TWI582462B - Lightweight 3D stereoscopic surgical microscope device - Google Patents

Description

Lightweight 3D stereoscopic surgery microscope device

The invention relates to a surgical microscope device, in particular to a lightweight 3D stereoscopic surgery microscope device.

With the rapid development of science and technology, there has been significant progress in medical science. Among them, 3D stereoscopic images are currently a very popular technology and topic, which can be applied to clinical surgery, allowing doctors to work on complex organs with different thicknesses or Tissue cutting, removal or treatment is of great help in the examination and treatment of diseases, allowing doctors to perform surgery more easily and accurately, and greatly improve medical technology and quality. Therefore, there are many types of products on the market. 3D stereoscopic surgery microscope device.

However, existing 3D stereoscopic microscope devices (such as the Leica ULT 500 microscope device) can provide a 3D stereo image for doctors to use for surgery or treatment, but the existing 3D stereoscopic microscope device is bulky and cumbersome, and is intended to be When the 3D stereoscopic microscope device moves, it requires a large space for movement and operation, which will affect the fluency and efficiency of the surgical operation. Moreover, the existing 3D stereoscopic microscope device is mainly provided with an objective lens group on the cantilever of the front end of the body. And at least two eyepiece groups for capturing images of a human body or tissue, and each eyepiece group is connected to the objective lens group, so that the user can observe the objective lens group through the eyepiece group. Captured images, but in addition to the inheritance and teaching of medical technology through books or knowledge, the clinical experience of inheritance is more important, but limited to a limited number of eyepiece sets, so that medical teaching cannot be simultaneously and instantly Most people observe the surgical situation and can only use the postoperative images. Explain and explain, not only can not provide immediate surgery and images of internal organs or tissues of the human body, so as to provide a clinical surgical experience, and the number of people who can be taught in medical treatment is limited, so that the practicality of the existing 3D stereoscopic microscope device is limited. There are areas for improvement.

In order to solve the shortcomings and limitations of the existing 3D stereoscopic surgery microscope device, which is only bulky, difficult to move and operate, and limited to the number of eyepiece groups, and cannot be medically taught for many people, the main object of the present invention is to propose a lightweight 3D stereoscopic image. The surgical microscope device is designed to allow the user to easily move and operate during surgery through a streamlined structural arrangement, and the image transmission method allows multiple people to simultaneously observe the captured image without being limited. The number of eyepiece sets provides a lightweight 3D stereoscopic surgical microscope device that is convenient to use and improves medical utility.

In order to achieve the above object, the present invention provides a lightweight 3D stereoscopic operation microscope apparatus, which is provided with a body, the body is provided with a wheel seat, a casing and a main body, and the casing is fixed on the top of the wheel base and Extending upwardly, the host is disposed in the casing and has a program processing interface; a mechanical arm group coupled with the body and electrically connected to the main body and provided with a base and a lateral direction An arm, a lifting arm and a rotating arm, the base is fixedly coupled with the top of the casing and located above the wheel seat, the lateral arm is sleeved on the top of the base and laterally pivotable relative to the base, The lifting arm and the lateral arm are pivotally coupled to one end of the base, the rotating arm is pivotally disposed at an end of the lifting arm different from the lateral arm; an image group, the image group is combined with the mechanical arm group and The body is electrically connected and is provided with an outer casing, two objective lenses, a user display screen and an auxiliary display screen. The outer casing is fixedly coupled with the bottom of the rotating arm, and the two objective lenses are spaced apart from the outer casing and facing Under the setting, the user displays An auxiliary surface of the outer casing is electrically connected to the at least one objective lens and the main body, and the auxiliary display screen is electrically connected to the main body and the at least one objective lens to be located at one side of the body; and An operation group, the operation group is combined with the robot arm group and electrically connected to the body and the image group, and is provided with two operating levers, and the two operating levers are combined with the rotating arm to be located on the user display screen. On both sides.

Further, the rotating arm is provided with a U-shaped joint frame at the bottom, and the outer shell is fixed in the rotating arm joint frame, and the two operating rods are combined with the joint frame of the rotating arm.

Further, the outer casing is provided with an opening at the bottom, and the two objective lenses are disposed in the outer casing and located in the opening range of the outer casing.

Preferably, the wheel base has a plurality of radially extending arms, and the wheel base is provided with a wheel body at the bottom of each of the extending arms, so that the wheel seat can be moved through the wheel bodies.

Preferably, the lifting arm is provided with an angle hinge at an end combined with the lateral arm, so that the lifting arm can generate a longitudinal angle movement relative to the lateral arm, thereby making the lifting arm different from one end of the lateral arm A longitudinal lifting movement is generated relative to the body.

Preferably, the rotating arm is provided with a steering hinge at an end combined with the lifting arm, so that the rotating arm is rotatable relative to the lifting arm.

According to the above technical features, the present invention is achieved by combining technologies such as a body (programming and human-machine interface), a robot arm group (mechanism), and an image group (optical, semiconductor component), and replacing the eyepiece group with a display screen. Not only does the doctor have considerable help in surgery or treatment in the clinic, but also allows the majority of people to observe the surgical situation at the same time and in the medical teaching, and is no longer limited to a limited number of eyepiece sets, and The overall size and weight of the Leica ULT 500 microscope unit can be reduced by the compact configuration of the structure (the volume can be reduced to 1/6 of the Leica ULT 500 microscope unit), allowing users to easily move and use flexibly, which improves the smoothness and efficiency of the operation. And by synthesizing 3D images, doctors can work faster on complex organs and tissues with different thicknesses. The surgical behavior is quickly and accurately performed, and the practicality of the lightweight 3D stereoscopic microscope device is greatly enhanced, thereby providing a lightweight 3D stereoscopic surgical microscope device that can be easily used and can improve medical practicability.

10‧‧‧ body

11‧‧‧ wheel seat

111‧‧‧Extension arm

112‧‧‧ wheel body

12‧‧‧Shell

13‧‧‧Host

20‧‧‧Mechanical arm group

21‧‧‧Base

22‧‧‧Transverse arm

23‧‧‧ Lifting arm

231‧‧‧ Angle pivot

24‧‧‧Rotating arm

241‧‧‧ steering hinge

242‧‧‧ binding box

30‧‧‧Image Group

31‧‧‧Outer casing

32‧‧‧ Objective lens

33‧‧‧User display

34‧‧‧Auxiliary display

40‧‧‧Operation Group

41‧‧‧Operator

60‧‧‧Articles to be tested

1 is a perspective view showing the appearance of a lightweight 3D stereoscopic surgery microscope apparatus of the present invention.

2 is a further perspective view of the lightweight 3D stereoscopic surgery microscope apparatus of the present invention.

3 is a partial exploded perspective view of the lightweight 3D stereoscopic surgery microscope apparatus of the present invention.

Figure 4 is a partially enlarged bottom plan view of the lightweight 3D stereoscopic surgery microscope apparatus of the present invention.

Figure 5 is a block diagram of a lightweight 3D stereoscopic surgery microscope apparatus of the present invention.

Fig. 6 is a schematic view showing the operation of the lightweight 3D stereoscopic surgery microscope apparatus of the present invention.

In order to understand the technical features and practical functions of the present invention in detail, and in accordance with the contents of the specification, the following is further illustrated in the preferred embodiment as shown in the following figure: Please refer to FIG. 1 and FIG. The lightweight 3D stereoscopic surgery microscope device is provided with a body 10, a robot arm group 20, an image group 30 and an operation group 40. The body 10 is provided with a wheel base. 11. A casing 12 and a main body 13, wherein the wheel base 11 has a plurality of radially extending arms 111. The wheel base 11 is provided with a wheel body 112 at the bottom of each extending arm 111, so that the wheel base 11 The casing 12 is moved by a wheel-shaped housing 112. The casing 12 is an elongated rectangular housing. The casing 12 is fixed to the top of the wheel base 11 and extends upward. The main body 13 It is disposed in the casing 12 and has a program processing interface.

The robot arm assembly 20 is coupled to the body 10 and is provided with a base 21, a transverse arm 22, a lifting arm 23 and a rotating arm 24. The base 21 is fixedly coupled to the top of the casing 12. Above the wheel base 11, the lateral arm 22 is sleeved on the top of the base 21 and laterally pivotable relative to the base 21. The lift arm 23 is different from the base arm 22 One end of the 21 is pivotally coupled. Further, the lifting arm 23 is provided with an angle pivot 231 at an end combined with the lateral arm 22, so that the lifting arm 23 can generate a longitudinal angular movement relative to the lateral arm 22, thereby The lifting arm 23 is caused to have a longitudinal lifting movement relative to the body 10 at an end different from the end of the lateral arm 22.

The rotating arm 24 is pivotally disposed at an end of the lifting arm 23 different from the lateral arm 22. Preferably, the rotating arm 24 is provided with a steering hinge 241 at an end combined with the lifting arm 23, so that the rotating arm 24 can be rotated relative to the lifting arm 23, further, as shown in FIG. 3, the rotating arm 24 is a C-shaped frame, and the rotating arm 24 is provided with a U-shaped binding frame 242 at the bottom, and further As shown in FIG. 5, the robot arm set 20 is electrically connected to the host 13 so that the host 13 can transmit signals to the robot arm group 20, so that the lateral arm 22 of the robot arm group 20 is The lifting arm 23 and the rotating arm 24 can be laterally pivoted, moved up and down, and rotated relative to the body 10.

As shown in FIG. 3 and FIG. 4 , the image group 30 is coupled to the mechanical arm assembly 20 and electrically connected to the body 10 . The image group 30 is provided with an outer casing 31 , at least one objective lens 32 , and a The display panel 33 and an auxiliary display screen 34, wherein the outer casing 31 is a square hollow casing fixed in the joint frame 242 of the rotating arm 24, the outer casing 31 is provided with an opening at the bottom, the at least one objective lens 32 is disposed in the outer casing 31 and disposed downwardly and in the opening range of the outer casing 31. Preferably, the image group 20 is provided with two spaced objective lenses 32 in the outer casing 31, and each objective lens 32 may be a complementary metal-oxide-semiconductor (CMOS) lens or a charge-coupled device (CCD), and the user display screen 33 is disposed on the outer casing 31. The external surface is electrically connected to the main body 13. The auxiliary display screen 34 is electrically connected to the main body 13 and is located at one side of the main body 10.

The operation group 40 is coupled to the robot arm assembly 20 and electrically connected to the body 10 and the image group 30. The operation group 40 is provided with two operating levers 41, and the combination of the two operating levers 41 and the rotating arm 24 The frame 242 is combined on both sides of the user display screen 33 of the image group 30, so that the user can move or rotate the robot arm group 20 relative to the body 10 by operating the two operating levers 41, and At least one objective lens 32 of the image group 30 performs image capture on an object to be tested, such as a human body or an animal, and then performs 3D synthesis on the captured image through the program processing interface of the host computer 13 to further display the screen 33 on the user. The auxiliary display 34 presents a 3D image.

Referring to FIG. 6 , the present invention mainly moves the body 10 to one side of an object to be tested 60 (such as a human body) through the wheel base 11 to be placed under the rotating arm 24 . The objective lens 32 of the image group 30 is moved above the object to be tested 60, and the lateral arm 22, the lifting arm 23 and the rotating arm 24 of the robot arm group 20 are pivoted and oscillated by the operation of the two operating levers 41. And rotating, so that the objective lens 32 can be aligned with the object to be tested 60 for surgery or treatment, and the object to be tested 60 is imaged through the objective lens 32, and the captured image is transmitted to the object. The host computer 13 performs image processing and composition through the program processing interface, and then transmits the synthesized 3D image to the user display screen 33 and the auxiliary display screen 34, so that both the user and the medical teaching participant can view Go to the 3D image.

According to the above technical features, the present invention is through the combination of the body 10 (programming and human interface), the robot arm group 20 (mechanism), and the image group 30 (optical, semiconductor components) and the like, and the display screens 33, 34 The way to replace the eyepiece group not only allows the doctor to have considerable help in surgery or treatment in the clinic, but also allows the majority of people to observe the situation of the operation at the same time and in the medical teaching, no longer limited to a limited number. The eyepiece set and the overall size and weight of the structure can be reduced by the compact configuration of the structure (the volume can be reduced to 1/6 of the Leica ULT 500 microscope device), allowing users to easily move and use flexibly. The fluency and efficiency of the operation, and through the synthesis of 3D images, allows doctors to perform operations on organs and tissues that are complex and have different thicknesses. In time, the surgical behavior can be performed more quickly and accurately, and the practicality of the lightweight 3D stereoscopic microscope device can be greatly improved, thereby providing a lightweight 3D stereoscopic surgical microscope device that can be easily used and can improve medical practicability.

10‧‧‧ body

11‧‧‧ wheel seat

111‧‧‧Extension arm

112‧‧‧ wheel body

12‧‧‧Shell

20‧‧‧Mechanical arm group

21‧‧‧Base

22‧‧‧Transverse arm

23‧‧‧ Lifting arm

231‧‧‧ Angle pivot

24‧‧‧Rotating arm

241‧‧‧ steering hinge

242‧‧‧ binding box

30‧‧‧Image Group

33‧‧‧User display

34‧‧‧Auxiliary display

40‧‧‧Operation Group

41‧‧‧Operator

Claims (9)

A lightweight 3D stereoscopic surgery microscope apparatus includes: a body, the body is provided with a wheel seat, a casing and a main body, the casing is fixed on the top of the wheel seat and extends upward, the host The utility model is disposed in the casing and has a program processing interface. The mechanical arm group is combined with the body and electrically connected to the main body and is provided with a base, a lateral arm, a lifting arm and a a rotating arm, the base is fixedly coupled to the top of the casing and located above the wheel seat, the lateral arm is sleeved on the top of the base and laterally pivotable relative to the base, the lifting arm is different from the lateral arm One end of the base is pivotally coupled to the base, and the rotating arm is pivotally disposed at an end of the lifting arm different from the lateral arm; an image group, the image group is coupled to the mechanical arm group and electrically connected to the body An outer casing, two objective lenses, a user display screen and an auxiliary display screen, the outer casing is fixedly coupled to the bottom of the rotating arm, and the two objective lenses are disposed in the outer casing body and disposed downward, the user displays The curtain is disposed on an outer surface of the outer casing Electrically connected to the host, the auxiliary display screen is electrically connected to the host and located at one side of the body; and an operation group, the operation group is combined with the robot arm group and the body and the image The group is electrically connected and provided with two operating levers, and the two operating levers are combined with the rotating arm to be located on both sides of the user display screen. The lightweight 3D stereoscopic surgery microscope device according to claim 1, wherein the rotating arm is provided with a U-shaped joint frame at the bottom, and the outer casing is fixed in the rotating arm joint frame, and the two operating rods are The combination of the rotating arms is combined. The lightweight 3D stereoscopic surgical microscope apparatus of claim 1 or 2, wherein the outer casing is provided with an opening at the bottom, and the two objective lenses are disposed in the outer casing and located in the opening range of the outer casing. The lightweight 3D stereoscopic microscope device of claim 3, wherein the wheel base has a plurality of radially extending arms, and the wheel base is provided with a wheel body at the bottom of each extending arm, so that the wheel seat can be Move through each wheel. The lightweight 3D stereoscopic surgical microscope apparatus of claim 4, wherein the lifting arm is provided with an angle hinge at an end combined with the lateral arm, so that the lifting arm can generate a longitudinal angular movement relative to the lateral arm. And causing the lifting arm to have a longitudinal lifting movement relative to the body at an end different from the end of the lateral arm. A lightweight 3D stereoscopic surgical microscope apparatus according to claim 5, wherein the pivoting arm is provided with a steering hinge at an end combined with the lifting arm so that the rotating arm is rotatable relative to the lifting arm. The lightweight 3D stereoscopic surgical microscope apparatus according to claim 1 or 2, wherein the wheel base has a plurality of radially extending arms, and the wheel base is provided with a wheel body at the bottom of each extending arm, so that the wheel The seat can be moved through each wheel. The lightweight 3D stereoscopic surgical microscope apparatus of claim 1 or 2, wherein the lifting arm is provided with an angle hinge at an end combined with the lateral arm, such that the lifting arm can generate a longitudinal angle with respect to the lateral arm The movement, in turn, causes the lifting arm to move in a longitudinal direction relative to the body of the transverse arm. A lightweight 3D stereoscopic surgical microscope apparatus according to claim 1 or 2, wherein the pivoting arm is provided with a steering hinge at an end combined with the lifting arm so that the rotating arm is rotatable relative to the lifting arm.