JP6474034B2 - Ultrasound distance measuring device for endoscopic surgery - Google Patents
Ultrasound distance measuring device for endoscopic surgery Download PDFInfo
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- JP6474034B2 JP6474034B2 JP2015019710A JP2015019710A JP6474034B2 JP 6474034 B2 JP6474034 B2 JP 6474034B2 JP 2015019710 A JP2015019710 A JP 2015019710A JP 2015019710 A JP2015019710 A JP 2015019710A JP 6474034 B2 JP6474034 B2 JP 6474034B2
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Description
この発明は、鏡視下手術において、従来の鉗子の基部（体外）に超音波距離センサーモジュールを取り付けることで、体腔内の２点間の距離を計測する、鏡視下手術用超音波式距離計測装置に関するものである。 The present invention provides an ultrasonic distance for endoscopic surgery in which the distance between two points in a body cavity is measured by attaching an ultrasonic distance sensor module to the base (external) of a conventional forceps in an endoscopic surgery. The present invention relates to a measuring device.
従来、鏡視下手術において体腔内の距離を計測することは難しく、挿入した鉗子の先端部の長さなどから推定する、メジャー等を体腔内に挿入して測る、画像を後から解析する、などの方法しかなかった。 Conventionally, it is difficult to measure the distance in the body cavity in the endoscopic surgery, estimated from the length of the tip of the inserted forceps, measured by inserting a measure or the like into the body cavity, and analyzing the image later, There was only such a method.
手術においては、病変の大きさや脈管・臓器等の２点間の距離を計測することで、診断・治療の正確性を高めることができる。例えば腹部手術の場合、開腹手術であればメジャー等を直接当てることで距離の計測は比較的容易であるが、腹腔鏡下手術では困難であり、腹腔内に特別な道具を挿入せずに即座に距離を計測する方法は存在しなかった。本発明は、鏡視下手術において、体腔内に従来の鉗子を挿入するのみで、瞬時に体腔内の任意の２点間の距離を計測できるようにすることを課題とする。 In surgery, the accuracy of diagnosis and treatment can be improved by measuring the size of a lesion and the distance between two points such as a blood vessel and an organ. For example, in the case of abdominal surgery, it is relatively easy to measure distance by directly applying a measure etc. in open surgery, but it is difficult in laparoscopic surgery, and it is immediate without inserting special tools in the abdominal cavity. There was no way to measure distance. An object of the present invention is to make it possible to instantaneously measure the distance between any two points in a body cavity simply by inserting a conventional forceps into the body cavity in an endoscopic operation.
任意の２本の鉗子（１）の基部に２つずつ超音波距離センサーモジュール（以下、センサー）（２）を取り付ける。１つのセンサーから発信された超音波を別のセンサーが受信し、そのタイムラグがマイコン（３）で処理されセンサー間の距離情報に変換される。さらにセンサーを取り付けた位置とセンサー間の距離から、センサーを体腔内に挿入することなく、鉗子の先端間の距離をマイコン（３）で算出し、接続したパソコン（４）で結果を表示する。
本発明は、以上の構成よりなる超音波式距離計測装置である。Two ultrasonic distance sensor modules (hereinafter referred to as sensors) (2) are attached to the base of any two forceps (1). The ultrasonic wave transmitted from one sensor is received by another sensor, and the time lag is processed by the microcomputer (3) and converted into distance information between the sensors. Further, the distance between the tips of the forceps is calculated by the microcomputer (3) without inserting the sensor into the body cavity from the position where the sensor is attached and the distance between the sensors, and the result is displayed on the connected personal computer (4).
The present invention is an ultrasonic distance measuring device configured as described above.
超音波を用いた処理は、１／１００秒程度の単位で繰り返し行えることから、距離はほぼリアルタイムに計測できる。体内には新たな道具を挿入しないため、ポートの大きさや手術内容（術式）などに関係なく使用でき、鉗子での把持や剥離等の操作と距離計測を同時に行うこともできる。また、体内に挿入するものが最低限であることは、医療安全上も有利である。 Since the processing using ultrasonic waves can be repeated in units of about 1/100 second, the distance can be measured almost in real time. Since no new tool is inserted into the body, it can be used regardless of the size of the port and the content of the operation (surgery method), and operations such as grasping and peeling with forceps and distance measurement can be performed simultaneously. In addition, it is advantageous from the viewpoint of medical safety that the minimum amount to be inserted into the body.
以下、本発明を実施するための形態について説明する。
先端に弯曲のない２本の鉗子（１）を用意する。２本の鉗子（１）の基部に、それぞれ２個ずつ超音波の発信・受信の両方ができる超音波距離センサーモジュール（以下、センサー）（２）を取り付ける。１本目の鉗子の先端を点Ｐ、先端に近い方のセンサーをＡ、遠い方のセンサーをＢとする。ＰＡ間、ＡＢ間の長さをあらかじめ決めておく。２本目の鉗子の先端を点Ｑ、先端に近い方のセンサーをＣ、遠い方のセンサーをＤとし、同様にＱＣ、ＣＤの長さも決めておく。異なる鉗子のセンサー間の長さ（ＡＣ、ＡＤ、ＢＣ、ＢＤ）は、一方のセンサーが超音波を発信してからもう一方が超音波を受信するまでのタイムラグがマイコン（３）で処理され、音速からセンサー間の長さを算出する。これらの長さからＰＱ間の距離を、余弦定理を用いた方法により間接的に求める。結果はＵＳＢ接続されたパソコン（４）に送信し表示する。
余弦定理を用いたＰＱの求め方は、以下の通りである。
・ＰＡ，ＡＢ，ＱＣ，ＣＤが既知。
・ＡＣ，ＡＤ，ＢＣ，ＢＤをセンサーを用いて求める。
・余弦定理よりｃｏｓ∠ＡＤＣが求まる。
・∠ＡＤＣ＝∠ＡＤＱなので、△ＱＡＤにおいて余弦定理よりＱＡが求まる。
・余弦定理よりｃｏｓ∠ＢＤＣが求まる。
・∠ＢＤＣ＝∠ＢＤＱなので、△ＱＢＤにおいて余弦定理よりＱＢが求まる。
・△ＡＢＱにおいて余弦定理よりｃｏｓ∠ＡＢＱが求まる。
・∠ＡＢＱ＝∠ＰＢＱなので、△ＰＢＱにおいて余弦定理よりＰＱが求まる。
本発明は、以上のような構造である。
これを使用するときは、２本の鉗子を体腔内に挿入し、鏡視下に、測定したい２点にそれぞれの鉗子の先端をおいて、パソコンに表示された距離を読めばよい。Hereinafter, modes for carrying out the present invention will be described.
Prepare two forceps (1) with no curvature at the tip. At the base of the two forceps (1), two ultrasonic distance sensor modules (hereinafter referred to as sensors) (2) capable of both transmitting and receiving ultrasonic waves are attached. Let the tip of the first forceps be point P, the sensor closer to the tip be A, and the sensor farther away be B. The length between PA and AB is determined in advance. The tip of the second forceps is point Q, the sensor closer to the tip is C, the sensor farther is D, and the lengths of QC and CD are also determined. The length (AC, AD, BC, BD) between the sensors of different forceps is processed by the microcomputer (3), the time lag from when one sensor transmits an ultrasonic wave until the other receives an ultrasonic wave, The length between sensors is calculated from the speed of sound. From these lengths, the distance between PQs is obtained indirectly by a method using the cosine theorem. The result is transmitted to a personal computer (4) connected via USB and displayed.
The method of obtaining PQ using the cosine theorem is as follows.
・ PA, AB, QC and CD are known.
・ AC, AD, BC, and BD are obtained using sensors.
・ Cos ∠ ADC is obtained from the cosine theorem.
Since ∠ADC = ∠ADQ, QA can be obtained from the cosine theorem in ΔQAD.
・ Cos ∠ BDC is obtained from the cosine theorem.
Since ∠BDC = ∠BDQ, QB is obtained from the cosine theorem in ΔQBD.
-In ΔABQ, cos ∠ ABQ is obtained from the cosine theorem.
Since ∠ABQ = ∠PBQ, PQ is obtained from the cosine theorem in ΔPBQ.
The present invention has the above structure.
When using this, insert two forceps into the body cavity, place the tip of each forceps at the two points to be measured under the microscope, and read the distance displayed on the personal computer.
１ 任意の鉗子
２ 超音波距離センサーモジュール
３ マイコン基板（Ａｒｄｕｉｎｏ）
４ パソコン1
4 PC
Claims (1)
前記２本の鉗子の一方の鉗子に取り付けられた前記センサーモジュールと他方の鉗子に取り付けられた前記センサーモジュールとの間の距離の情報を取得し、前記センサーモジュールを取り付けた位置の情報と取得した前記距離の情報とから、前記２本の鉗子の先端間の距離を算出するマイコンと、
からなる鏡視下手術用超音波式距離計測装置。 An ultrasonic distance sensor module mounted two on the base of two forceps element,
Information on the distance between the sensor module attached to one forceps of the two forceps and the sensor module attached to the other forceps was obtained, and information on the position where the sensor module was attached was obtained. from said distance information, and a microcomputer for calculating the distance between the previous end of the two forceps,
An ultrasonic distance measuring device for endoscopic surgery.
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| JP2015019710A JP6474034B2 (en) | 2015-01-18 | 2015-01-18 | Ultrasound distance measuring device for endoscopic surgery |
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| JP2015019710A JP6474034B2 (en) | 2015-01-18 | 2015-01-18 | Ultrasound distance measuring device for endoscopic surgery |
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| JP2016131866A JP2016131866A (en) | 2016-07-25 |
| JP6474034B2 true JP6474034B2 (en) | 2019-02-27 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2020022563A (en) | 2018-08-06 | 2020-02-13 | ソニー・オリンパスメディカルソリューションズ株式会社 | Medical observation apparatus |
| JP6469295B1 (en) | 2018-09-21 | 2019-02-13 | 株式会社Ａ−Ｔｒａｃｔｉｏｎ | Surgery support apparatus, control method therefor, and surgery support system |
| CN111317479A (en) * | 2018-12-14 | 2020-06-23 | 学校法人金泉大学 | Digital measuring instrument for body size measurement |
| JP6506490B1 (en) * | 2019-01-15 | 2019-04-24 | 株式会社Ａ−Ｔｒａｃｔｉｏｎ | Surgical support device, control method thereof, and surgical support system |
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| JP2002253480A (en) * | 2001-03-02 | 2002-09-10 | Olympus Optical Co Ltd | Device for assisting medical treatment |
| DE102009030731A1 (en) * | 2009-06-26 | 2010-12-30 | Fiagon Gmbh | Method for generating position data of an instrument |
| JP2014132980A (en) * | 2013-01-10 | 2014-07-24 | Advanced Healthcare Kk | Trocar and surgery support system |
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