CN210330756U - Integrated exoscope laparoscopic device employing infrared thermal imaging - Google Patents
Integrated exoscope laparoscopic device employing infrared thermal imaging Download PDFInfo
- Publication number
- CN210330756U CN210330756U CN201920214974.8U CN201920214974U CN210330756U CN 210330756 U CN210330756 U CN 210330756U CN 201920214974 U CN201920214974 U CN 201920214974U CN 210330756 U CN210330756 U CN 210330756U
- Authority
- CN
- China
- Prior art keywords
- camera
- thermal imaging
- infrared thermal
- definition
- manipulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Endoscopes (AREA)
Abstract
The utility model discloses an integrated external-view mirror laparoscope device applying infrared thermal imaging, which comprises a scene camera device, a laparoscope device, an external-view mirror device and a bearing vehicle; the bearing vehicle comprises a supporting trolley, a camera manipulator and a plurality of display screens; one end of the camera manipulator is movably connected with the supporting trolley, and the other end of the camera manipulator is a free end; the plurality of display screens are respectively connected with the scene camera equipment, the laparoscope device and the outside mirror device; the scene camera shooting equipment is rotatably arranged on the supporting trolley; the laparoscope device is arranged on the supporting trolley; the external view mirror device comprises a surgical field high-definition imaging device and an infrared thermal imaging device; the surgical field high-definition imaging device and the infrared thermal imaging device are both detachably arranged at the free end of the camera manipulator. The utility model discloses utilize infrared thermal imaging technique, be convenient for discover those slight tissue pathological changes, be favorable to going on smoothly of operation and patient's recovery.
Description
Technical Field
The utility model belongs to the field of medical equipment, concretely relates to use infrared thermal imaging's integration outside view mirror peritoneoscope equipment.
Background
The infrared thermal imaging technology is a modern physical detection technology for researching the distribution state of the body surface temperature by utilizing the infrared radiation photography principle. Compared with the delicate anatomy, the thermal imaging system has unique characteristics in reflecting the change of the human physiology and the progress of metabolism. From a physical standpoint, the human body is a natural biological source of infrared radiation that continuously radiates infrared radiation energy into the surrounding space. When a disease or a change in certain physiological conditions occurs in the human body, this systemic or local heat balance is disrupted or affected and thus clinically manifests as an increase or decrease in tissue temperature. Therefore, the measurement of the temperature change of the human body becomes an important index for clinical medical diagnosis of diseases.
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 and quick postoperative recovery, and about 90 percent of abdominal surgeries are performed by minimally invasive surgery. 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 open-laparotomy midway, and about 5% of the surgeries are minimally invasive translaparotomy.
However, in the operation process, no diagnosis equipment is used, only the naked eye of a doctor of the main scalpel is used for observation, some fine tissue lesions are difficult to find, diagnosis cannot be made in time, and the smooth operation and the subsequent rehabilitation of patients are not facilitated.
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 use infrared thermal imaging's integration outside view mirror peritoneoscope equipment utilizes infrared thermal imaging technique, is convenient for discover those slight tissue pathological changes, is favorable to going on smoothly of operation and patient's recovery.
The utility model adopts the following technical scheme:
the integrated external-view mirror laparoscope equipment applying the infrared thermal imaging comprises scene camera equipment, a laparoscope device, an external-view mirror device and a bearing vehicle;
the bearing vehicle comprises a supporting trolley, a camera manipulator and a plurality of display screens; one end of the camera manipulator is movably connected with the supporting trolley, and the other end of the camera manipulator is a free end; the plurality of display screens are respectively connected with the scene camera equipment, the laparoscope device and the outside mirror device;
the scene camera device is rotatably mounted on the supporting trolley;
the laparoscope device is mounted on the support trolley;
the external view mirror device comprises a surgical field high-definition imaging device and an infrared thermal imaging device; the surgical field high-definition imaging device and the infrared thermal imaging device are detachably arranged at 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 supporting trolley; the first high-definition camera is mounted on the supporting 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 high definition image device includes high definition camera device or 3D image 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 main machine is arranged on the supporting 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 an improvement of the technical solution of the present invention, 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 is installed on the supporting trolley and used for carrying out 3D processing on the images of the first independent camera and the second independent camera and outputting the processed 3D images 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 supporting trolley and used for processing images shot by the infrared camera, forming a thermal image and outputting the thermal image to the display screen.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the infrared thermal imaging device can be used for identifying the pathological tissue under the help of the infrared thermal imaging device in the operation, the temperature of the pathological tissue is different from that of the normal tissue due to different metabolic rates of the pathological tissue and the normal tissue, for example, the inflammatory tissue is higher than that of the normal tissue, the temperature of the inflammatory tissue is higher than that of the normal tissue, the infrared thermal imaging device can be used for distinguishing the pathological tissue from the normal tissue, the judgment of a doctor is helped, and the infrared thermal imaging device is favorable for the expansion;
2. the scene camera equipment, the laparoscope device and the external view mirror device are jointly arranged on the bearing vehicle, so that the occupied space is reduced, the movement in an operating room is facilitated, and the operation requirements of minimally invasive surgery, open abdominal surgery or minimally invasive transit open abdominal surgery can be met simultaneously; moreover, as the scene camera equipment is arranged, the scene in the operating room can be recorded and displayed on the display screen, so that the main surgeon can integrally master the specific conditions in the operating room, and the main surgeon can conveniently regulate and control commands;
3. after the consent of the patient is obtained, the scene camera equipment is matched with the laparoscope device, so that the operation actions of a main scalpel doctor (particularly a top operating doctor) in the abdomen and the operation methods of the instruments outside the abdomen can be recorded simultaneously, the operation actions of the main scalpel doctor in the abdomen and the operation actions of the instruments outside the abdomen are in one-to-one correspondence, the operation teaching device can be used for operation teaching, students can learn the operation methods of high-level doctors, and the operation technology of the students is improved.
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 structural view of the surgical field high-definition imaging device of the present invention as a high-definition camera device;
fig. 2 is a schematic view of the connection between the image display manipulator and the display screen;
FIG. 3 is a schematic view of the laparoscope of the present invention;
FIG. 4 is an enlarged view of the working end of the laparoscope of the present invention;
fig. 5 is a schematic view of the infrared thermal imaging device and the second high-definition camera of the present invention mounted on the camera manipulator;
fig. 6 is a schematic diagram of the 3D camera of the present invention.
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.
Referring to fig. 1 to 6, an integrated exoscope laparoscopic apparatus applying infrared thermal imaging includes a scene photographing apparatus 1, a laparoscopic device 2, an exoscope device 3, and a carrying vehicle 4. The external-view mirror device 3 comprises a surgical field high-definition imaging device and an infrared thermal imaging device 31.
As shown in fig. 1 and fig. 2, the carrier 4 includes a supporting trolley 41, a column 42, a camera manipulator 43, a plurality of display manipulators 44, and a plurality of display screens 45; the upright column 42 is fixed to the support trolley 41; one end of the image display manipulator 44 is fixedly connected with the upright post 42, and the other end is movably connected with the display screen 45; one end of the camera manipulator 43 is movably connected with the upper end of the upright post 42, and the other end is a free end; the plurality of display screens 45 are respectively connected with the scene camera 1, the laparoscope device 2 and the outside mirror device 3.
Wherein, the supporting trolley 41 comprises a trolley base 411, a bracket 412 fixed on the trolley base 411 and a plurality of layers of bearing partitions 413; the bearing partition 413 is movably connected with the bracket 412, and the height of the bearing partition 413 relative to the bracket 412 is adjustable; the height between the bearing partitions 413 can be conveniently adjusted according to the specific conditions of the borne articles so as to adapt to the borne articles; the bottom of platform truck base 411 is equipped with a plurality of universal truckle 4111, specifically is 4 universal auto-lock wheels, conveniently adjusts the position in order to adapt to the operation needs.
The visualization manipulator 44 has at least 5 degrees of freedom, and the length of the visualization manipulator 44 is adjustable, so that the movement of the visualization manipulator 44 can be adjusted by manual operation, motor driving or intelligent control driving (such as voice control). In the present embodiment, as shown in fig. 1 and 2, the visualization robot 44 includes a visualization large arm 441, and a visualization small arm 442 rotatably connected to one end of the visualization large arm 441; one end of the imaging big arm 441 far away from the imaging small arm 442 is fixedly connected with the mechanical upright post 42; the length of the small imaging arm 442 is adjustable, and one end of the small imaging arm 442, which is far away from the large imaging arm 441, is rotatably connected with the display screen 45, 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 442 has three sections, which are a first small arm section 4421, a second small arm section 4422 and a third small arm section 4423, wherein the first small arm section 4421, the second small arm section 4422 and the third small arm section 4423 are sequentially and rotatably connected, the outer end of the first small arm section 4421 is rotatably connected with the large imaging arm 441, and the outer end of the third small arm section 4423 is rotatably connected with the display screen 45.
The imaging robot 43 has at least 5 degrees of freedom; the free end of the camera manipulator 43 is provided with a clamping head 433, the surgical field high-definition imaging device and the infrared thermal imaging device 31 are connected with the clamping head 433, and the action of the camera manipulator 43 can be adjusted in a manual mode, a motor-driven mode or an intelligent control driving mode (such as voice control). In the present embodiment, as shown in fig. 1, the camera manipulator 43 includes a large imaging arm 431, a small imaging arm 432, and a chuck 433; one end of the big camera arm 431 is movably connected with the mechanical upright post 42, and the other end is rotatably connected with one end of the small camera arm 432; the other end of the small camera arm 432 is hinged with the clamping head 433, and the surgical field imaging equipment is connected with the clamping head 433, so that the adjustment is convenient. The clamping heads 433 are T-shaped, and the field high-definition imaging device and the infrared thermal imaging device 31 are respectively arranged at the left end and the right end of the T-shaped cross rod.
It should be noted that the camera manipulator 43 and the visualization manipulator 44 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 thereto.
Wherein the scene camera 1 is rotatably mounted on the upper end of the pillar 42.
Specifically, as shown in fig. 1, the scene camera apparatus 1 includes an image processing host 11 and at least one first high-definition camera 12; the image processing main unit 11 is mounted on a bearing partition 413 of the support trolley 41; the first high-definition camera 12 is mounted on the upright post 42; the image processing host 11 is connected with the first high-definition camera 12, the field angle of the first high-definition camera 12 is larger than or equal to 90 degrees, the first high-definition camera 12 is a panoramic camera and is used for shooting and recording medical scenes, and the shot pictures are displayed on the display screen 45 after being processed by the image processing host 11, so that the overall grasping of the specific conditions in the operating room by the main doctor is facilitated, and the regulation and the command of the main doctor are facilitated.
On the other hand, when minimally invasive surgery is performed, the scene camera device 1 is matched with the laparoscope device 2, so that the operation actions of a main surgeon (especially a top surgeon) in the abdomen and the operation methods of the instruments outside the abdomen can be recorded simultaneously, the operation actions of the main surgeon in the abdomen and the operation actions of the instruments outside the abdomen are in one-to-one correspondence, the method can be used for operation teaching, students can learn the operation methods of high-level doctors, the operation technology of the students can be improved, the open surgery can also be recorded, and compared with the traditional record through an operating room monitoring camera, the record is clearer.
As shown in fig. 1, the laparoscope device 2 includes a first camera host 21, a cold light source host 22 and a laparoscope 23; the first camera main unit 21 and the cold light source main unit 22 are mounted on a bearing partition 413 of the supporting trolley 41; the laparoscope 23 is connected with the first camera host 21 and the cold light source host 22. The laparoscope device 2 is a necessary tool for performing an abdominal minimally invasive surgery, the cold light source host 22 emits cold light to be emitted through the laparoscope 23 to illuminate in the abdominal cavity of a patient, meanwhile, the laparoscope 23 feeds back a shot picture to the first camera host 21, the shot picture is displayed on the display screen 45 after being processed by the first camera host 21, and a doctor operates an instrument to perform a surgery according to the displayed image picture.
Specifically, as shown in fig. 1, 3 and 4, the laparoscope 23 is a hard tube laparoscope, and is provided with a working end 231, a cold light source connector end 232 and a camera control end 233, wherein the length of the working end 231 is 100 mm-350 mm, the diameter is less than or equal to 15.0mm, and the end edge of the working end 231 is passivated; the cold light source connector end 232 is connected with the cold light source host 22 through a light guide optical fiber to provide cold light source illumination for the laparoscope 23. The end face of the working end 231 is provided with a camera and a cold light outlet 2311, the camera at least has 2 times of optical zooming function, the effective resolution is 1280 × 720 or 1920 × 1080, and an optical lens 2312 or an electronic optical lens 2312 can be adopted; the camera control terminal 233 is provided with buttons and a focus ring, and can perform various function settings and zooming.
In this embodiment, the optical lens 2312 is selected as the camera of the working end 231. The cold light emitted by the cold light source is emitted into the abdominal cavity through the cold light outlet 2311, the light reflected in the abdominal cavity is reflected on the camera through the optical lens 2312 to be converted into a digital image signal, the digital image signal is transmitted to the first camera host 21 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 definition of the image are adjusted through the buttons and the focusing ring of the camera control end 233.
As shown in FIG. 1, both the surgical field high-definition imaging device and the infrared thermal imaging device 31 are detachably mounted at the free end of the camera manipulator 43.
As shown in fig. 1 and 5, the infrared thermal imaging apparatus 31 includes an infrared camera 311 and an infrared thermal imaging host 312; the infrared camera 311 is installed at the free end of the camera manipulator 43; the detection temperature precision of the infrared camera 311 is 0.5 ℃, and the thermal sensitivity of the infrared camera 311 is less than or equal to 0.05 ℃; the infrared thermal imaging host 312 is installed on the bearing partition 413 of the supporting trolley, and the infrared thermal imaging host 312 is used for performing image processing on the picture shot by the infrared camera 311, forming a thermal image and outputting the thermal image to the display screen 45. The infrared thermal imaging device 31 can detect the temperature of different tissues, so as to identify the pathological tissues, thereby being beneficial to the smooth operation and the rehabilitation of subsequent patients.
As shown in fig. 1 and 5, the surgical field high-definition imaging device is a high-definition camera 32. The high-definition camera device 32 comprises a second camera host 321 and a second focusing high-definition camera 322; the second camera main unit 321 is mounted on a bearing partition 413 of the support carriage 41; the second high-definition camera 322 is detachably mounted at the free end of the camera manipulator 43; the second camera host 321 is connected to the second high-definition camera 322. The high definition camera 32 also includes an LED illumination lamp adjacent to the second high definition camera 322. When the open-abdomen type operation is performed, the second high-definition camera 322 can shoot the operative field in real time and is processed by the second camera main machine 321 to be received and projected onto the display screen 45, so that the doctor only needs to look at the display screen 45 at head for performing the operation, and does not need to look down to the operative field at the abdomen, which is beneficial to the cervical vertebra health of the doctor.
Specifically, the resolution ratio of the second high-definition camera 322 is 1920 × 1080 resolution ratio, 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 clear picture shot by the second high-definition camera 322 can be magnified by 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 utility model can meet the basic requirements of minimally invasive surgery, open abdominal surgery or open abdominal surgery in minimally invasive 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 device 32, which is beneficial to the operation; meanwhile, the scene camera 1 is arranged to facilitate the master knife doctor to grasp the condition of the whole operating room and to command the operation; the scene camera 1 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, thereby being beneficial to teaching.
Or the surgical field high-definition imaging device is a 3D imaging device 33, as shown in fig. 6, the 3D imaging device 33 includes a 3D camera 331 and a 3D host; the 3D camera 331 includes a first independent camera 3311 and a second independent camera 3312, the first independent camera 3311 and the second independent camera 3312 are installed at a free end of the camera manipulator 43, and the first independent camera 3311 and the second independent camera 3312 are respectively connected to the 3D mainframe; the first independent camera 3311 and the second independent camera 3312 are used to simultaneously and respectively image the same target; the 3D mainframe is installed on the bearing partition 413 of the support cart 41, and the 3D mainframe is configured to perform 3D processing on the images of the first and second independent cameras 3311 and 3312 and output the processed 3D images to the display screen 45.
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 the 3D host computer and handle formation 3D image and show on display screen 45. The 3D host can output 3D images in 3 modes, namely three-dimensional images which can be seen only by wearing 3D glasses or naked-eye 3D images of the three-dimensional images can be seen without wearing the 3D glasses or the images are displayed on a display in a three-dimensional model mode.
The 3D technology 3D provides a plane image, but the 3D imaging device 33 can display the operative field on the display screen 45 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 45 by the 3D imaging device 33 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.
Other contents of the integrated external-view mirror laparoscope device using infrared thermal imaging refer to 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 (5)
1. Use integration exoscope peritoneoscope equipment of infrared thermal imaging, its characterized in that: the system comprises scene camera equipment, a laparoscope device, an outside mirror device and a bearing vehicle;
the bearing vehicle comprises a supporting trolley, a camera manipulator and a plurality of display screens; one end of the camera manipulator is movably connected with the supporting trolley, and the other end of the camera manipulator is a free end; the plurality of display screens are respectively connected with the scene camera equipment, the laparoscope device and the outside mirror device;
the scene camera device is rotatably mounted on the supporting trolley;
the laparoscope device is mounted on the support trolley;
the external view mirror device comprises a surgical field high-definition imaging device and an infrared thermal imaging device; the surgical field high-definition imaging device and the infrared thermal imaging device are detachably arranged at the free end of the camera manipulator.
2. The integrated exoscope laparoscopic device applying infrared thermal imaging according to 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 supporting trolley; the first high-definition camera is mounted on the supporting trolley; the image processing host is connected with the first high-definition camera.
3. The integrated exoscope laparoscopic device applying infrared thermal imaging according to claim 1, wherein: the surgical field high-definition imaging device comprises a high-definition camera device or a 3D imaging device.
4. The integrated exoscope laparoscopic device applying infrared thermal imaging according to claim 3, wherein: the high-definition camera device comprises a second camera host and a second high-definition camera which can be focused; the second camera main machine is arranged on the supporting 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.
5. The integrated exoscope laparoscopic device applying infrared thermal imaging according to claim 1, 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 supporting trolley and used for processing images shot by the infrared camera, forming a thermal image and outputting the thermal image to the display screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920214974.8U CN210330756U (en) | 2019-02-20 | 2019-02-20 | Integrated exoscope laparoscopic device employing infrared thermal imaging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920214974.8U CN210330756U (en) | 2019-02-20 | 2019-02-20 | Integrated exoscope laparoscopic device employing infrared thermal imaging |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210330756U true CN210330756U (en) | 2020-04-17 |
Family
ID=70173409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920214974.8U Active CN210330756U (en) | 2019-02-20 | 2019-02-20 | Integrated exoscope laparoscopic device employing infrared thermal imaging |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210330756U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109907835A (en) * | 2019-02-20 | 2019-06-21 | 广州乔铁医疗科技有限公司 | Using the outer visor laparoscopic device of integration of infrared thermal imaging |
-
2019
- 2019-02-20 CN CN201920214974.8U patent/CN210330756U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109907835A (en) * | 2019-02-20 | 2019-06-21 | 广州乔铁医疗科技有限公司 | Using the outer visor laparoscopic device of integration of infrared thermal imaging |
| CN109907835B (en) * | 2019-02-20 | 2024-03-29 | 广州乔铁医疗科技有限公司 | Integrated external-view laparoscopic device using infrared thermal imaging |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20230255446A1 (en) | Surgical visualization systems and displays | |
| Mamelak et al. | A high-definition exoscope system for neurosurgery and other microsurgical disciplines: preliminary report | |
| TWI734106B (en) | Stereoscopic visualization camera and integrated robotics platform | |
| US10966798B2 (en) | Surgical visualization systems and displays | |
| CN105992568B (en) | The robot control of operation instrument visibility | |
| US11154378B2 (en) | Surgical visualization systems and displays | |
| Mamelak et al. | Initial clinical experience with a high-definition exoscope system for microneurosurgery | |
| CN109893258B (en) | Integrated external-view mirror laparoscope system | |
| US7601119B2 (en) | Remote manipulator with eyeballs | |
| WO2020045015A1 (en) | Medical system, information processing device and information processing method | |
| US20130301003A1 (en) | Eye examination system | |
| JP5750669B2 (en) | Endoscope system | |
| JP2020156800A (en) | Medical arm system, control device and control method | |
| JP2021013412A (en) | Medical observation system, control device, and control method | |
| CN109907835B (en) | Integrated external-view laparoscopic device using infrared thermal imaging | |
| Hanna et al. | Image display technology and image processing | |
| CN210330756U (en) | Integrated exoscope laparoscopic device employing infrared thermal imaging | |
| CN210902962U (en) | Laparoscope external view mirror device capable of scanning inside of abdominal cavity | |
| CN109893092B (en) | Laparoscope external vision mirror device capable of scanning abdominal cavity | |
| JP2002315721A (en) | Stereoscopic system for enucleation of cancer tissue | |
| Jiang et al. | User's image perception improved strategy and application of augmented reality systems in smart medical care: A review | |
| CN109907834B (en) | Robot external vision mirror with 3D function | |
| CN210727882U (en) | Laparoscope external view mirror device applying optical coherence tomography technology | |
| CN210185721U (en) | Integrated endoscope laparoscope system with color Doppler ultrasound function | |
| CN210277364U (en) | Integrated external-view mirror laparoscope system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |