CN218572421U

CN218572421U - Puncture device for retinal surgery

Info

Publication number: CN218572421U
Application number: CN202221469076.5U
Authority: CN
Inventors: 陈亦棋; 沈丽君; 潘德铭
Original assignee: Zhejiang Provincial Peoples Hospital
Current assignee: Zhejiang Provincial Peoples Hospital
Priority date: 2022-06-10
Filing date: 2022-06-10
Publication date: 2023-03-07
Anticipated expiration: 2032-06-10

Abstract

The utility model relates to a piercing depth of retinal operation, including induction system, have the link, the link is used for connecting the piercing depth, and induction system is set the monitoring the atress condition of the piercing depth mechanism that connects on the link, reminder system, and induction system communication connection, reminder system can receive the signal that sends from induction system to indicate according to the signal received, the monitoring of induction system the atress condition of piercing depth gives reminder system with the signal transmission that has the atress condition, reminder system receives and comes from induction system the signal has the receivable pressure range of puncture in advance in the reminder system, and the atress when the piercing depth is greater than during the pressure range, reminder system indicates. The utility model discloses a piercing depth makes the operator can establish the relation with strength, tremble, the puncture position of puncture and suggestion when operating piercing depth in the art, and then reduces and avoids producing the possibility of iatrogenic source nature damage.

Description

Puncture device for retinal surgery

Technical Field

The utility model relates to a puncture device for retina surgery.

Background

The retinal surgery is a complicated and difficult operation in ophthalmology and even whole clinical surgery, and the reasons for the complicated and difficult operation are mainly as follows: (1) retinal tissue fragility: the thickness of the retina is only about 0.3mm, the diameter of veins is less than 0.2mm, the diameter of arteries is less than 0.1mm, the retina cannot regenerate after being damaged by tissues, and accidental touch can cause tissue damage and function damage; (2) the surgical operation is complicated: complex operations such as sucking, cutting, grabbing, peeling, placing, shearing and the like need to be completed in the eyeball, and even operations such as touching, grabbing and the like need to be performed on the surface of the retina. Therefore, the retinal surgeon needs to have very good operational accuracy and stability. The average tremor amplitude of a doctor during the operation is 108 μm, but the operation accuracy of the retinal operation is high, and physiological tremor is an important reason for causing the injury of the tissues caused by the operation, thereby affecting the operation effect. In the process of retinal surgery, the tremor of the hands of the operator is transmitted to the head end of the instrument through the stick-shaped surgical instrument. The amplitude and frequency of the tremor of the head end of the instrument on the surface of the retina are converted into the mechanical pressure and the pressing frequency of the instrument, so that iatrogenic injury is caused, wherein the mechanical pressure is the most main injury factor. Research shows that the mechanical feedback of the retina operation is less than 7.5mN, and the tiny force cannot be sensed by human hands.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a can monitor the puncture atress condition in the retina operation to carry out the puncture device of the retina operation of suggestion through the suggestion of difference.

In order to achieve the above object, a first aspect of the present invention relates to a puncture device for retinal surgery, comprising:

a sensing device having a connecting end for connection to the piercing member, the sensing device being arranged to monitor a force condition of a piercing mechanism connected to said connecting end,

and the prompting system is in communication connection with the induction device, can receive the signal sent by the induction device and prompts according to the received signal.

In some embodiments of the first aspect of the present invention, the sensing device comprises a micro force sensor and a connecting member, the sensing side of the micro force sensor is mounted on the connecting member, the connecting member is provided with the connecting end, and when the puncturing member is mounted on the connecting member, the central axis of the puncturing member is coaxial with the detection origin of the micro force sensor.

In some embodiments of the first aspect of the present invention, the micro-force sensor is a six-axis micro-force sensor.

In some embodiments of the first aspect of the present invention, the indication system comprises a receiving device, a processing device and an indicator, the sensing device is in communication with the receiving device, the receiving device is in communication with the processing device, and the processing device is in communication with the communication indicator.

In some embodiments of the first aspect of the present invention, the prompt system further comprises a display device, and the processing device is communicatively connected to the display device.

In some embodiments of the first aspect of the present invention, the processing device is a main body of a surgical robot.

In some embodiments of the first aspect of the present invention, the piercing member comprises a piercing needle.

In some embodiments of the first aspect of the present invention, the piercing member further comprises a tube having a first orifice that is sleeved with the connecting end and a second orifice that is communicated with the piercing needle.

In some embodiments of the first aspect of the present invention, the pipe fitting is a three-way pipe, and the three-way pipe has a third pipe orifice that can be communicated with an infusion pump or an aspirator pump.

The second aspect of the utility model relates to the force monitoring method of the above-mentioned piercing depth:

the sensing device monitors the stress condition of the puncture piece and sends a signal with the stress condition to the prompting system,

the prompting system receives the signal from the sensing device, a pressure range which can be received by puncture is preset in the prompting system, and when the stress of the puncture piece is larger than the pressure range, the prompting system prompts.

In some embodiments of the second aspect of the present invention, the stress threshold of the retina just contacted, the stress threshold of the retina punctured to the superficial layer, and the stress threshold of the retina punctured to the deep layer are preset in the prompt system, and when the force of the puncture piece received by the prompt system is greater than the corresponding stress threshold, the prompt system gives different prompts.

In some embodiments of the second aspect of the present invention, the prompt system prompts at different frequencies or at different volumes according to the force applied to the puncture member.

In some embodiments of the second aspect of the present invention, the stress condition includes a stress magnitude and a stress direction.

The utility model discloses a piercing depth is used for the retina operation, can indicate to the atress condition of pjncture needle through the mode of suggestion at the in-process of puncture, and the atress condition of pjncture needle is executed the operator and grips the force feedback when piercing depth carries out the application of force to the eyeball to make executing the operator can establish the contact with strength, tremble, puncture position and the suggestion of puncture when operating piercing depth in the art, and then reduce and avoid producing the possibility of iatrogenic damage.

Drawings

Fig. 1 is a schematic structural view of the puncturing device of the present invention.

Fig. 2 is a schematic diagram of a micro force sensor.

Fig. 3 is a schematic view of the mounting of the needle to the connecting end.

FIG. 4 is a schematic view of the puncture needle connected to the connection end through a tee.

In the figure: 100. the three-way pipe comprises a grip piece, 200 micro force sensors, 210 signal output ends, 220 mounting panels, 230 fixing bottom surfaces, 300 connectors, 310 connecting ends, 400 puncture needles, 500 prompting systems and 700 three-way pipes.

Detailed Description

In retinal surgery, although the operator can perform the surgery stably, the operator still has imperceptible tremor, which may press the eye to be operated and further cause iatrogenic injuries. Because there is the above-mentioned problem, the utility model aims at providing a can monitor this kind of minute piercing depth who trembles to in the art, or when the training, the force feedback that produces when puncturing monitors and the suggestion, can carry out the operation in safe controllable within range from supplementary operator. This piercing depth mainly includes: the sensing device is provided with a connecting end, the connecting end is used for connecting the puncture piece, and the sensing device is used for monitoring the stress condition of the puncture mechanism connected to the connecting end; and the prompting system is in communication connection with the induction device, and can receive the signal sent by the induction device and prompt according to the received signal. Because the stress condition of the puncture mechanism is the reaction force of the puncture piece on the pressure of the puncture part in the puncture process, the stress condition of the puncture mechanism can well assist an operator in avoiding the condition of damaging the puncture part due to too heavy force application in the puncture process according to the monitored stress condition of the puncture piece and providing corresponding prompt, and on the other hand, the stress condition of the puncture mechanism can also reflect the position of the front end of the puncture needle due to different pressures generated by tissues in eyeballs, thereby preventing the iatrogenic damage to the retina caused by the puncture mechanism.

A specific structure of the puncture device is shown in fig. 1-2, the sensing device comprises a micro-force sensor 200 and a connecting piece 300, the connecting piece 300 is mounted on the sensing side of the micro-force sensor 200, a connecting end 310 is arranged on the connecting piece 300, and when the puncture piece is mounted on the connecting piece, the central axis of the puncture piece is coaxial with the detection origin of the micro-force sensor. The micro force sensor 200 can be any six-axis force/moment sensor capable of detecting a micro force with a mechanical feedback less than 7.5mN, and is structured as shown in fig. 2, and includes a sensing panel 220, a connecting member 300 mounted on the sensing panel 220, and a fixing bottom 230, in this embodiment, a holding member 100 is mounted on the fixing bottom 230 for facilitating holding. Six-axis force/torque sensor 200 also has a signal output 210, and signal output 210 can send an electrical signal containing the force applied to the lancet through a signal line to reminder system 500. One such six-axis force/torque sensor that meets the above requirements is the ATI incorporated NANO-17 six-axis force/torque sensor.

The puncture device includes but is not limited to a puncture needle, a soft flute needle, a steel needle, etc., the connection end 310 can be designed to be in a shape matched and sleeved with the tail end of the puncture needle, the soft flute needle, the steel needle, and the puncture needle, the soft base needle, the steel needle can be coaxial with the detection origin of the micro-force sensor 200 after being sleeved on the connection end 310. Fig. 3 shows the configuration of the puncture needle 400 when it is fitted to the connection end. In other embodiments, the piercing member further comprises a tubing. As shown in FIG. 4, the tubing used may be a three-way tube 700, the three-way tube 700 having a first tube end 710 that is received by the connection end, a second tube end 720 that communicates with the introducer needle 400, and a third tube end 730 that communicates with an infusion pump or an aspiration pump for performing injection and aspiration operations to the puncture site.

The prompting system comprises a receiving device, a processing device and a prompting device, wherein the sensing device is in communication connection with the receiving device, the receiving device is in communication connection with the processing device, and the processing device is in communication connection with the communication prompting device. The receiving device is used for receiving the signal from the sensing device and converting the signal into a signal form acceptable to the processing device, for example, when a computer is used as the processing device to receive the electric signal transmitted by the micro force sensor, a digital signal needs to be formed by the digital-to-electric conversion circuit, the receiving device is used for receiving the electric signal of the micro force sensor and converting the electric signal into a digital signal to be transmitted to the computer, and such a receiving device is generally available on the market. And after the processing device receives the signal containing the stress condition of the puncture piece, corresponding instructions/signals can be sent to the prompter according to different stress conditions to control the prompter to carry out different prompts, for example, when a computer is used as the processing device, a certain program can be executed to control the prompter to carry out prompt according to different stress conditions. One of the realizable forms of the prompter is a loudspeaker, the processing device sends different audio signals to the loudspeaker according to the received stress condition and a preset rule, and the loudspeaker plays the audio signals after receiving the audio signals. These preset rules will be described in detail later in the description of the method. Furthermore, the prompting system can also comprise a display device, the processing device is in communication connection with the display device and is used for visually displaying the measured stress condition, for example, a display of a computer can be used as the display device connected with the computer. In other embodiments, the processing device may directly utilize the main frame of the surgical robot, thereby reducing the number of devices.

The stress monitoring of the puncture device is mainly carried out by the following method steps:

Similarly, in the monitoring method, the operator is prompted according to the stress condition of the puncture needle, so that iatrogenic damage to the retina in the operation can be prevented.

In the process of retinal puncture, when the puncture needle just contacts the retina, the stress of the puncture needle changes, and the prompting system can prompt that the puncture needle contacts the retina according to the change of the stress, so that the change of the pressure is associated with the position of the puncture needle. Compared with the puncture operation which is originally performed only through real-time OCT images, the puncture force and the puncture position can be controlled more accurately, and then iatrogenic injuries can be prevented.

Besides monitoring the stress, some rules can be preset in the prompting system to control the prompting device to perform different types and degrees of distinguishing and prompting. If the stress threshold value of just contacting the retina, the stress threshold value of puncturing to the superficial retina and the stress threshold value of puncturing to the deep retina are preset in the prompting system, when the stress of the puncturing piece received by the prompting system is larger than the corresponding stress threshold value, the prompting system carries out different prompts. Taking a computer as an example of a processing device of the prompt system, and a loudspeaker as an example of the prompt system, the stress threshold value of just contacting the retina, the stress threshold value of puncturing to the superficial retina and the stress threshold value of puncturing to the deep retina are calculated and stored in a centralized manner, and when the magnitude of the stress value in the received signal exceeds the set threshold value, prompt of different sounds and volumes can be carried out. The computer can perform different prompts according to the data comparison by the existing program, and the prompt tone can adopt audio pre-stored in the computer. In addition, in the puncturing process, the volume of the prompt can be controlled to increase along with the gradual increase of the puncturing force, so that the operator can always correlate the self force with the prompt in the operation, and the prompt for distinguishing is carried out when the force is too large, thereby assisting the operator to operate the puncturing device.

The stress thresholds and the acceptable range for puncturing can be obtained by performing medical experiment statistics using the puncturing device.

When the eyeball just contacts the surface of the retina, the processing device recognizes the change due to the change of stress and changes the prompt tone to prompt, the operator observes OCT to perform surgery while hearing the prompt tone to control the force to ensure the safe performance of the surgery.

The embodiments of the present invention are only used for illustration, and do not limit the scope of the claims, and other substantially equivalent alternatives that may be conceived by those skilled in the art are within the scope of the present invention.

Claims

1. A retinal surgery puncturing apparatus, comprising:

a sensing device having a connection end for connection to the piercing member, the sensing device being arranged to monitor a force condition of a piercing mechanism connected to said connection end,

2. The lancing device of claim 1, wherein the sensor comprises a micro force sensor and a connector, the connector is mounted on a sensing side of the micro force sensor, the connector has the connection end, and a central axis of the lancing device is coaxial with a detection origin of the micro force sensor when the lancing device is mounted on the connector.

3. The lancing device of claim 2, wherein the micro force sensor is a six axis micro force sensor.

4. The lancing device of claim 1, wherein the lancing system comprises a receiving device, a processing device, and a lancet, the sensing device is communicatively coupled to the receiving device, the receiving device is communicatively coupled to the processing device, and the processing device is communicatively coupled to the communication lancet.

5. The lancing device of claim 4, wherein the cue system further comprises a display device, the processing device communicatively coupled to the display device.

6. The lancing device of claim 4, wherein the processing device is a master of a surgical robot.

7. The lancing device of claim 1, wherein the lancet comprises a lancet.

8. The lancing device of claim 6, wherein the lancing element further comprises a tube having a first port in communication with the connection end and a second port in communication with the lancing needle.

9. A lancing device according to claim 8, wherein the tubular member is a tee having a third port adapted to communicate with an infusion pump or an aspiration pump.