KR102392183B1 - System and method for detecting lesions for laparoscopic surgery using magnetic field detector - Google Patents

Abstract

The present invention relates to a lesion detection system and method for laparoscopic surgery using a magnetic field-sensing detector, and more particularly, a clip disposed adjacent to a lesion and generating a magnetic field so that the position of the lesion can be confirmed in a non-contact manner, the clip a first Hall sensor for detecting the magnetic field of The present invention comprising a server unit communicatively connected to the magnetic field sensing type detector and determining whether the clip exists from a portion where the magnetic field sensing type detector is located using signals of the first Hall sensor and the second Hall sensor relates to a lesion detection system and method for laparoscopic surgery using a magnetic field-sensing detector.

Description

{System and method for detecting lesions for laparoscopic surgery using magnetic field detector}

The present invention relates to a system and method for detecting a lesion for laparoscopic surgery using a magnetic field-sensing detector, and more specifically, a magnetic field-sensing detector having two Hall sensors to determine the position of a clip placed adjacent to a lesion in a non-contact manner It relates to a system and method for detecting lesions for laparoscopic surgery using a magnetic field sensing type detector.

The existing abdominal surgery method was mainly open surgery accompanied by open abdominal surgery. Laparotomy is a surgical method that has been traditionally used and is still used frequently in modern medicine. However, open surgery has disadvantages such as the risk of wound infection, slow recovery after surgery, and decreased cosmetic satisfaction due to scarring. As an alternative, laparoscopic gastrectomy, first introduced by Kitano in 1994 for gastric cancer, tried to overcome the disadvantages of several open surgeries mentioned above by inserting a surgical instrument after a small perforation in the abdomen instead of open surgery. With the development of laparoscopic surgical instruments and surgical techniques and the increasing interest of patients and doctors in quality of life, the recent surgical trend for gastric cancer is changing from open surgery to laparoscopic surgery. Laparoscopic surgery is already recognized as the standard surgery for early gastric cancer, and several researchers are reporting the superiority of laparoscopic surgery for advanced gastric cancer. Laparoscopic surgery has several advantages over open surgery, such as less postoperative pain, faster recovery, and excellent cosmetic results.

However, it is difficult to palpate the lesion by hand during surgery, and it may be difficult to confirm the exact location of the lesion because of the use of instruments. In particular, in the case of early lesions or benign lesions growing into the intestinal lumen, it is difficult to determine the location of the lesion and determine the appropriate margin of resection because the serous membrane is not marked.

In the case of gastrectomy, intraoperative endoscopy or confirmation through X-ray imaging has been introduced, but it is not widely practiced in clinical practice due to the complexity of the process and the problem of collaboration with other departments. The tattoo method to mark the lesion was introduced, but there are inconveniences to the patient and economic problems due to the additional procedure because an endoscope needs to be performed one more time before surgery. The more rapidly the effect diminishes.

Due to these problems, doctors have an unmet need for new medical technology for lesion identification. Although there are some differences of opinion regarding the safety margin of gastric cancer, the Japanese medical community currently recommends resection with a margin of about 20 to 50 mm, and the domestic medical community generally follows these standards. However, interest in minimally invasive surgery has recently been increasing to improve the quality of life after surgery, and the demand for technology development to realize it is continuing.

In the past, there have been cases of research on methods to confirm the location of lesions during laparoscopic surgery using various methods.

In 2005, Hyung W. J. et al. introduced a method to identify lesions using intraoperative laparoscopic ultrasound for gastric submucosal tumors growing in the lumen. It has a limitation in that it may fail to identify the lesion because the size of the clip is small. In a 2011 report by Kim H. I. and 2 others, they suggested a method to find a pre-operative clip through abdominal X-ray during surgery in 80 patients with early gastric cancer. In 2014, Kim B. S. and 3 others used Radio-Opaque Gauze. A method of confirming the lesion after X-ray imaging was reported. Several methods through gastroscopy have also been introduced. In 2012, Jeong O. et al. reported a self-transfusion tattooing method in which a patient's blood was collected and the blood sampled into the lower mucosa of the gastric mucosa was injected with a preoperative gastroscopic endoscope to mark the lesion on the serous membrane. Xuan Y. et al. Also, a method was introduced to confirm the location of the lesion in the gastric sera by injecting a dye under the gastric mucosa through an endoscope during surgery without installing a preoperative clip.

Hyung W. J, Lim J, et al., “Intraoperative tumor localization using laparoscopic ultrasonography in laparoscopic assisted gastrectomy” Surgical Endoscopy And Other Interventional Techniques, 2005, 19:1353-1357. Kim H. I, Hyung W. J, et al., “Intraoperative portable abdominal radiograph for tumor localization: a simple and accurate method for laparoscopic gastrectomy” Surgical Endoscopy, 2011, 25:958-963. Kim B. Su, Yook J. H, et al., “A simplified technique for tumor localization using preoperative endoscopic clipping and radio opaque markers during totally laparoscopic gastrectomy” The American Surgeon 2014, 80:1266-1270. Jeong O, Cho S. B, et al., “Novel technique for intraoperative tumor localization during totally laparoscopic distal gastrectomy: endoscopic autologous blood tattooing” Surgical Endoscopy, 2012, 26:1778-1783. Xuan Y, Hur H, et al., “Efficacy of intraoperative gastroscopy for tumor localization in totally laparoscopic distal gastrectomy for cancer in the middle third of the stomach” Surgical Endoscopy, 2013, 27:4364-4370.

The present invention is to solve the above problems, and when a magnet is directly attached or a clip having a magnetized arbitrary part is located close to the patient's lesion, the patient's abdomen using a magnetic field detection detector An object of the present invention is to obtain a system and method for detecting a lesion for laparoscopic surgery using a magnetic field sensing type detector that can easily check the position of the clip from the outside.

It is an object of the present invention to detect a minute magnetic field of metal from outside the abdomen of a patient using a magnetic field sensing detector when a clip provided with a magnet or made of non-magnetized metal is located close to the patient's lesion, To provide a system and method for detecting lesions for laparoscopic surgery using a magnetic field-sensing detector that can easily identify a location.

In order to achieve the above object, the lesion detection system for laparoscopic surgery using a magnetic field sensing type detector according to an embodiment of the present invention is disposed adjacent to the lesion and generates a magnetic field so that the position of the lesion can be confirmed in a non-contact manner. Clip; a first Hall sensor sensing the magnetic field of the clip; a second Hall sensor sensing a magnetic field in the sensing space; and a control unit for controlling signals from the first Hall sensor and the second Hall sensor, comprising: a magnetic field sensing type detector configured to detect the clip; and a server unit communicatively connected to the magnetic field sensing type detector and determining whether the clip is present from a portion where the magnetic field sensing type detector is located using signals of the first Hall sensor and the second Hall sensor. do.

In order to achieve the above object, the method for detecting a lesion for laparoscopic surgery using a magnetic field sensing type detector according to an embodiment of the present invention is such that the level of the first Hall sensor and the second Hall sensor signal is equal to the first Hall sensor and the second Hall sensor. 2 A sensor tuning step in which the Hall sensor is tuned; a clip detecting step in which a magnetic field of the clip is sensed and the first Hall sensor signal is derived; a magnetic field sensing step in which a magnetic field in the sensing space is sensed and the second Hall sensor signal is derived; obtaining a magnetic field value of the clip by subtracting the second Hall sensor signal from the first Hall sensor signal; a moving average calculation step of calculating a moving average after the magnetic field value is used to obtain a time differential; and when the moving average deviates from the reference value of 0, it is determined that the clip is present in the portion where the magnetic field sensing type detector is located, and when it approaches the reference value of 0, the clip does not exist in the portion where the magnetic field sensing type detector is located. Provided; a step of determining whether the determined clip exists.

In order to achieve the above object, the lesion detection system for laparoscopic surgery using a magnetic field sensing type detector according to this embodiment of the present invention is disposed adjacent to the lesion and generates a magnetic field so that the position of the lesion can be confirmed in a non-contact manner. Clip; a first Hall sensor and a second Hall sensor for sensing the magnetic field of the clip and respectively measuring signals having opposite vector directions; and a control unit for controlling signals from the first Hall sensor and the second Hall sensor, comprising: a magnetic field sensing type detector configured to detect the clip; and a server unit communicatively connected to the magnetic field sensing type detector and determining whether the clip exists from a portion where the magnetic field sensing type detector is located using signals of the first Hall sensor and the second Hall sensor. do.

In order to achieve the above object, the method for detecting a lesion for laparoscopic surgery using a magnetic field sensing type detector according to this embodiment of the present invention is such that the level of the first Hall sensor and the second Hall sensor signal is equal to the first Hall sensor and the second Hall sensor. 2 A sensor tuning step in which the Hall sensor is tuned; a signal measuring step of detecting the magnetic field of the clip and measuring the signals of the first Hall sensor and the second Hall sensor having opposite vector directions; a difference value calculating step of calculating a difference value between the signals of the first Hall sensor and the second Hall sensor; a moving average calculation step of calculating a moving average after obtaining a differential value with respect to time by using the difference value; and when the moving average deviates from the reference value of 0, it is determined that the clip is present in the portion where the magnetic field sensing type detector is located, and when it approaches the reference value of 0, the clip does not exist in the portion where the magnetic field sensing type detector is located. Provided; a step of determining whether the determined clip exists.

As described above, according to the present invention, when a magnet to which a magnet is directly attached or a clip to which an arbitrary part is magnetized is located close to the patient's lesion, the patient's There is an effect that can easily determine the position of the clip from the outside of the abdomen.

The present invention detects a fine magnetic field of metal from the outside of the patient's abdomen using a magnetic field sensing type detector having two Hall sensors when a clip provided with a magnet or a non-magnetized metal clip is located close to the patient's lesion. There is an effect of being able to easily check the position of the clip by sensing.

The present invention is provided with a detector that senses the magnetic field of the clip in order to find the location of the lesion outside the patient's abdomen, so that a quick return to daily life is possible without the sequelae that may occur by injecting a substance into the patient's body. has the effect of

1 is a configuration diagram of a lesion detection system for laparoscopic surgery using a magnetic field sensing detector according to the present invention;
2 is a flowchart of a lesion detection method for laparoscopic surgery using a magnetic field sensing type detector according to an embodiment of the present invention.
3 is a flowchart of a lesion detection method for laparoscopic surgery using a magnetic field sensing type detector according to this embodiment of the present invention.
4 is a graph showing the magnetic field value of the clip positioned on the patient according to an embodiment of the present invention.

The terms used in this specification have been selected as currently widely used general terms as possible while considering the functions in the present invention, but these may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, and the like. In addition, in a specific case, there is a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the corresponding invention. Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, rather than the name of a simple term.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, an embodiment according to the present invention will be described in detail with reference to the accompanying drawings.

Example 1

1 is a configuration diagram of a lesion detection system for laparoscopic surgery using a magnetic field sensing type detector according to the present invention. A first Hall sensor 210 , a second Hall sensor 220 , and a magnetic field sensing type detector 200 including a control unit 230 and a server unit 300 are included.

More specifically, the clip 100 is disposed adjacent to the lesion, and generates a magnetic field to confirm the position of the lesion in a non-contact manner. Most preferably, the clip 100 is disposed adjacent to the lesion in order to check whether the junction is well joined so that secondary inflammation and sequelae do not occur after surgery for lesions in the colon or small intestine for laparoscopic surgery.

At this time, the medical staff should check the clip 100 located in the patient's abdominal cavity from the outside in a non-contact manner. Accordingly, the clip 100 may have a magnet directly attached thereto, or an arbitrary portion of the clip 100 may be magnetized.

Next, in the magnetic field sensing type detector 200 , the first Hall sensor 210 detects the magnetic field of the clip 100 .

Most preferably, the magnetic field sensing type detector 200 may further include a rod-shaped body 240 to be gripped by a user, and the first Hall sensor 210 is installed at the end of the body 240 to The magnetic field generated from the clip 100 can be detected with high sensitivity.

In general, a Hall sensor is a sensor that can know the direction and magnitude of a magnetic field by using the Hall effect in which a voltage is generated in a direction perpendicular to the current and the magnetic field when a magnetic field is applied to a conductor through which a current flows. That is, when a magnetic object approaches, a signal is generated, and the signal includes the direction and magnitude of the magnetic field.

Accordingly, after sensing the magnetic field of the clip 100 , the first Hall sensor 210 generates a first Hall sensor signal including a magnitude value of the magnetic field.

Next, the second Hall sensor 220 senses the magnetic field of the sensing space. Here, the sensing space is around the outside of the abdominal cavity of the patient in which the magnetic field sensing type detector 200 detects the clip 100 .

The reason why the second Hall sensor 220 senses the magnetic field of the sensing space is that objects and materials emitting a magnetic field, such as various electronic devices, may exist in the sensing space, and accordingly, noise may be included in the first Hall sensor signal. because it can

In addition, the second Hall sensor 220 generates a second Hall sensor signal including a magnitude value of the magnetic field after sensing the magnetic field of the sensing space. In addition, the second Hall sensor signal may be referred to as a noise signal.

Next, the control unit 230 controls the first Hall sensor and the second Hall sensor signal.

First, the controller 230 may tune the first Hall sensor and the second Hall sensor so that levels of the signals of the first Hall sensor and the second Hall sensor are equal. In general, although the quality of the sensor is standardized and manufactured, the amount of current consumption may be slightly different. Since the amount of current consumption has a linear effect in proportion to the signal of the sensor, the ratio of the amount of current consumption of each sensor is obtained and the tuning is performed so that the level of the signal is equal.

Also, the controller 230 may obtain the magnetic field value of the clip 100 by subtracting the second Hall sensor signal from the first Hall sensor signal. By subtracting the second Hall sensor signal from the first Hall sensor signal, the control unit 230 may obtain a magnetic field size from which noise is removed, which is the magnetic field value.

In addition, the magnetic field sensing type detector 200 may repeatedly acquire the magnetic field value at every preset period.

Next, the server unit 300 is communicatively connected with the magnetic field sensing type detector 200, and using the first Hall sensor and the second Hall sensor signals, a portion where the magnetic field sensing type detector 200 is located. It is determined whether the clip 100 is present.

First, the server unit 300 may be communicatively connected to the magnetic field sensing detector 200 wirelessly or by wire, and may be wirelessly connected to Lora, Wi-Fi, Bluetooth, BLE, Zigbee, IR method and the like may be included. And after being communicatively connected, the server unit 300 may receive a magnetic field value from the magnetic field sensing type detector 200 .

In addition, the server unit 300 may obtain a differential value with respect to time by using the magnetic field value transmitted from the magnetic field sensing type detector 200 to determine the existence of the clip 100 .

In this case, the server unit 300 may receive the magnetic field value at a preset period, and obtain the differential value D with respect to time by substituting the magnetic field value into the following [Equation 1].

[Equation 1]

은 상기 제어부(230)로부터 금번 전송받은 자기장 수치와 직전 전송받은 자기장 수치와의 차이고,

는 상기 자기장 수치를 전송받는 기 설정된 주기이다.Here, the

is the difference between the magnetic field value transmitted this time from the control unit 230 and the magnetic field value transmitted immediately before,

is a preset period for receiving the magnetic field value.

In addition, the server unit 300 may calculate a moving average after obtaining the differential value with respect to the time. In general, the moving average refers to a plurality of averages obtained by taking a certain number in order starting from each value when the measured values are continuously obtained.

That is, the server unit 300 obtains a moving average (MA) by substituting the differential value with respect to time into the following [Equation 2].

Most preferably, the server unit 300 may repeatedly calculate the moving average (MA) for the 20 differential values (D) after obtaining 20 differential values (D) with respect to the time.

[Equation 2]

In addition, when the moving average MA deviates from the reference value of 0, the server unit 300 may determine that the clip 100 is present in the portion where the magnetic field sensing type detector 200 is located.

Conversely, when it approaches 0, which is the reference value, it may be determined that the clip does not exist in a portion where the magnetic field sensing type detector is located.

At this time, the server unit 300 calculates a plurality of moving averages (MA) by repeatedly calculating the moving averages (MA). can be considered to exist.

For example, the server unit 300 may include an analog-to-digital converter (ADC) having 16-bit resolution, and when a moving average (MA) of 2 bits or more deviates from 0, it may be determined that a clip exists.

2 is a flowchart of a lesion detection method for laparoscopic surgery using a magnetic field sensing type detector according to an embodiment of the present invention. 2 , the lesion method for laparoscopic surgery using a magnetic field sensing type detector according to an embodiment of the present invention includes a sensor tuning step (S100), a clip detection step (S200), a magnetic field detection step (S300), a magnetic field value acquisition step (S400), a moving average calculation step (S700), and a clip existence determination step (S800).

In the sensor tuning step ( S100 ), the first Hall sensor 210 and the second Hall sensor 220 are tuned by the controller 230 so that the levels of the first Hall sensor and the second Hall sensor signals are equal.

In general, although the quality of the sensor is standardized and manufactured, the amount of current consumption may be slightly different. The amount of current consumption has a linear effect in proportion to the signal of the sensor.

Accordingly, in the sensor tuning step (S100), the ratio of the current consumption of each sensor is obtained so that the signal level of each sensor is equal, and the tuning is performed.

In the clip detecting step (S200), the magnetic field of the clip 100 is sensed by the first Hall sensor 210 and the first Hall sensor signal is derived.

The clip 100 is disposed adjacent to the lesion, and generates a magnetic field to check the position of the lesion in a non-contact manner. Most preferably, the clip 100 is disposed adjacent to the lesion in order to check whether the junction is well joined so that secondary inflammation and sequelae do not occur after surgery for lesions in the colon or small intestine for laparoscopic surgery.

At this time, the medical staff should check the clip 100 located in the patient's abdominal cavity from the outside in a non-contact manner. Accordingly, the clip 100 may have a magnet directly attached thereto, or an arbitrary portion of the clip 100 may be magnetized.

In general, a Hall sensor is a sensor that can know the direction and magnitude of a magnetic field by using the Hall effect in which a voltage is generated in a direction perpendicular to the current and the magnetic field when a magnetic field is applied to a conductor through which a current flows. That is, when a magnetic object approaches, a signal is generated, and the signal includes the direction and magnitude of the magnetic field.

Accordingly, in the clip detecting step ( S200 ), the first Hall sensor signal including the magnitude value of the magnetic field is generated after detecting the magnetic field of the clip 100 .

Next, in the magnetic field sensing step ( S300 ), the magnetic field of the sensing space is sensed by the second Hall sensor 220 and the second Hall sensor signal is derived.

Here, in the magnetic field sensing step ( S300 ), objects and materials emitting a magnetic field, such as various electronic devices, may exist in the sensing space, and accordingly, noise may be included in the first Hall sensor signal to obtain a noise signal. am.

That is, in the magnetic field sensing step ( S300 ), after the magnetic field of the sensing space is sensed, the second Hall sensor signal including the magnitude value of the magnetic field is generated. In addition, the second Hall sensor signal may be referred to as a noise signal.

Next, in the magnetic field value acquisition step S400 , the second Hall sensor signal is subtracted from the first Hall sensor signal by the controller 230 to obtain the magnetic field value of the clip 100 .

That is, in the magnetic field value acquisition step S400 , the second Hall sensor signal is subtracted from the first Hall sensor signal to obtain a magnetic field size from which noise is removed, which is the magnetic field value.

In the magnetic field value acquisition step (S400), the magnetic field value may be repeatedly acquired every preset period.

Next, in the moving average calculation step (S700), the moving average is calculated by the server unit 300 after the magnetic field value is used to obtain a time-dependent differential value.

In this case, in the moving average calculation step (S700), the magnetic field value may be transmitted from the magnetic field sensing type detector 200 at every preset period, and the magnetic field value is substituted for the following [Equation 1] to differentiate with respect to time A value (D) is obtained.

[Equation 1]

은 상기 제어부(230)로부터 금번 전송받은 자기장 수치와 직전 전송받은 자기장 수치와의 차이고,

는 상기 자기장 수치를 전송받는 기 설정된 주기이다.Here, the

is the difference between the magnetic field value transmitted this time from the control unit 230 and the magnetic field value transmitted immediately before,

is a preset period for receiving the magnetic field value.

In addition, in the moving average calculation step ( S700 ), a moving average may be calculated after the time differential is obtained.

In general, the moving average refers to a plurality of averages obtained by taking a certain number in order starting from each value when the measured values are continuously obtained.

That is, in the moving average calculation step (S700), the differential value with respect to time is substituted into the following [Equation 2] to obtain a moving average (MA).

Most preferably, in the step of calculating the moving average ( S700 ), the moving average (MA) may be repeatedly calculated for the 20 differential values (D) after the 20 differential values (D) with respect to the time are obtained.

[Equation 2]

Next, the clip presence determination step (S800) is performed by the server unit 300, when the moving average deviates from the reference value of 0, the clip 100 is placed on the portion where the magnetic field sensing type detector 200 is located. is considered to exist.

Conversely, in the clip existence determination step (S800), when the moving average approaches 0, which is the reference value, it is determined that the clip 100 does not exist in the portion where the magnetic field sensing type detector 200 is located.

At this time, in the step of determining whether the clip exists ( S800 ), a plurality of moving averages are calculated by repeatedly calculating the moving averages, among which a certain number of moving averages deviate from the reference value of 0 It may be determined that the cotton clip is present.

For example, the clip existence determination step ( S800 ) may include an analog-to-digital converter (ADC) having 16-bit resolution, and when the moving average (MA) of 2 bits or more deviates from 0, it may be determined that the clip exists.

4 is a graph showing the magnetic field value of the clip 100 positioned on the patient according to an embodiment of the present invention.

More specifically, the clip 100 may have a magnet directly attached thereto, or an arbitrary portion of the clip 100 may be magnetized. And the server unit 300 from a point spaced a certain distance in the left direction with respect to the clip 100 to the clip point of the clip 100, from the clip point of the clip 100 to the clip 100 When the magnetic field sensing type detector 200 moves by 1 cm to a point spaced apart by a predetermined distance in the right direction as a reference, the numerical value of the magnetic field can be derived.

In addition, the server unit 300 may include an analog-to-digital converter (ADC) having a 16-bit resolution, and by using this, a value obtained by converting the numerical value of the magnetic field to a digital value can be derived and displayed on a graph.

That is, when the magnetic field sensing type detector 200 is spaced apart from the clip 100 in the left direction by about 10 cm, it can be seen that the magnetic field value is low. In addition, it can be seen that the magnetic field value is higher when the clip 100 is about 5 cm away from the clip 100 than when it is about 10 cm away.

And when the magnetic field sensing type detector 200 reaches the clip point, which is a point very close to the clip 100, it can be seen that the magnetic field value is the highest. And again, it can be seen that the magnetic field value tends to decrease as spaced apart by 1 cm in the right direction with respect to the clip 100 again.

Example 2

1 is a configuration diagram of a lesion detection system for laparoscopic surgery using a magnetic field sensing type detector according to the present invention. A first Hall sensor 210 , a second Hall sensor 220 , and a magnetic field sensing type detector 200 including a control unit 230 and a server unit 300 are included.

More specifically, the clip 100 is disposed adjacent to the lesion, and generates a magnetic field to confirm the position of the lesion in a non-contact manner. Most preferably, the clip 100 is disposed adjacent to the lesion in order to check whether the junction is well joined so that secondary inflammation and sequelae do not occur after surgery for lesions in the colon or small intestine for laparoscopic surgery.

At this time, the medical staff should check the clip 100 located in the patient's abdominal cavity from the outside in a non-contact manner. Accordingly, the clip 100 may be made of metal to generate a fine magnetic field without being magnetized or provided with a magnet. In general, metals have a negligible amount of magnetic field.

Next, in the magnetic field sensing type detector 200 , the first Hall sensor 210 and the second Hall sensor detect the magnetic field of the clip 100 , and respectively measure signals having opposite vector directions.

In general, a Hall sensor is a sensor that can know the direction and magnitude of a magnetic field by using the Hall effect in which a voltage is generated in a direction perpendicular to the current and the magnetic field when a magnetic field is applied to a conductor through which a current flows. That is, when a magnetic object approaches, a signal is generated, and the signal includes the direction and magnitude of the magnetic field.

For example, the first Hall sensor 210 is a Hall sensor having an N pole sending a positive value and sending a negative value to the S pole, and the second Hall sensor 220 has an N pole sending a negative value and sending a negative value to the S pole. It could be a Hall sensor that sends this positive value. That is, since the directions of the vectors are opposite to each other, the first Hall sensor 210 and the second Hall sensor 220 may always output signals having opposite values.

Next, the control unit 230 controls the first Hall sensor and the second Hall sensor signal.

First, the controller 230 may tune the first Hall sensor and the second Hall sensor so that levels of the signals of the first Hall sensor and the second Hall sensor are equal. In general, although the quality of the sensor is standardized and manufactured, the amount of current consumption may be slightly different. Since the amount of current consumption has a linear effect in proportion to the signal of the sensor, the ratio of the amount of current consumption of each sensor is obtained and the tuning is performed so that the level of the signal is equal.

Also, the controller 230 calculates a difference value between the first Hall sensor signal and the second Hall sensor signal. Since the first Hall sensor 210 and the second Hall sensor 220 are tuned to have the same level of signals from the control unit 230, signals having the same magnitude and different directions are generated from the first Hall sensor signal and the second Hall signal. generated by the sensor signal. Accordingly, the controller 230 calculates a difference value between the first Hall sensor signal and the second Hall sensor signal to be used to determine whether the clip 100 exists.

In addition, the controller 230 may repeatedly acquire the difference value every preset period.

Therefore, the conventional technique for detecting the position of the clip by reading the RFID tag embedded in the clip has a disadvantage in that it is difficult to apply in the mass production stage of embedding the RFID tag in the clip. In order to solve this problem, the magnetic field sensing type detector 200 of the present invention includes a Hall sensor that detects a magnetic field, so a magnet or a magnetized clip that is easy to mass-produce can be used, and the position of the clip can be detected by measuring the magnetic field more precisely. There are advantages that can be

Next, the server unit 300 is communicatively connected with the magnetic field sensing type detector 200, and using the first Hall sensor and the second Hall sensor signals, a portion where the magnetic field sensing type detector 200 is located. It is determined whether the clip 100 is present.

First, the server unit 300 may be communicatively connected to the magnetic field sensing detector 200 wirelessly or by wire, and may be wirelessly connected to Lora, Wi-Fi, Bluetooth, BLE, Zigbee, IR method and the like may be included. After being communicatively connected, the server unit 300 may receive a difference value between the first Hall sensor signal and the second Hall sensor signal from the magnetic field sensing type detector 200 .

In addition, the server unit 300 may obtain a differential value with respect to time by using the difference value transmitted from the magnetic field sensing type detector 200 in order to determine the existence of the clip 100 .

In this case, the server unit 300 may receive the difference value every preset period, and obtain the differential value D with respect to time by substituting the difference value into the following [Equation 1].

[Equation 1]

은 상기 제어부(230)로부터 금번 전송받은 상기 제1 홀센서 신호 및 제2 홀센서 신호의 차이값과 직전 전송받은 차이값의 차이값이고,

는 상기

을 전송받는 기 설정된 주기이다.Here, the

is a difference value between the difference value between the first Hall sensor signal and the second Hall sensor signal transmitted this time from the control unit 230 and the difference value transmitted immediately before,

is said

It is a preset period for receiving .

In addition, the server unit 300 may calculate a moving average after obtaining the differential value with respect to the time. In general, the moving average refers to a plurality of averages obtained by taking a certain number in order starting from each value when the measured values are continuously obtained.

That is, the server unit 300 obtains a moving average (MA) by substituting the differential value with respect to time into the following [Equation 2].

Most preferably, the server unit 300 may repeatedly calculate the moving average (MA) for the 20 differential values (D) after obtaining 20 differential values (D) with respect to the time.

[Equation 2]

In addition, when the moving average MA deviates from the reference value of 0, the server unit 300 may determine that the clip 100 is present in the portion where the magnetic field sensing type detector 200 is located.

Conversely, when it approaches 0, which is the reference value, it may be determined that the clip does not exist in a portion where the magnetic field sensing type detector is located.

At this time, the server unit 300 calculates a plurality of moving averages (MA) by repeatedly calculating the moving averages (MA). can be considered to exist.

For example, the server unit 300 may include an analog-to-digital converter (ADC) having 16-bit resolution, and when a moving average (MA) of 2 bits or more deviates from 0, it may be determined that a clip exists.

3 is a flowchart of a lesion detection method for laparoscopic surgery using a magnetic field sensing type detector according to this embodiment of the present invention. Referring to FIG. 3 , the lesion method for laparoscopic surgery using a magnetic field sensing type detector according to this embodiment of the present invention includes a sensor tuning step (S100), a signal measurement step (S500), a difference value calculation step (S600), and a moving average calculation. It includes a step (S700) and a clip presence determination step (S800).

In the sensor tuning step ( S100 ), the first Hall sensor 210 and the second Hall sensor 220 are tuned by the controller 230 so that the levels of the first Hall sensor and the second Hall sensor signals are equal.

In general, although the quality of the sensor is standardized and manufactured, the amount of current consumption may be slightly different. The amount of current consumption has a linear effect in proportion to the signal of the sensor.

Accordingly, in the sensor tuning step (S100), the ratio of the current consumption of each sensor is obtained so that the signal level of each sensor is equal, and the tuning is performed.

In the signal measuring step (S500), the magnetic field of the clip 100 is sensed by the first Hall sensor 210 and the second Hall sensor 220, and the first Hall sensor and the second Hall sensor having opposite vector directions 2 Hall sensor signal is measured.

The clip 100 is disposed adjacent to the lesion, and generates a magnetic field to check the position of the lesion in a non-contact manner. Most preferably, the clip 100 is disposed adjacent to the lesion in order to check whether the junction is well joined so that secondary inflammation and sequelae do not occur after surgery for lesions in the colon or small intestine for laparoscopic surgery.

At this time, the medical staff should check the clip 100 located in the patient's abdominal cavity from the outside in a non-contact manner. Accordingly, the clip 100 may be made of metal to generate a fine magnetic field without being magnetized or provided with a magnet. In general, metals have a negligible amount of magnetic field.

And in general, a Hall sensor is a sensor that can know the direction and magnitude of a magnetic field by using the Hall effect in which a voltage is generated in a direction perpendicular to the current and the magnetic field when a magnetic field is applied to a conductor through which a current flows. That is, when a magnetic object approaches, a signal is generated, and the signal includes the direction and magnitude of the magnetic field.

For example, the first Hall sensor 210 is a Hall sensor having an N pole sending a positive value and sending a negative value to the S pole, and the second Hall sensor 220 has an N pole sending a negative value and sending a negative value to the S pole. It could be a Hall sensor that sends this positive value. That is, in the signal measuring step ( S500 ), the direction of the vector of the magnetic field is opposite and the signal having the same magnitude may be output.

Next, in the step of calculating the difference value ( S600 ), the difference value between the signals of the first Hall sensor and the second Hall sensor is calculated by the control unit 230 .

As mentioned above, since the first Hall sensor 210 and the second Hall sensor 220 are tuned to have the same level of signals from the controller 230, a signal of the same size can be generated, and the clip By sensing the magnetic field, a signal with an opposite vector direction can be generated.

Therefore, in the step of calculating the difference value ( S600 ), a difference value between the first Hall sensor signal and the second Hall sensor signal is calculated so that it can be used to determine whether the clip 100 exists.

In addition, in the step of calculating the difference value ( S600 ), the difference value may be repeatedly obtained for each preset period.

At this time, in the step of calculating the difference value (S600), the difference value is received from the control unit 230 at the preset period, and the difference value is substituted into the following [Equation 1] to obtain a differential value (D) with respect to time ) is obtained.

[Equation 1]

은 상기 제어부(230)로부터 금번 전송받은 상기 제1 홀센서 신호 및 제2 홀센서 신호의 차이값, 직전 전송받은 차이값의 차이값이고,

는 상기

을 전송받는 기 설정된 주기이다.Here, the

is the difference value between the first Hall sensor signal and the second Hall sensor signal transmitted this time from the control unit 230, and the difference value received immediately before,

is said

It is a preset period for receiving .

Next, in the moving average calculation step (S700), the server unit 300 uses the difference value to obtain a time-dependent differential value, and then a moving average is calculated.

In the moving average calculation step (S700), the server unit 300 may calculate a moving average after obtaining the differential value with respect to time. In general, the moving average refers to a plurality of averages obtained by taking a certain number in order starting from each value when the measured values are continuously obtained.

That is, in the moving average calculation step ( S700 ), the differential value with respect to time is substituted into the following [Equation 2] to obtain a moving average (MA).

Most preferably, in the step of calculating the moving average ( S700 ), the moving average (MA) may be repeatedly calculated for the 20 differential values (D) after the 20 differential values (D) with respect to the time are obtained.

[Equation 2]

Next, the clip presence determination step (S800) is performed by the server unit 300, when the moving average deviates from the reference value of 0, the clip 100 is placed on the portion where the magnetic field sensing type detector 200 is located. is considered to exist.

Conversely, in the clip presence determination step (S800), when the moving average approaches 0, which is the reference value, it is determined that the clip 100 does not exist in the portion where the magnetic field sensing type detector 200 is located.

At this time, in the step of determining whether the clip exists ( S800 ), a plurality of moving averages are calculated by repeatedly calculating the moving averages. It may be determined that the cotton clip is present.

For example, the clip existence determination step ( S800 ) may include an analog-to-digital converter (ADC) having 16-bit resolution, and when the moving average (MA) of 2 bits or more deviates from 0, it may be determined that the clip exists.

As described above, although the embodiments have been described with reference to the limited embodiments and drawings, various modifications and variations are possible from the above description by those skilled in the art. For example, the described techniques are performed in an order different from the described method, and/or the described components of the system, structure, apparatus, circuit, etc. are combined or combined in a different form than the described method, or other components Or substituted or substituted by equivalents may achieve an appropriate result.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

100.. Clip
200.. Magnetic Field Sensing Detector
210. First Hall sensor
220.. 2nd Hall sensor
230. Controls
240. body
300.. Server part

Claims (10)

a clip disposed adjacent to the lesion and generating a magnetic field to check the position of the lesion in a non-contact manner;
a first Hall sensor sensing the magnetic field of the clip; a second Hall sensor sensing a magnetic field in the sensing space; and a control unit for controlling signals from the first Hall sensor and the second Hall sensor, comprising: a magnetic field sensing type detector configured to detect the clip; and
A server unit communicatively connected to the magnetic field sensing type detector and determining whether the clip exists from a portion where the magnetic field sensing type detector is located using signals of the first Hall sensor and the second Hall sensor; and ,
The control unit is
tuning the first Hall sensor and the second Hall sensor so that levels of the signals of the first Hall sensor and the second Hall sensor are equal;
obtaining the magnetic field value of the clip by subtracting the signal of the second Hall sensor from the signal of the first Hall sensor;
The server unit,
Calculate a moving average after obtaining a differential value with respect to time using the magnetic field value,
If the moving average deviates from the reference value of 0, it is determined that the clip is present in the portion where the magnetic field sensing type detector is located,
When the reference value is close to 0, the lesion detection system for laparoscopic surgery using a magnetic field sensing detector, characterized in that it is determined that the clip does not exist in the portion where the magnetic field sensing type detector is located. The method of claim 1,
The clip is
A lesion detection system for laparoscopic surgery using a magnetic field sensing detector, characterized in that a magnet is directly attached, or an arbitrary part of the clip is magnetized. delete delete a sensor tuning step in which the first Hall sensor and the second Hall sensor are tuned so that levels of the signals of the first Hall sensor and the second Hall sensor are equal;
a clip detecting step in which a magnetic field of the clip is sensed by the first Hall sensor and the first Hall sensor signal is derived;
a magnetic field sensing step in which a magnetic field in the sensing space is sensed by the second Hall sensor and the second Hall sensor signal is derived;
obtaining, by the controller, the magnetic field value of the clip by subtracting the second Hall sensor signal from the first Hall sensor signal;
a moving average calculation step of calculating, by the server unit, a moving average after the magnetic field value is used to obtain a time differential; and
By the server, if the moving average deviates from the reference value of 0, it is determined that the clip is present in the portion where the magnetic field sensing type detector is located. A method of detecting a lesion for laparoscopic surgery using a magnetic field sensing type detector comprising a; a clip disposed adjacent to the lesion and generating a magnetic field to check the position of the lesion in a non-contact manner;
a first Hall sensor and a second Hall sensor for sensing the magnetic field of the clip and respectively measuring signals having opposite vector directions; and a control unit for controlling signals from the first Hall sensor and the second Hall sensor, comprising: a magnetic field sensing type detector configured to detect the clip; and
A server unit communicatively connected to the magnetic field sensing type detector and determining whether the clip exists from a portion where the magnetic field sensing type detector is located using signals of the first Hall sensor and the second Hall sensor; and ,
The control unit is
tuning the first Hall sensor and the second Hall sensor so that levels of the signals of the first Hall sensor and the second Hall sensor are equal;
calculating a difference value between the signals of the first Hall sensor and the second Hall sensor;
The server unit,
After obtaining a differential value with respect to time using the difference value, a moving average is calculated,
If the moving average deviates from the reference value of 0, it is determined that the clip is present in the portion where the magnetic field sensing type detector is located,
When the reference value is close to 0, the lesion detection system for laparoscopic surgery using a magnetic field sensing detector, characterized in that it is determined that the clip does not exist in the portion where the magnetic field sensing type detector is located. 7. The method of claim 6,
The clip is
A lesion detection system for laparoscopic surgery using a magnetic field sensing detector, characterized in that it is provided with a magnet to generate a fine magnetic field without being magnetized or with a magnet. delete delete a sensor tuning step in which the first Hall sensor and the second Hall sensor are tuned so that levels of the signals of the first Hall sensor and the second Hall sensor are equal;
a signal measuring step of detecting a magnetic field of a clip by the first Hall sensor and the second Hall sensor, and measuring signals of the first Hall sensor and the second Hall sensor having opposite vector directions;
a difference value calculating step of calculating, by the controller, a difference value between the signals of the first Hall sensor and the second Hall sensor;
a moving average calculation step of calculating, by the server unit, a moving average after the difference value is used to obtain a time differential; and
By the server, if the moving average deviates from the reference value of 0, it is determined that the clip is present in the portion where the magnetic field sensing type detector is located. A method of detecting a lesion for laparoscopic surgery using a magnetic field sensing type detector comprising a;

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