RU2802453C1 - Surgical stereo vision system - Google Patents

Abstract

FIELD: medical equipment.

SUBSTANCE: invention is related to surgical stereo vision systems for microsurgical operations, in particular in neurosurgery. The claimed surgical stereo vision system is comprised of a monitor, an optical module with image acquisition channels, an electronic control device for motorized movement of the optical module along the OX, OY, OZ axes, and a tripod. The monitor is located near the operating table on a rolling stand, the optical module is equipped with 2 additional image acquisition channels, each of which is equipped with an individual illumination module and is placed behind the operator’s head, the tripod is made in the form of two different-sized crossed arc platforms equipped with additional electric motors to enable the optical module to rotate about axes OX, OY.

EFFECT: improving the ergonomic and operational characteristics.

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Description

The invention relates to medical equipment, namely to surgical stereo vision systems for neurosurgical operations, in particular in neurosurgery.

It is known that standard equipment used in surgery (binocular microscopes) has been replaced by stereo systems that make it possible to convert the optical image from the surgical field into a digital one.

Standard magnification equipment can be described schematically as follows: the operator looks through the optical block at the surgical field, while the operator does not control the situation outside the surgical field, and accordingly there is no possibility of using additional equipment without support personnel. At the same time, the optical unit is equipment for receiving and outputting information, which increases its dimensions and reduces the useful volume above the surgical field; additional image bends reduce photosensitivity, and also create difficulties in team work and training.

In a scheme with a digital stereo system, the operator uses output means that do not “close” the rest of the space from the operator, and at the same time, the optical unit is only a means of receiving information and therefore it becomes possible to install it at any point that does not interfere with operational actions. The output medium can be a monitor and various headsets (VR headset, AR headset).

Another advantage of stereo systems is the ability to display information that the human eye does not perceive (information from a thermal imaging and infrared camera, data from an ultrasonic receiver, etc.), as well as processing the received information (overlay of heterogeneous images, brightness and color correction, detection and recognition objects in the surgical field).

From the existing level of technology, an operating system (microscope) for neurosurgery ZEISS KINEVO 900 is known (https://zeiss-solutions.ru/press/news/zeiss-kinevo-900-polucheno-registratsionnoe-udostoverenie/), combining optical and digital visualization methods. It gives the surgeon the opportunity to observe submillimeter-sized images in eyepieces or on a monitor with clear detail. The system is also equipped with a robotic control system, which provides precise positioning and helps reduce the number of manual manipulations performed by the surgeon.

The well-known digital surgical microscope AESCULAP AEOS (https://www.bbraun.ru/ru/products-and-therapies/neurosurgery/aeos.htm) provides a more efficient workflow thanks to robotic functions and high image quality.

The main disadvantage of these systems is that the optical receiver unit is in the operator’s line of sight, that is, it covers either the work area or the output means.

The closest in essential features to the claimed device is a surgical stereo vision system (RU Patent No. 2757645, 10.19.2021).

This system includes a monitor, an optical module with two image acquisition channels, the monitor and optical module are installed on a floor-standing structure - a tripod; The optical module is equipped with an electronic control device for motorized movement using motors along the OX, OY, OZ axes with a fixed distance of 600±10 mm to the surgical field. Advantages:

The fixed distance of 600 mm from the optical module to the operating field significantly improves the ergonomics of the workplace, giving more freedom to the surgeon's hands. This arrangement also allows for a greater depth of field, unattainable in traditional microscopes.

The monitor, adjustable in height and tilt, is mounted on a tripod stand at the surgeon's eye level. The maintained distance from the surgeon's eyes to the monitor screen provides improved 3D visualization, and also allows for advantages in ergonomics, ease of use and reduced fatigue for the surgeon.

The disadvantage of this system is the insufficient degrees of freedom for neurosurgical surgical interventions, i.e. the optical block has no slopes to visualize the operated area, which is not perpendicular to the optical module.

The objective of the proposed device is to create a surgical stereo vision system free from these disadvantages.

The technical result of the proposed invention is to improve ergonomic and technical and operational characteristics.

The technical result is achieved due to the fact that in the proposed device, which contains a monitor, an optical module with image acquisition channels, an electronic control device for the motorized movement of the optical module along the OX, OY, OZ axes and a tripod; the monitor is located near the operating table on a rolling stand, the optical module is equipped with 2 additional image acquisition channels, each of which is equipped with an individual backlight module and is located behind the operator’s head, the tripod is made in the form of two different-sized intersecting arc platforms equipped with additional electric motors to allow rotation of the optical module relative to the OX, OY axes.

The significance of the design differences of the proposed system to achieve the stated technical result is justified by the following:

The specificity of neurosurgical operations is different in that not only the distance from the optical module to the surgical field can vary significantly, but also the angle at which the cameras must be directed, which requires additional technical improvements to the device.

Compared to the prototype, the number of image acquisition channels in the proposed device has been increased. To transmit a stereo image, there must be at least two of them, but the proposed device provides for their increase to four: two optical channels - to form a stereo image and additional channels - to expand the received ranges (ultraviolet, infrared, thermal, ultrasound, etc.).

Each channel is equipped with an individual backlight module, because... Each type of receiver requires its own type of backlight. It also provides control over the zoom and focus of each channel for quick image adjustment.

The optical module is mounted on a tripod, which has two arc platforms for movement and rotation around an axis. This allows you to quickly change the viewing angle while maintaining the focal distance to the object, which allows you to quickly change the position of the optical unit when the view is blocked by an obstacle (equipment or operator). The optical module moves along 5 degrees of freedom (axes OX, OY, OZ and rotations relative to the axes OX, OY) using electric motors located on the tripod and the optical unit. The location of the optical module outside the operator's working area, namely behind his head, allows for advantages in ergonomics, ease of use and reduced operator fatigue.

The monitor, adjustable in height and inclination, is mounted on a trolley stand and located at eye level of the operator. This arrangement of the monitor provides improved 3D visualization, and also allows for advantages in ergonomics, ease of use and reduced operator fatigue (Fig. 1).

The microscope is controlled using a wireless control panel, pedal and tactile panel, namely: control of focusing, convergence of optical axes, magnification, illumination, and display modes. The output medium of this system is a monitor with stereo output capability, augmented and virtual reality headsets.

In FIG. 2. The structural and functional diagram of the proposed surgical stereo vision system is presented, with the following symbols:

1 - a tripod equipped with a system control that allows you to change the position of the optical module along 5 coordinates, adjust the image by changing the lighting, magnification, color correction settings, and also switch the devices to various preset modes;

2 - arched platforms;

3 - optical module;

4 - monitor.

Claims (1)

A surgical stereo vision system containing a monitor, an optical module with image acquisition channels, an electronic control device for the motorized movement of the optical module along the OX, OY, OZ axes and a tripod, characterized in that the monitor is located near the operating table on a rolling stand, the optical module is equipped with 2 additional channels image acquisition, each of which is equipped with an individual backlight module and is placed behind the operator’s head, the tripod is made in the form of two different-sized intersecting arc platforms, equipped with additional electric motors to allow the optical module to rotate relative to the OX, OY axes.