images of different planes, and the acquired data is transmitted to the computer, and data collection, data processing, scan control, and OCT image display output are performed by computer software.

The OCT imaging device 26 can perform pathological analysis as in the confocal laser scanning imaging device 25 of the fifth embodiment, and can perform pathology on a detected pathological tissue during an operation without waiting, thereby greatly shortening the operation time and alleviating the pain of a patient.

Example seven:

The external viewing mirror device 2 in the embodiment adopts a surgical field imaging device, and specifically, the surgical field imaging device adopts a color Doppler ultrasonic imaging device 28.

As shown in fig. 18 and 19, the color doppler ultrasound imaging apparatus 28 includes an ultrasound probe 281, an ultrasound imaging host 282, and an operation panel 283; the ultrasonic probe 281 is arranged on a clamping head 331 at the free end of the camera manipulator 33; the ultrasonic imaging host 282 and the operation panel 283 are installed on the bearing partition 313 of the working trolley 31 and are respectively connected with the ultrasonic probe 281; the ultrasound imaging host 282 is used for storing and viewing images acquired by the ultrasound probe 281; the operation panel 283 is used to control the swing of the ultrasonic probe 281.

The ultrasonic imaging host 282 adopts combined modular software design, full digital large-capacity image storage management, and stored images are continuously played back or viewed one by one; the operation panel 283 can control the indexing of the ultrasonic probe 281 in multiple directions.

The ultrasonic probes 281 have various types, which can be switched according to specific use conditions, and the rest ultrasonic probes 281 which are not used temporarily are hung on the bracket 312 of the working trolley 31, and a plurality of fixing holes are correspondingly arranged on the bracket 312.

Based on the above structure, the following explains the working principle:

the ultrasonic probe 281 emits ultrasonic waves and receives reflected delayed echo signals, the echo signals received by the ultrasonic probe 281 are converted into digital signals after signal processing such as filtering, logarithmic amplification and the like, image processing is further performed in the ultrasonic imaging host 282 to form two-dimensional black-and-white ultrasonic images, and blood flow signals in blood vessels obtained by applying an autocorrelation technology are color-coded and then are superimposed in real time to form color Doppler ultrasonic images.

The color Doppler ultrasonic imaging device 28 is used for detecting a human body, so that a blood vessel blood flow image can be detected, the flow direction, the flow speed, the flow range, the blood flow property, the presence or absence of backflow, shunt and the like of blood flow can be intuitively displayed, an artery or a vein can be more easily identified, the blood vessel and other tissues can be distinguished, the pathological change condition of an organ can be diagnosed according to the blood flow image information, an operation scheme is determined, main blood vessels and organs can be avoided according to a real-time visual image during operation, the wound is reduced, and the accuracy is improved.

Other contents of the integrated laparoscope system of the present invention are referred to in the prior art and are not repeated herein.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, so that any modification, equivalent change and modification made by the technical spirit of the present invention to the above embodiments do not depart from the technical solution of the present invention, and still fall within the scope of the technical solution of the present invention.

Claims

1. Integration outside mirror peritoneoscope system, its characterized in that: comprises a laparoscope device, an external view mirror device and a robot;

the laparoscope device is arranged on the working trolley;

2. The integrated exoscope laparoscopic system of claim 1, wherein: the scene camera equipment comprises an image processing host and at least one first high-definition camera; the image processing host is arranged on the working trolley; the first high-definition camera is arranged above the working trolley; the image processing host is connected with the first high-definition camera.

3. The integrated exoscope laparoscopic system of claim 2, wherein: the field angle of the first high-definition camera is larger than or equal to 90 degrees.

4. The integrated exoscope laparoscopic system of claim 1, wherein: the surgical field imaging equipment comprises one or more of a high-definition camera device, a 3D imaging device, an infrared thermal imaging device, a laser confocal scanning imaging device, an OCT imaging device and a color Doppler ultrasonic imaging device.

5. The integrated exoscope laparoscopic system of claim 4, wherein: the high-definition camera device comprises a second camera host and a second high-definition camera which can be focused; the second camera shooting host is arranged on the working trolley; the second high-definition camera is detachably arranged at the free end of the camera manipulator; and the second camera host is connected with the second high-definition camera.

6. The integrated exoscope laparoscopic system of claim 5, wherein: the resolution of the second high-definition camera is 1920 multiplied by 1080 resolution, at least 1300 ten thousand pixels, the frame rate is not lower than 30fps, and the magnification is not less than 22 times.

7. The integrated exoscope laparoscopic system of claim 4, wherein: the 3D imaging device comprises a 3D camera and a 3D host; the 3D camera comprises a first independent camera and a second independent camera, the first independent camera and the second independent camera are mounted at the free end of the camera manipulator, and the first independent camera and the second independent camera are respectively connected with the 3D host; the first independent camera and the second independent camera are used for simultaneously and respectively imaging the same target; the 3D host computer is installed on the working trolley, and the 3D host computer is used for carrying out 3D processing on the imaging of the first independent camera and the second independent camera and outputting the processed 3D image to the display screen.

8. The integrated exoscope laparoscopic system of claim 4, wherein: the infrared thermal imaging device comprises an infrared camera and an infrared thermal imaging host; the infrared camera is arranged at the free end of the camera manipulator; the detection temperature precision of the infrared camera is 0.5 ℃, and the thermal sensitivity of the infrared camera is less than or equal to 0.05 ℃; the infrared thermal imaging host is arranged on the working trolley and used for processing the images shot by the infrared camera and forming thermal images to be output to the display screen.

9. The integrated exoscope laparoscopic system of claim 4, wherein: the laser confocal scanning imaging device comprises a scanning focusing lens, a laser light source host and a first computer; the scanning focusing lens is arranged at the free end of the camera manipulator, and a detector, a first scanning device, a confocal device and an optical device which are connected in sequence are arranged in the scanning focusing lens; the laser light source host is arranged on the working trolley and connected with the first scanning device; the first computer is connected with the detector and used for collecting, processing and converting data of the detector and outputting the data to the display screen in the form of images.

10. The integrated exoscope laparoscopic system of claim 9, wherein: the scanning linear velocity of the first scanning device is at least 2500 lines/second, the resolution is not less than 256 multiplied by 256, and the frame rate is not less than 4 frames/second; the adjustment range of the pinhole of the confocal device is more than 12-256 μm; the spectral range of the laser light source host is adjusted to be more than 400-750nm, and the adjustment precision is less than or equal to 2.5 nm.

11. The integrated exoscope laparoscopic system of claim 4, wherein: the OCT imaging device comprises an OCT scanning lens, an OCT host and a second computer; the OCT scanning lens is arranged at the free end of the camera manipulator in a swinging way, the distance between the OCT scanning lens and a measured target is adjustable, and the OCT scanning lens comprises a third high-definition camera and a second scanning device; the OCT host computer is arranged on the working trolley and connected with the OCT scanning lens, and comprises a diode light source, a spectrometer, a driving electronic device and a controller; the second computer is installed on the working trolley and is respectively connected with the OCT scanning lens and the OCT host, and the second computer is used for controlling the OCT scanning lens, collecting and processing data of the OCT scanning lens and the OCT host, forming an OCT image and outputting the OCT image to the display screen.

12. The integrated exoscope laparoscopic system of claim 11, wherein: the scanning speed of the second scanning device is 5500-36000 lines/second, the real-time imaging speed is not less than 20 frames/second, and the scanning range is not more than 12mm multiplied by 3.4 mm.

13. The integrated exoscope laparoscopic system of claim 4, wherein: the color Doppler ultrasonic imaging device comprises an ultrasonic probe, an ultrasonic imaging host and an operation panel; the ultrasonic probe is arranged at the free end of the camera manipulator; the ultrasonic imaging host and the operation panel are arranged on the working trolley and are respectively connected with the ultrasonic probe; the ultrasonic imaging host is used for storing and viewing images acquired by the ultrasonic probe; the operation panel is used for controlling the swing of the ultrasonic probe.

14. The integrated exoscope laparoscopic system of claim 1, wherein: the working trolley comprises a trolley base, a bracket fixed on the trolley base, a mechanical upright post, a plurality of imaging manipulators and a plurality of layers of bearing clapboards; the mechanical upright is fixed on the working trolley, and the upper end of the mechanical upright is connected with the camera manipulator; one end of the imaging manipulator is fixedly connected with the upper end of the mechanical upright post, the bearing partition plate is movably connected with the bracket, and the height of the bearing partition plate relative to the bracket is adjustable; the bottom of platform truck base is equipped with a plurality of universal castor.

15. The integrated exoscope laparoscopic system of claim 14, wherein: the imaging manipulator has at least 5 degrees of freedom, and the length of the imaging manipulator is adjustable.

16. The integrated exoscope laparoscopic system of claim 1, wherein: the camera manipulator has at least 5 degrees of freedom; the free end of the camera manipulator is provided with a clamping head, and the operative field imaging equipment is connected with the clamping head.