CN210727882U

CN210727882U - Laparoscope external view mirror device applying optical coherence tomography technology

Info

Publication number: CN210727882U
Application number: CN201920214903.8U
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: 2020-06-12
Anticipated expiration: 2029-02-20

Abstract

The utility model provides a laparoscope outside mirror device applying optical coherence tomography, which comprises an outside mirror image system, a laparoscope image system and a machine trolley; the external view mirror imaging system comprises an OCT imaging system; the external mirror image system and the laparoscope image system are arranged on a machine arm of the machine trolley. The method can be suitable for laparoscopic minimally invasive surgery and traditional open surgery, and the OCT is introduced into the endoscopic surgery to scan and three-dimensionally image the microstructure of the tissue at a certain depth below the surface of the human organ.

Description

Laparoscope external view mirror device applying optical coherence tomography technology

Technical Field

The utility model belongs to the field of medical equipment, concretely relates to use peritoneoscope outside mirror device of coherent chromatography technique of optics.

Background

Optical Coherence Tomography (OCT) imaging is a new imaging technique, followed by X-ray, CT and magnetic resonance imaging techniques, and a new tomographic imaging technique. The OCT is a noninvasive optical imaging technology, can detect a microstructure of a tissue with a depth of 2-3 mm on the surface of a living body tissue, and can provide real-time one-dimensional depth, two-dimensional cross section and tomography three-dimensional imaging with micron-order resolution and millimeter-order imaging depth. OCT images, based on light backscattered from different material layers within the sample, can provide structural information of the sample and are widely used in biomedical and many fields, and OCT technology is increasingly used in medical fields such as ophthalmology, dermatology, cardiovascular systems, digestive systems, and traditional chinese medicine.

The existing operation types comprise an open surgery, a minimally invasive surgery and a transfer surgery, and in the surgeries, in order to observe pathological tissues in the surgeries and carry out pathological research, surgical sections are needed to be cut, and the pathological tissues are transferred to a pathological research department for pathological research, so that the operation time is too long, and the patients are also affected adversely in the period. That is, if the diseased tissue of a patient needs to be analyzed by optical coherence tomography, i.e., the tissue section needs to be transferred to a pathology department for OCT analysis. This often affects the efficiency of pathological analysis and also affects the smooth performance of the surgery.

SUMMERY OF THE UTILITY MODEL

In order to overcome the problems of the prior art, the present invention aims to provide a laparoscope external-view mirror device applying optical coherence tomography, which introduces the OCT technique into the operating room and improves the efficiency of the operation process.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a laparoscope outside-view mirror device applying an optical coherence tomography technology comprises an outside-view mirror imaging system, a laparoscope imaging system and a machine trolley; the external view mirror imaging system comprises an OCT imaging system; the external mirror image system and the laparoscope image system are arranged on a machine arm of the machine trolley.

Preferably, the OCT imaging system includes an OCT lens and an OCT host; the OCT camera lens is connected with the OCT host, and a camera and a scanning device are integrated in the OCT camera lens.

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

Preferably, the OCT lens includes an OCT probe, a high-definition camera, a light guide beam interface, a power source interface, and a lens body;

the OCT probe comprises a light source, a light splitter, a first receiver, a second receiver, an interferometer and an image processing chip; the light wave emitted by the light source is divided into two beams with the same frequency by the optical splitter, wherein one beam is used as a reference arm and is directly received by the first receiver and transmitted back to the interferometer, the other beam is used as a sample arm and is transmitted to a target tissue, the light reflected by the tissue is received by the second receiver and transmitted back to the interferometer, the interferometer performs interference processing on the transmitted light and then transmits the light to the image processing chip, and the image processing chip calculates interference data of the light according to the signal after the interference processing to obtain an OCT signal; the host computer comprises a driving electronic device and a controller, and the OCT signals are transmitted to the OCT host computer to be processed and then output to the display.

Preferably, the external mirror imaging system further comprises a scene camera system and a surgical field camera system.

Preferably, the laparoscope imaging system comprises a laparoscope, a cold light source host and a camera host; the laparoscope comprises an objective lens end, a cold light source joint end and a camera shooting connecting part which are connected in sequence; the cold light source host is connected with the cold light source joint end, and the camera shooting connecting part is connected with the camera shooting host.

Preferably, the machine trolley comprises a working trolley, a robot arm and a display, the robot arm is arranged on the working trolley, and the display is arranged on the robot arm; the working trolley comprises a trolley base, a support, at least two partition plates, a small air bottle support and a push-pull handle; the support sets up on the platform truck base, the baffle sets up in the support, little gas cylinder support sets up the support side.

Preferably, the robot arm comprises a mechanical arm, a development sub-arm and a camera sub-arm; the rear end of the development sub-arm is fixed on the mechanical arm, and the front end is provided with a display; the rear end of the camera branch arm is connected to the top end of the mechanical arm, and the front end of the camera branch arm is provided with a lens support.

Preferably, the development sub-arm comprises a movable part and a fixed part, the rear end of the fixed part is fixed on the mechanical arm, the movable part is provided with a display, and the movable part of the development sub-arm has at least 5 degrees of freedom relative to the fixed part.

Preferably, the camera shooting sub-arm comprises a movable arm and a fixed arm, and the movable arm comprises a first sub-arm and a second sub-arm; the fixed arm is rotatably arranged on the main arm, the first sub-arm is rotatably arranged on the fixed arm, and the second sub-arm is rotatably arranged on the first sub-arm; and a lens bracket is arranged at the free end of the second sub-arm and connected with a lens clamp.

The utility model has the advantages as follows:

through the structure, the laparoscope outside-view mirror device applying the optical coherence tomography is suitable for laparoscopic minimally invasive surgery and traditional open surgery.

By the action of the OCT imaging system, pathological change tissues can be analyzed and judged immediately in open surgery and minimally invasive surgery, and the judgment of pathological change reasons is accelerated so as to accelerate the operation. And through art wild camera and scene camera, can remote monitoring operation process, also can carry out real-time demonstration through the video of making a video recording, and through art wild camera and scene camera, can also let OCT analysis technique's pathology analysis personnel judge the pathological change tissue in the operation in real time outside the operation room, thereby improve operation accuracy, improve operation efficiency, when the process to the operation is monitored and is monitored in real time, also make things convenient for the personnel's assistance outside the operation room, realize operation planning and operation 3D simulation drill.

The OCT technology is introduced into an external-view mirror operation, a tissue microstructure with a certain depth below the surface of a human organ is scanned and three-dimensionally imaged, a doctor judges the size, the position and the curative effect of various lesions according to the abnormal change of the tissue microstructure, and the OCT external-view OCT surgical endoscope is applied to diagnosis and monitoring of ophthalmic diseases, diagnosis and prevention of subcutaneous membrane infected bacteria of otolaryngorhinolaryngology, diagnosis and prevention of dental caries and gum diseases, research of atherosclerotic plaques in arterial diseases, analysis of the existence of cancer, the removal of tissues and the like in the tumor removing operation process.

Drawings

Fig. 1 is a schematic diagram of the OCT lens and the high definition camera according to the present invention.

Fig. 2 is a schematic diagram of an OCT (optical coherence tomography) imaging lens.

Figure 3 is a schematic view of one form of laparoscope.

Figure 3a is a schematic end view of one of the working forms of the laparoscope.

Fig. 4 is a schematic structural diagram of the present invention.

Wherein:

11-a scene camera system; 111-scene camera; 112-image processing host computer; 12-operative field camera system; 121-a high-definition camera; 1211 — optical lens; 1212-LED lamps; 122-camera host; 131-an OCT lens; 1311-OCT probe, 1312-high definition camera, 1313-light guide beam interface and 1314-power interface; 1315 — lens body; 132-OCT host; 133-a computer; 21-laparoscopy; 2111 — optical lens; 2112 — light-guiding fiber; 211 — objective lens end; 212 — cold light source connector end; 213-image pickup connection part; 22-camera host; 23-cold light source host; 3-machine trolley; 31-a working trolley; 32-a robot arm; 321-a mechanical arm; 322-imaging arm separation; 323-camera branch arm; 33 — display.

Detailed Description

The present invention will now be further described with reference to the accompanying drawings.

A peritoneoscope outside mirror system of using coherent chromatography technique of optics, including outside mirror image system, peritoneoscope image system and machine platform truck 3.

The external-view mirror image system comprises a scene camera system 11, a surgical field camera system 12 and an OCT imaging system.

The scene camera system comprises a scene camera 111 and an image processing host 112; the scene camera system comprises at least 1 high-definition camera 121, and the field angle of the high-definition camera 121 is larger than or equal to 90 degrees. The image processing host machine processes 1 or more images and has the functions of image integration, image switching and screen segmentation and image output. The scene camera system adopts a multi-lens panoramic camera system.

The scene camera 111 shoots a surgical scene, the obtained image data is transmitted to the image processing host computer for processing, the image processing host computer has the functions of image integration, image switching, image segmentation and the like, 1 or more images are processed and then output to the display for displaying, the output image can be the image of one camera, or the images shot by a plurality of cameras are spliced into a complete image, or the images shot by a plurality of cameras are arranged into an image.

The scene in the operating room is visualized in real time through the scene camera system, on-site or remote monitoring and teaching are realized, and the stored images can be used as important data for training medical staff and improving the medical level of the medical staff.

The surgical field camera system comprises a high-definition camera system or a 3D imaging system.

The high-definition camera system includes a high-definition camera 121 and a camera host 122. The resolution of the high definition camera 121 is 1920 × 1080, the pixels are at least 1300 ten thousand, and the frame rate is not lower than 30 fps. The imaging magnification of the high-definition camera system is not less than 22 times relative to the original image. The camera lens of high definition digtal camera can focus, the different demands of adaptation. LED lamps are arranged around the high-definition camera lens to provide or enhance illumination.

The high-definition camera is installed at the free end of the camera branch arm of the machine trolley, makes a video recording of an operation position, transmits a shot image to the camera host through a data line, and displays the image on the display after the shot image is processed. Through above-mentioned function, real-time visual operation position image, whole field or long-range medical personnel all can see the operation condition, and the macroscopical organizational structure that is difficult to distinguish or can not see on the operation position zooms through high definition camera lens and enlargies, shows the enlarged organizational structure image of high resolution on the display, and the doctor can distinguish fast and the accurate operation to improve the operation accuracy, effectively improved operation efficiency, alleviateed patient's misery and alleviateed doctor's pressure.

The 3D imaging system comprises a 3D camera and a 3D camera host; the 3D camera comprises two independent optical lenses which are arranged at the front end of the camera branch arm. The 3D camera simulates two eyes of a person to simultaneously and respectively image the same target, and the 3D camera host processes 2 independent images and integrates the independent images into a 3D image mode to be output to the display. The 3D image display modes include: the mode of the three-dimensional image which can be seen only by wearing 3D glasses, or the naked eye 3D mode which can be seen by wearing 3D glasses, or the mode is displayed on a display in a three-dimensional model form.

The 3D can provide brand-new fineness and definition which cannot be realized by the traditional imaging technology, the 3D provides a plane image but a recording and visualization mode of a medical procedure with better depth, appearance and shape, so that the 3D has more reality, doctors diagnose more depending on the spectrum, the doctors can perform operation guidance, operation planning, 3D operation simulation exercise and 3D operation simulation teaching according to a three-dimensional structure image of tissues, human organ shape copying and the like, and the 3D printer can be combined to print out a human organ model.

The OCT imaging system comprises an OCT lens 131, an OCT host computer 132 and a computer 133 processing system; the OCT lens is connected with the OCT host computer. The distance between the OCT lens and the measured target is adjusted by manual or computer control.

The OCT lens comprises a scanning device, an OCT probe 1311, a high-definition camera 1312, a light guide beam interface 1313, a power interface 1314 and a lens body 1315; the power interface is connected with a power line to drive the scanning device. The scanning speed of the scanning device is 5500-36000 lines/second, the real-time imaging speed is not less than 20 frames/second, and the maximum scanning range is 12mm multiplied by 3.4 mm.

The OCT probe 53 includes a light source 531, a beam splitter 532, a first receiver 533, a second receiver 534, an interferometer 535, and an image processing chip 536. The light wave emitted from the light source 531 is split into two beams with the same frequency by the beam splitter 532, one beam is used as a reference arm 5321 and is directly received by the first receiver 533 and transmitted back to the interferometer 535, the other beam is used as a sample arm 5322 and is emitted to the target tissue, the light reflected by the tissue is received by the second receiver 534 and transmitted back to the interferometer 535, the interferometer 535 performs interference processing on the transmitted light and transmits the light to the image processing chip 536, and the image processing chip 536 calculates the interference data thereof according to the signal after the interference processing to obtain the OCT signal.

The main machine comprises a driving electronic device and a controller, the OCT signal is transmitted to the OCT main machine 8 to be processed and then output to the display,

the OCT imaging system can obtain clear tissue tomographic images of two-dimensional or three-dimensional depth structures, help doctors accurately judge the nature of the focus, and can make an accurate treatment operation scheme on site in real time.

The laparoscope imaging system comprises a laparoscope 21, a camera host 22 and a cold light source host 23. The laparoscope comprises an objective lens end 211, a cold light source joint end 212 and a camera connecting part 213 which are connected in sequence; the cold light source host is connected with the cold light source joint end, and the camera shooting connecting part is connected with the camera shooting host. The diameter of the objective lens end is less than or equal to 15.0mm, the length is 100 mm-350 mm, and the objective lens can be an optical lens or an electronic lens. The camera that the link connection of making a video recording is at least 2 times optical zoom, and effective resolution 1280 is multiplied by 720 or 1920 is multiplied by 1080 is equipped with button and focusing ring on it, can carry out multiple function setting and zoom. And a water inlet channel, a water outlet channel and an instrument channel can be further arranged, and the water inlet channel, the water outlet channel and the instrument channel all penetrate through the objective lens end, the cold light source joint end and the camera shooting connecting part.

The laparoscope is a hard tube laparoscope, and the edge of the end part of the end of the laparoscope is passivated; when the lens is an optical lens 2111, the objective end is communicated with a light guide fiber 2112, the light guide fiber is connected with a cold light source host through a cold light source joint and a light guide beam to provide cold light source illumination for the laparoscope, light reflected in the abdominal cavity is reflected on the camera through the optical lens to be changed into a digital image signal, and the digital image signal is transmitted to the camera host through a data line to be processed and stored and displayed on a display.

Through outside mirror system and peritoneoscope integration be in the utility model discloses in, make outside mirror peritoneoscope device can be applicable to open operation, minimal access surgery and partial transfer operation, improve equipment's adaptability.

The machine trolley includes a work trolley 31, a robot arm 32 and a display 33, and the series of robot arms 32 includes a robot arm 321, a development sub-arm 322 and a camera sub-arm 323.

The working trolley comprises a trolley base, a support, universal casters, at least three layers of partition plates, a drawer, a small air bottle support, a power supply and a push-pull handle. The universal caster wheels are arranged at the bottom of the trolley base, and the support is arranged on the trolley base; the partition plates are arranged on the bracket, and the drawer is placed above each partition plate; the small air bottle bracket is arranged beside the bracket; the power supply is arranged in the drawer, and the push-pull handle is arranged on the bracket. The camera main unit 112, the 3D camera main unit and the OCT main unit are all placed on the partition board.

A plurality of pairs of supporting rods are arranged on the opposite inner sides of the bracket, and the partition plates are placed on different supporting rods, so that the partition plates are adjusted; the separator bears at least 50 g. Through the cooperation of different bracing pieces in pairs and baffle, make the space between baffle and the baffle adjust at will to can place the drawer or the equipment of different sizes, more make things convenient for the demand of concrete application scene.

The robot arm comprises a main arm, a development sub-arm and a camera sub-arm; the brake locking device can be manually operated or driven by a motor or intelligently controlled and driven (such as voice control and the like). The main arm is mounted on the working trolley.

The development sub-arm comprises a movable part and a fixed part, the rear end of the fixed part is fixed on the main arm, a display is mounted on the movable part, and preferably, the movable part of the development sub-arm has at least 5 degrees of freedom relative to the fixed part, so that the position of the display can be adjusted to display in a proper angle direction. The rear end of the camera branch arm is connected to the top end of the main arm, and the front end of the camera branch arm is provided with a lens bracket; the camera shooting sub-arm comprises a movable arm and a fixed arm, and the movable arm comprises a first sub-arm and a second sub-arm; the fixed arm is rotatably arranged on the main arm, the first sub-arm is rotatably arranged on the fixed arm, and the second sub-arm is rotatably arranged on the first sub-arm, so that the movable arm has at least 5 degrees of freedom relative to the fixed arm; a lens bracket is arranged at the free end of the second sub-arm and can be connected with various lens clamps, and the lens clamps fix various lenses to ensure that the height of the lenses above the ground is 1000-3200 mm; the 3D imaging system is installed at the front end of the camera branch arm. Power lines, data lines and pipelines for supplying power and connecting all equipment of the scene camera system, the surgical field camera system and the laparoscope image system are arranged in a robot arm of the machine trolley. Through the effect of the branch arm of making a video recording, the camera lens can move along with the operation needs, realizes making a video recording and observes the demand of analysis.

The high-definition camera 121 and the OCT lens 131 are fixed to the lens holder 3235 by a lens holder; the high-definition camera 121 is provided with an optical lens 1211 and an LED lamp 1212. The operation field camera is installed on the top of main arm to can shoot the most circumstances in the operating room, make the personnel outside the operating room also can see the circumstances in the operating room, can monitor more detailed operation process, convenient control and teaching.

The utility model discloses include 3 displays at least, be the special display of high definition medical treatment. Wherein the size of the Yitai display is more than or equal to 24 inches, the resolution is 1920 multiplied by 1080, and the screen ratio is 16: 9; the other two are more than or equal to 17 inches, the resolution is 1280 multiplied by 1024, and the screen ratio is 5: 4. The surgical field camera system, the scene camera system and the laparoscope system are all connected with the display, the imaging of the surgical field camera system and the imaging of the scene camera system are displayed through the display, and the imaging of the surgical field camera system and the imaging of the scene camera system are displayed on the same or different displays according to actual requirements.

While the preferred embodiments of the present invention have been described in detail, it should be understood that modifications and variations can be made by persons skilled in the art without inventive faculty, and in light of the above teachings. Therefore, the technical solutions according to the present invention, which can be obtained by logical analysis, reasoning or limited experiments based on the prior art, should be within the scope of protection defined by the claims.

Claims

1. A laparoscopic laparoscope using optical coherence tomography, comprising: comprises an external-view mirror imaging system, a laparoscope imaging system and a machine trolley; the external view mirror imaging system comprises an OCT imaging system; the external mirror image system and the laparoscope image system are arranged on a machine arm of the machine trolley.

2. The laparoscopic exoscope device for the optical coherence tomography as claimed in claim 1, wherein: the OCT imaging system comprises an OCT lens and an OCT host; the OCT camera lens is connected with the OCT host, and a camera and a scanning device are integrated in the OCT camera lens.

3. The laparoscopic laparoscope applied with optical coherence tomography according to claim 2, wherein: the scanning speed of the scanning device is 5500-36000 lines/second, the real-time imaging speed is not less than 20 frames/second, and the maximum scanning range is 12mm multiplied by 3.4 mm.

4. The laparoscopic laparoscope applied with optical coherence tomography according to claim 2, wherein: the OCT lens comprises an OCT probe, a high-definition camera, a light guide beam interface, a power supply interface and a lens main body;

5. The laparoscopic exoscope device for the optical coherence tomography as claimed in claim 1, wherein: the outside mirror image system also comprises a scene camera system and a surgical field camera system.

6. The laparoscopic exoscope device for the optical coherence tomography as claimed in claim 1, wherein: the laparoscope image system comprises a laparoscope, a cold light source host and a camera host; the laparoscope comprises an objective lens end, a cold light source joint end and a camera shooting connecting part which are connected in sequence; the cold light source host is connected with the cold light source joint end, and the camera shooting connecting part is connected with the camera shooting host.

7. The laparoscopic exoscope device for the optical coherence tomography as claimed in claim 1, wherein: the machine trolley comprises a working trolley, a machine arm and a display, wherein the machine arm is arranged on the working trolley, and the display is arranged on the machine arm; the working trolley comprises a trolley base, a support, at least two partition plates, a small air bottle support and a push-pull handle; the support sets up on the platform truck base, the baffle sets up in the support, little gas cylinder support sets up the support side.

8. The laparoscopic laparoscope applied with optical coherence tomography according to claim 7, wherein: the robot arm comprises a mechanical arm, a development sub-arm and a camera sub-arm; the rear end of the development sub-arm is fixed on the mechanical arm, and the front end is provided with a display; the rear end of the camera branch arm is connected to the top end of the mechanical arm, and the front end of the camera branch arm is provided with a lens support.

9. The laparoscopic laparoscope applied with optical coherence tomography according to claim 8, wherein: the development sub-arm comprises a movable part and a fixed part, the rear end of the fixed part is fixed on the mechanical arm, a display is mounted on the movable part, and the movable part of the development sub-arm has at least 5 degrees of freedom relative to the fixed part.

10. The laparoscopic laparoscope applied with optical coherence tomography according to claim 8, wherein: the camera shooting sub-arm comprises a movable arm and a fixed arm, and the movable arm comprises a first sub-arm and a second sub-arm; the fixed arm is rotatably arranged on the main arm, the first sub-arm is rotatably arranged on the fixed arm, and the second sub-arm is rotatably arranged on the first sub-arm; and a lens bracket is arranged at the free end of the second sub-arm and connected with a lens clamp.