WO2014008695A1 - 自动手术照明装置及手术自动照明控制方法 - Google Patents

自动手术照明装置及手术自动照明控制方法 Download PDF

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Publication number
WO2014008695A1
WO2014008695A1 PCT/CN2012/079620 CN2012079620W WO2014008695A1 WO 2014008695 A1 WO2014008695 A1 WO 2014008695A1 CN 2012079620 W CN2012079620 W CN 2012079620W WO 2014008695 A1 WO2014008695 A1 WO 2014008695A1
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Prior art keywords
image
control unit
extraction module
target surface
feedback signal
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PCT/CN2012/079620
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English (en)
French (fr)
Inventor
谭荣兴
谭荣光
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Tam Wengheng
Tam Wengkong
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Application filed by Tam Wengheng, Tam Wengkong filed Critical Tam Wengheng
Publication of WO2014008695A1 publication Critical patent/WO2014008695A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B90/35—Supports therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure

Definitions

  • the invention belongs to the technical field of surgical illumination, and in particular relates to an automatic surgical illumination device and a surgical automatic illumination control method.
  • the operating room of the hospital needs to illuminate the patient with a surgical light to facilitate the operation.
  • many surgical lights 10 are suspended from a ceiling, wall or bracket in a hospital room by a plurality of arm mechanisms.
  • the equal arm mechanism is movable to facilitate adjustment of the position of the surgical light relative to the patient.
  • the surgical light is located behind the surgeon with the surgeon's head between the surgical light and the surgical site. The quality of the surgical light will profoundly affect the outcome of the operation.
  • Surgical lamps have several major issues to consider.
  • First, the field of view of the surgical lamp will deteriorate due to the patient's movement.
  • the heads of doctors, nurses and assistants will block the light, taking the oral cavity as an example, the upper side of the mouth,
  • the lower side, the left side, and the right side all have a field of view that requires a light to be illuminated, and it is difficult for a single light source to illuminate the entire mouth. Therefore, it is necessary to continuously change the position of the surgical light manually, otherwise the optimal illumination of the surgical target surface cannot be achieved.
  • the present invention overcomes the deficiencies of the prior art, and provides an automatic surgical lighting device and a surgical automatic lighting control method, which can improve light quality and surgical quality, shorten operation time, reduce the probability of cross infection, and legal disputes. .
  • An automatic surgical lighting device whose position corresponds to a target surface, the automatic surgical lighting device comprising: supporting item; At least one moving member connecting the support member; At least one light extraction module is disposed on the at least one moving member, and illuminates the target surface, and extracts an image of the target surface to output a corresponding feedback signal; and at least one control unit electrically connected to the at least one a light extraction module and the at least one moving component, the at least one control unit receives the feedback signal, thereby moving the at least one light extraction module through the at least one moving component, until the image is captured to a complete target Until now.
  • a central shaft is also included that joins the support member and the at least one moving member between the axially perpendicular target faces of the central shaft.
  • the second position adjuster is further disposed on the central shaft and the robot arm, and is electrically connected to the at least one control unit, and the at least one control unit controls the second positioner according to the feedback signal.
  • the central shaft rotates at a fixed point with a joint connecting the mechanical arms such that the axial direction of the central shaft is perpendicular to the target surface.
  • the at least one moving component further comprises: a sliding rod connected to the central shaft and located above the target surface; and a third positioner disposed on the sliding rod and electrically connected to the at least one control unit, the at least one control unit receiving the feedback signal So as to control the at least one light extraction module to move on the slider through the third position adjuster until the image is captured to the complete target surface.
  • the at least one control unit controls the at least one illumination extraction module to slide on the at least one slide bar by the at least one third position adjuster according to the feedback signal until the image is captured to the complete target surface.
  • the at least one control unit controls the at least one illumination extraction module on the at least one slider by the at least one third positioner according to the feedback signal, and the direction of the at least one slider is perpendicular to the axis. Rotate until the image is captured to the full target surface.
  • the at least one control unit controls the at least one light extraction module on the at least one slide bar by the at least one third position adjuster according to the feedback signal, and the axial direction of the at least one slide bar is taken as an axis. Rotate until the image is captured to the full target surface.
  • the at least one light extraction module further includes: a light source, disposed on the at least one slider by the at least one third positioner, and illuminating the target surface; and an image sensor disposed on the at least one slider by the at least one third positioner And electrically connecting the at least one control unit, the image sensor continuously extracting the image to output the feedback signal.
  • the at least one fourth position adjuster is further disposed on the central shaft and the at least one sliding rod, and is electrically connected to the at least one control unit, and the at least one control unit passes the at least one first according to the feedback signal
  • the four-position adjuster controls the at least one slider to rotate with the axial direction of the central shaft as an axis to drive the at least one illumination extraction module until the image is captured to the complete target surface.
  • the at least one fourth positioner and the at least one illumination extraction module are each, and each of the illumination extraction modules respectively passes each of the a third position adjuster is disposed on each of the slide bars, and the control unit divides 360 degrees into a plurality of angle intervals to control each of the slide bars by the at least one fourth position adjuster according to the feedback signal
  • the rotation is performed by taking the axial direction of the center shaft as an axis.
  • the at least one light extraction module periodically extracts the image to output the feedback signal.
  • the support member is a support base or a support frame attached to the medical chair.
  • the at least one control unit is external or integrated in the at least one light extraction module or the support.
  • the utility model further comprises: a mechanical arm, which is located between the support member and the moving member and is used for connecting the support member and the moving member; the first position adjuster is disposed on the robot arm and electrically connected to the control unit, and the control unit is configured according to the The feedback signal is controlled by the first position adjuster to drive the light extraction module until the image is captured to the complete target surface.
  • the control unit is pre-configured with at least one target area corresponding to the illumination extraction module, and the control unit receives the feedback signal to compare the image with the corresponding target area, and moves the mobile object according to the comparison result.
  • the light extraction module is until the image is located in its corresponding target area, and the image captures the complete target surface.
  • the target surface is an oral surface, a target object detectable in the surgical operation site, a physician's hand, a dental handpiece head, a mouth mirror, a tooth or a mouth shape.
  • An automatic surgical lighting method is performed by using at least one moving member and at least one light extraction module disposed on the moving member, the method comprising the following steps:
  • the at least one illumination extraction module illuminates the target surface, extracts an image of the target surface to output a corresponding feedback signal thereof, and receives the feedback signal to thereby move the at least one illumination through the at least one moving member
  • the module is extracted until the image is captured to the full target surface.
  • the step of receiving the feedback signal to move the at least one illumination extraction module by the at least one moving component until the image is captured to the complete target surface further includes the following steps: Receiving the feedback signal to compare the image with the corresponding target area to generate a comparison result; and moving the at least one illumination extraction module by the at least one moving component according to the comparison result until the image is located in the corresponding target area Inside, and the image captures the complete target surface.
  • the invention can improve the illumination quality and the quality of surgery, shorten the operation time, reduce the probability of cross infection and legal disputes.
  • FIG. 1 is a schematic view of a prior art surgical light
  • 2 is a schematic structural view of Embodiment 1 of the present invention
  • 3 is a schematic view showing the illumination of the illumination extraction device according to the first embodiment of the present invention with the central shaft as an axis
  • 4 is a schematic view showing the illumination of the illumination extraction device according to the first embodiment of the present invention with the slide bar as an axis
  • 5 is a schematic view showing the illumination of the illumination extraction device according to the first embodiment of the present invention with the direction of the vertical slide as an axis
  • 6 is a flowchart of a method according to Embodiment 1 of the present invention
  • 7 is a schematic view showing an angular interval of rotation of a slider according to Embodiment 1 of the present invention
  • FIG. 8 is a schematic structural view of Embodiment 2 of the present invention.
  • the position of the automatic surgical illumination device of the present invention corresponds to the target surface 12, which may be an oral surface, a detectable target object in the surgical operation site, a physician's hand, a dental handpiece (dental Handpiece)
  • the shape of the head, mouth mirror, teeth or mouth taking the oral cavity as an example.
  • the present invention includes a support member 14, which may be a support mount mounted to a ceiling or a support bracket attached to a chair, as exemplified by a support base.
  • the support member 14 is coupled to the robot arm 16, and the robot arm 16 is coupled to the central shaft 18 such that the robot arm 16 is positioned between the support member 14 and the central shaft 18.
  • the central shaft 18 in turn joins a plurality of (four in this embodiment) moving members 20 between the support member 14 and the robot arm 16 and the moving member 20, and the axial axis of the central shaft 18 is vertical.
  • Target surface 12 The number of moving members 20 is exemplified herein, and the moving member 20 needs to be located above the target surface 12.
  • the moving component 20 is provided with at least one illumination extraction module 22 that illuminates the target surface 12 and continuously extracts the image of the target surface 12 to output its corresponding feedback signal.
  • each of the moving parts 20 is provided with a light extraction module 22, respectively.
  • the robot arm 16 is provided with at least one first position adjuster 24, and the central shaft 18 and the robot arm 16 are provided with a second position adjuster 26.
  • the light extraction module 22, the moving component 20, the first positioner 24, and the second positioner 26 are electrically connected to at least one control unit 28, and the control unit 28 can be externally mounted or integrated in the illumination extraction module 22 or
  • the support member 14 is exemplified here by being integrated in the support member 14.
  • the control unit 28 pre-sets at least one target area corresponding to the at least one illumination extraction module 22, and the control unit 28 receives the feedback signal to compare the image with the corresponding target area, and according to the comparison result, the illumination extraction is performed by the moving part 20.
  • the module 22 controls the movement of the robot arm 16 through the first positioner 24 according to the feedback signal to drive the illumination extraction module 22 until the image is located in its corresponding target area, and the image captures the complete target. Face 12 up.
  • the control unit 28 also controls the central shaft 18 to rotate at a fixed point with the joint of the connecting robot 16 according to the feedback signal through the second positioner 26, so that the axial direction of the central shaft 18 is maintained perpendicular to the target surface. 12.
  • Each of the moving members 20 further includes a slide bar 30 and a third position adjuster 32.
  • the slide bar 30 is coupled to the center shaft 18 and is located above the target face 12.
  • the third position adjuster 32 is disposed on the slide bar 30 and electrically connected to the control unit 28, and the control unit 28 receives the feedback signal, compares the image with the corresponding target area, and controls the third positioner 32 according to the comparison result.
  • the illumination extraction module 22 moves over the slider 30 until the image is within its corresponding target area and the image captures the complete target surface 12.
  • the control unit 28 controls the illumination extraction module 22 to slide on the slide bar 30 through the third position adjuster 32 according to the feedback signal.
  • FIG. 3 the control unit 28 controls the illumination extraction module 22 to slide on the slide bar 30 through the third position adjuster 32 according to the feedback signal.
  • the control unit 28 controls the illumination extraction module 22 through the third positioner 32 according to the feedback signal, and rotates with the axial direction of the slide bar 30 as an axis. As shown in the figure, the angle ⁇ is rotated. . As shown in FIG. 5, the control unit 28 controls the illumination extraction module 22 through the third positioner 32 according to the feedback signal, and rotates with the direction of the vertical slider 30 as an axis. As shown in the figure, the rotation angle is rotated as shown in the figure. .
  • Each of the illumination extraction modules 22 further includes a light source 34 and an image sensor 36.
  • the illumination source 34 is disposed on the slider 30 through the third positioner 32 and illuminates the target surface 12.
  • the image sensor 36 is disposed on the slider 30 through the third position adjuster 32, and is electrically connected to the control unit 28. The image sensor 36 continuously extracts the image of the target surface 12 periodically to output a feedback signal.
  • At least one fourth positioner 38 is provided on the central shaft 18 and the slide bar 30. Since there are a plurality of sliders 30, there are also a plurality of fourth positioners 38, which are respectively located between each of the slide bars 30 and the center shaft 18.
  • the fourth position adjuster 38 is electrically connected to the control unit 28, and the control unit 28 receives the feedback signal to compare the image with the corresponding target area, and controls the slider 30 to be centered by the fourth position adjuster 38 according to the comparison result.
  • the axial direction of the shaft 18 is an axis that is rotated to drive the illumination extraction module 22 until the image is positioned within its corresponding target area and the image captures the complete target surface 12. As shown in Figs. 3 and 4, the angle ⁇ is rotated.
  • the operation mode of the present invention is as follows: First, in the control unit 28, a complete image of the target surface 12 is preset, which is corresponding to at least one target area of the at least one illumination extraction module 22. It is constructed such that the target area is plural (such as four), and then, as shown in step S10, the illumination source 34 and the image sensor 36 are turned on. At this time, the light source 34 randomly illuminates the light, and the image sensor 36 randomly and periodically extracts the image of the target surface 12 to output its corresponding feedback signal. Then, as shown in step S12, the control unit 28 receives the feedback signal, compares the extracted image with its corresponding target area, and generates a comparison result.
  • step S14 the control unit 28 controls the movement of the robot arm 16 through the first position adjuster 24 according to the comparison result, and controls the light extraction module 22 to slide or rotate on the slide bar 30 through the third position adjuster 32.
  • the control slider 30 is rotated about the axial direction of the central shaft 18 to drive the light extraction module 22 until the image is located in its corresponding target area, and the image is captured intact.
  • the target face 12 is up.
  • the illumination source 34 is almost at the same location as the image sensor 36, the illumination source 34 can also illuminate the complete target surface 12.
  • control unit 28 also controls the central shaft 18 to rotate at a fixed point with the connecting robot arm 16 through the second positioner 26 according to the comparison result corresponding to the feedback signal, so that the central shaft 18 is The axial direction remains perpendicular to the target surface 12. Due to the control of the first positioner 24, the second positioner 26, the third positioner 32 and the fourth position adjuster 38, the illumination angle can be continuously adjusted. Therefore, the quality of light and the quality of surgery can be improved. Under the premise that the illumination of the target surface 12 is not blocked, the surgical sight is good and the operation time can be shortened.
  • the present invention is an automatic lighting device, which is not a hand-held lighting device, so it can reduce the probability of cross-infection and legal disputes.
  • a step may be substituted, that is, after the end of step S10, the control unit 28 receives the feedback signal, thereby moving the illumination extraction module 22 through the moving member 20, until the image is located at its corresponding target. Within the area, and the image captures the complete target surface 12.
  • the control unit divides 360 degrees into a plurality of angular intervals, according to The signal is controlled by the fourth position adjuster 38 to control each of the slide bars 30 to rotate about the axial direction of the center shaft 18.
  • this embodiment takes a moving member 20 as an example and includes a support member 14 which is a support seat mounted to the ceiling.
  • the support member 14 is coupled to a robot arm 16, and the robot arm 16 is coupled to a moving member 20 to be positioned between the support member 14 and the moving member 20.
  • the moving component 20 is provided with a light extraction module 22 for illuminating the target surface 12 and continuously extracting images of the target surface 12 to output corresponding feedback signals.
  • At least one first positioner 24 is provided on the robot arm 16.
  • the light extraction module 22, the moving component 20, and the first positioner 24 are electrically connected to at least one control unit 28, and the control unit 28 can be externally mounted or integrated in the illumination extraction module 22 or the support member 14, where Take the integration into the support member 14 as an example.
  • the control unit 28 pre-sets a target area corresponding to the illumination extraction module 22, and the control unit 28 receives the feedback signal to compare the image with the corresponding target area, and moves the illumination extraction module 22 through the moving component 20 according to the comparison result.
  • the robot arm 16 is controlled to move by the first position adjuster 24 according to the feedback signal to drive the illumination extraction module 22 until the image is located in its corresponding target area, and the image captures the complete target surface 12.
  • the components of the illumination extraction module 22 are the same as those described above, and are not described herein again.
  • the operation mode of the present invention is as follows: First, in the control unit 28, a complete image of the target surface 12 is preset, which is composed of a target area corresponding to the illumination extraction module 22. Next, as shown in step S10, the illumination source 34 and the image sensor 36 are turned on. At this time, the light source 34 randomly illuminates the light, and the image sensor 36 randomly and continuously extracts the image of the target surface 12 to output its corresponding feedback signal. Then, as shown in step S12, the control unit 28 receives the feedback signal, compares the extracted image with its corresponding target area, and generates a comparison result.
  • step S14 the control unit 28 moves the illumination extraction module 22 through the moving member 20 according to the comparison result, and controls the movement of the robot arm 16 through the first position adjuster 24 to drive the illumination extraction module 22 until The image is in its corresponding target area and the image captures the full target surface 12. Also, since the illumination source 34 is almost at the same position as the image sensor 36, the illumination source 34 can also illuminate the complete target surface 12.
  • a step may be replaced, that is, after the end of step S10, the control unit 28 receives the feedback signal, thereby moving the illumination extraction module 22 through the moving member 20, until the image is located thereon. Within the corresponding target area, and the image captures the complete target surface 12.
  • the present invention can automatically change the illumination angle to improve the surgical illumination quality, shorten the operation time, and reduce the chance of infection.

Abstract

一种自动手术照明装置及手术自动照明控制方法，该自动手术照明装置包括：支撑件（14）；至少一个移动件（20），连接该支撑件（14）；至少一个光照提取模组（22），其设于该至少一个移动件（20）上，并照亮目标面（12），及提取目标面（12）的影像，以输出其对应的回授讯号，该至少一个控制单元（28）接收该回授讯号，以据此通过该至少一个移动件（20）移动该至少一个光照提取模组（22），直到使该影像抓到完整的目标面为止。本装置和方法可以提升光照品质与手术品质、缩短手术时间、降低交叉感染的机率以及法律纠纷。

Description

自动手术照明装置及手术自动照明控制方法
技术领域
本发明属于手术照明技术领域，具体涉及一种自动手术照明装置及手术自动照明控制方法。
背景技术
医院手术室需要利用外科手术灯照亮病人身上，以方便进行手术，如第1图所示，许多外科手术灯10是以多个臂机构悬吊于医院室内的天花板、墙壁或支架上，该等臂机构是可动式，以利调整外科手术灯相对于病人的位置。通常外科手术灯位于外科医生的后方，使外科医生的头部位于外科手术灯与手术位置之间。外科手术灯的品质好坏将深入影响手术结果。
外科手术灯有几个重大的问题需要考量，首先，外科手术的灯照视野会因病人的移动变差。通常在手术过程中，因为手术灯位于医护人员头顶上方，而医生、护士与助理会不固定地移动，所以医生、护士与助理的头部都会挡住光线，以口腔为例，口腔的上侧、下侧、左侧、右侧都是有需要灯照的视野观围，单一光源难以照亮整个口腔的部位。因此，必须不断手动改变手术灯的位置，不然就无法使手术目标面得到最佳的光照。再者，医生若徒手操作手术灯，则在手术过程中，会造成病人的交叉感染。此外，如果外科医生要处理多面的欲处理物时，也有其困扰。举例来说，牙科医师要处理像牙齿这样的硬组织物时，即便是光线没有被挡住，在牙齿的死角处，仍然会呈现阴暗而看不到，造成手术品质下降。
发明内容
基于此，本发明在于克服现有技术的缺陷，提供一种自动手术照明装置及手术自动照明控制方法，本发明可以提升光照品质与手术品质、缩短手术时间、降低交叉感染的机率及其法律纠纷。
其技术方案如下：
一种自动手术照明装置，其位置对应目标面，该自动手术照明装置包括：
支撑件；
至少一个移动件，连接该支撑件；
至少一个光照提取模组，其设于该至少一个移动件上，并照亮目标面，及提取目标面的影像，以输出其对应的回授讯号；以及
至少一个控制单元，电性连接该至少一个光照提取模组与该至少一个移动件，该至少一个控制单元接收该回授讯号，以据此通过该至少一个移动件移动该至少一个光照提取模组，直到使该影像抓到完整的目标面为止。
下面对进一步技术方案进行说明。
还包括中心轴杆，其连结该支撑件与该至少一个移动件，并位于此两者之间，该中心轴杆的轴向垂直目标面。
还包括：
机械手臂，其连结该支撑件与该中心轴杆，并位于此两者之间；以及
至少一个第一位调器，其设于该机械手臂上，并电性连接该至少一个控制单元，该至少一个控制单元根据该回授讯号，通过该至少一个第一位调器控制该机械手臂移动，以带动该至少一个光照提取模组，直到使该影像抓到完整的目标面为止。
还包括第二位调器，其设于该中心轴杆与该机械手臂上，并电性连接该至少一个控制单元，该至少一个控制单元根据该回授讯号通过该第二位调器，控制该中心轴杆以与连结该机械手臂的连结处为固定点进行转动，使该中心轴杆的该轴向垂直目标面。
其中该至少一个移动件还包括：
滑杆，连接该中心轴杆，并位于目标面上方；以及
第三位调器，其设于该滑杆上，并电性连接该至少一个控制单元，该至少一个控制单元接收该回授讯号，以据此通过该第三位调器控制该至少一个光照提取模组于该滑杆上移动，直到使该影像抓到完整的目标面为止。
其中该至少一个控制单元根据该回授讯号，通过该至少一个第三位调器控制该至少一个光照提取模组于该至少一个滑杆上滑动，直到使该影像抓到完整的目标面为止。
其中该至少一个控制单元根据该回授讯号，通过该至少一个第三位调器控制该至少一个光照提取模组于该至少一个滑杆上，以垂直该至少一个滑杆的方向为轴，进行转动，直到使该影像抓到完整的目标面为止。
其中该至少一个控制单元根据该回授讯号，通过该至少一个第三位调器控制该至少一个光照提取模组于该至少一个滑杆上，以该至少一个滑杆的轴向为轴，进行转动，直到使该影像抓到完整的目标面为止。
其中该至少一个光照提取模组还包括：
发光源，通过该至少一个第三位调器设于该至少一个滑杆上，并照亮目标面；以及
影像感测器，通过该至少一个第三位调器设于该至少一个滑杆上，并电性连接该至少一个控制单元，该影像感测器连续提取该影像，以输出该回授讯号。
还包括至少一个第四位调器，其设于该中心轴杆与该至少一个滑杆上，并电性连接该至少一个控制单元，该至少一个控制单元根据该回授讯号通过该至少一个第四位调器，控制该至少一个滑杆以该中心轴杆的该轴向为轴，进行转动，以带动该至少一个光照提取模组，直到使该影像抓到完整的目标面为止。
其中该滑杆与该第三位调器皆为多个时，该至少一个第四位调器与该至少一个光照提取模组皆为多个，每一个该光照提取模组分别通过每一个该第三位调器设于每一个该滑杆上，且该控制单元将360度区分为多个角度区间，以根据该回授讯号通过该至少一个第四位调器，控制每一个该滑杆以该中心轴杆的该轴向为轴，进行转动。
其中该至少一个光照提取模组周期性提取该影像，以输出该回授讯号。
其中该支撑件为支撑座或附挂于诊疗椅的支撑架。
其中该至少一个控制单元为外置式，或者整合于该至少一个光照提取模组或该支撑件中。
还包括有：机械手臂，其位于支撑件与移动件之间并用于连接支撑件与移动件；第一位调器，其设于机械手臂上，并电性连接该控制单元，控制单元根据该回授讯号，通过该第一位调器控制该机械手臂移动，以带动光照提取模组，直到使该影像抓到该完整的该目标面为止。
该控制单元预设有对应所述光照提取模组的至少一个目标区域，该控制单元接收该回授讯号，以比较该影像与其对应的该目标区域，并据其比较结果通过该移动件移动该光照提取模组，直到使该影像位于其对应的该目标区域内，且该影像抓到完整的目标面为止。
其中该目标面为口腔面、手术操作部位中可侦测的目标物件、医师手部、牙科手机头部、口镜、牙齿或嘴巴外型。
一种自动手术照明方法，其利用至少一个移动件及设于移动件上的至少一个光照提取模组执行，该方法包含下列步骤：
该至少一个光照提取模组照亮目标面，并提取该目标面的影像，以输出其对应的回授讯号；以及
接收该回授讯号，以据此通过该至少一个移动件移动该至少一个光照提取模组，直到使该影像抓到完整的该目标面为止。
其中在接收该回授讯号，以据此通过该至少一个移动件移动该至少一个光照提取模组，直到使该影像抓到完整的目标面为止的步骤，进一步包含下列步骤：
接收该回授讯号，以比较该影像与其对应的目标区域，产生比较结果；以及
依据该比较结果通过该至少一个移动件移动该至少一个光照提取模组，直到使该影像位于其对应的目标区域内，且该影像抓到完整的该目标面为止。
本发明可以提升光照品质与手术品质、缩短手术时间、降低交叉感染的机率及其法律纠纷。
附图说明
图1为现有技术的外科手术灯示意图；
图2为本发明实施例一的结构示意图；
图3为本发明施例一的光照提取装置以中心轴杆为轴，进行转动示意图；
图4为本发明施例一的光照提取装置以滑杆为轴，进行转动示意图；
图5为本发明施例一的光照提取装置以垂直滑杆的方向为轴，进行转动示意图；
图6为本发明实施例一所述方法的流程图；
图7为本发明施例一的滑杆转动的角度区间示意图；
第8图为本发明实施例二的结构示意图。
附图标记说明：
10 外科手术灯，12 目标面，14 支撑件，16 机械手臂，18 中心轴杆，20 移动件，22 光照提取模组，24 第一位调器，26 第二位调器，28 控制单元，30 滑杆，32 第三位调器，34 发光源，36 影像感测器，38 第四位调器。
具体实施方式
下面对本发明的实施例进行详细说明。
实施例一
请参阅第2图至第5图。本发明的自动手术照明装置的位置，对应目标面12，此目标面12可为口腔面、手术操作部位中的可侦测的目标物件、医师手部、牙科手机(dental handpiece)头部、口镜、牙齿或嘴巴外型，在此以口腔面为例。
本发明包含支撑件14，其可为安装于天花板的支撑座或附挂于诊疗椅的支撑架，在此以支撑座为例。支撑件14连结机械手臂16，机械手臂16则连结中心轴杆18，使机械手臂16位于支撑件14与中心轴杆18之间。中心轴杆18又连结多个（本实施例中为四个）移动件20，以位于支撑件14和机械手臂16此两者与移动件20之间，且此中心轴杆18的轴向垂直目标面12。移动件20的数量在此以多个为例，且移动件20需位于目标面12上方。上述移动件20上设有至少一个光照提取模组22，其照亮目标面12，及连续周期性提取目标面12的影像，以输出其对应的回授讯号。在此实施例中，每一个移动件20上分别设有光照提取模组22。机械手臂16上设有至少一个第一位调器24，且中心轴杆18与机械手臂16上设有第二位调器26。光照提取模组22、移动件20、第一位调器24、第二位调器26皆电性连接至少一个控制单元28，控制单元28可为外置式，或者整合于光照提取模组22或支撑件14中，在此以整合于支撑件14中为例。控制单元28预设有对应至少一个光照提取模组22的至少一个目标区域，控制单元28接收回授讯号，以比较上述影像与其对应的目标区域，并据其比较结果通过移动件20移动光照提取模组22，同时根据回授讯号通过第一位调器24控制机械手臂16移动，以带动光照提取模组22，直到使上述影像位于其对应的目标区域内，且上述影像抓到完整的目标面12为止。此外，控制单元28亦根据回授讯号通过第二位调器26，控制中心轴杆18以与连结机械手臂16的连结处为固定点进行转动，使中心轴杆18的轴向保持垂直目标面12。
每一个移动件20还包括滑杆30与第三位调器32，滑杆30连接中心轴杆18，并位于目标面12上方。第三位调器32设于滑杆30上，并电性连接控制单元28，控制单元28接收回授讯号，比较影像与其对应的目标区域，并据其比较结果通过第三位调器32控制光照提取模组22于滑杆30上移动，直到使影像位于其对应的目标区域内，且影像抓到完整的目标面12为止。例如：如第3图所示，控制单元28根据回授讯号，通过第三位调器32控制光照提取模组22于滑杆30上滑动。如第4图所示，控制单元28根据回授讯号，通过第三位调器32控制光照提取模组22，以滑杆30的轴向为轴，进行转动，如图所示，转动α角。如第5图所示，控制单元28根据回授讯号，通过第三位调器32控制光照提取模组22，以垂直滑杆30的方向为轴，进行转动，如图所示，转动λ角。
每一个光照提取模组22还包括发光源34与影像感测器36，发光源34通过第三位调器32设于滑杆30上，并照亮目标面12。影像感测器36则通过第三位调器32设于滑杆30上，并电性连接控制单元28，影像感测器36连续周期性提取目标面12影像，以输出回授讯号。
中心轴杆18与滑杆30上设有至少一个第四位调器38。由于滑杆30有多个，因此第四位调器38也有多个，其分别位于每一个滑杆30与中心轴杆18之间。第四位调器38电性连接控制单元28，控制单元28接收回授讯号，以比较上述影像与其对应的目标区域，并据其比较结果通过第四位调器38，控制滑杆30以中心轴杆18的轴向为轴，进行转动，以带动光照提取模组22，直到使影像位于其对应的目标区域内，且影像抓到完整的目标面12为止。如第3图与第4图所示，转动θ角。
请同时参阅图2与图6，本发明的运作方式如下所述：首先，于控制单元28中，预设目标面12的完整影像，其由对应至少一个光照提取模组22的至少一个目标区域所构成，因此目标区域为多个（如四个），接着，如步骤S10所示，开启发光源34与影像感测器36。此时发光源34随意照射光线，且影像感测器36随意连续周期性提取目标面12的影像，以输出其对应的回授讯号。然后，如步骤S12所示，控制单元28接收此回授讯号，比较提取到的影像与其对应的目标区域，产生一个比较结果。最后，如步骤S14所示，控制单元28依据比较结果，通过第一位调器24控制机械手臂16移动，通过第三位调器32控制光照提取模组22于滑杆30上滑动或转动，通过第四位调器38，控制滑杆30以中心轴杆18的轴向为轴，进行转动，以带动光照提取模组22，直到使影像位于其对应的目标区域内，且影像抓到完整的目标面12为止。且因为发光源34几乎与影像感测器36处在同一位置，所以发光源34亦可照亮完整的目标面12。此外，控制单元28亦根据回授讯号所对应的比较结果，通过第二位调器26，控制中心轴杆18以与连结机械手臂16的连结处为固定点进行转动，使中心轴杆18的轴向保持垂直目标面12。由于藉由第一位调器24、第二位调器26、第三位调器32与第四位调器38的控制，可以不断调整光照角度。因此，光照品质与手术品质能随之而提升。在目标面12的光照不会被挡住的前提下，手术视线良好，亦能缩短手术时间。另本发明为自动照明装置，并非手持式的照明装置，所以能降低交叉感染的机率及其法律纠纷。
在上述步骤S12与S14，亦可以一个步骤取代，即在步骤S10结束后，控制单元28接收回授讯号，以据此通过移动件20移动光照提取模组22，直到使影像位于其对应的目标区域内，且影像抓到完整的目标面12为止。
当滑杆30以中心轴杆18的轴向为轴，进行转动时，为了避免使滑杆30彼此产生碰撞，如图7所示，控制单元将360度区分为多个角度区间，以根据回授讯号通过第四位调器38，控制每一个滑杆30以中心轴杆18的轴向为轴，进行转动。
实施例二
请继续参阅图8，本实施例以一个移动件20为例，其包含一个支撑件14，其为安装于天花板的一个支撑座。支撑件14连结一个机械手臂16，机械手臂16则连结一个移动件20，以位于支撑件14与移动件20之间。上述移动件20上设有一光照提取模组22，其照亮目标面12，及连续周期性提取目标面12的影像，以输出其对应的回授讯号。机械手臂16上设有至少一个第一位调器24。光照提取模组22、移动件20、第一位调器24均电性连接至少一个控制单元28，控制单元28可为外置式，或者整合于光照提取模组22或支撑件14中，在此以整合于支撑件14中为例。控制单元28预设有对应光照提取模组22的目标区域，控制单元28接收回授讯号，以比较上述影像与其对应的目标区域，并据其比较结果通过移动件20移动光照提取模组22，同时根据回授讯号通过第一位调器24控制机械手臂16移动，以带动光照提取模组22，直到使上述影像位于其对应的目标区域内，且影像抓到完整的目标面12为止。另外，光照提取模组22的组成元件与前述相同，于此不再赘述。
请同时参阅图6及图8，本发明的运作方式如下所述：首先，在控制单元28中，预设目标面12的完整影像，其由对应光照提取模组22的一个目标区域所构成。接着，如步骤S10所示，开启发光源34与影像感测器36。此时发光源34随意照射光线，且影像感测器36系随意连续周期性提取目标面12的影像，以输出其对应的回授讯号。然后，如步骤S12所示，控制单元28接收此回授讯号，比较提取到的影像与其对应的目标区域，产生一个比较结果。最后，如步骤S14所示，控制单元28依据比较结果，通过移动件20移动光照提取模组22，并通过第一位调器24控制机械手臂16移动，以带动光照提取模组22，直到使影像位于其对应的目标区域内，且影像抓到完整的目标面12为止。又因为发光源34几乎与影像感测器36处在同一位置，所以发光源34亦可照亮完整的目标面12。
同样地，在上述步骤S12与S14，亦可以一个步骤取代，即在步骤S10结束后，控制单元28接收回授讯号，以据此通过移动件20移动光照提取模组22，直到使影像位于其对应的目标区域内，且影像抓到完整的目标面12为止。
综上所述，本发明能自动改变光照角度，以提升手术光照品质、缩短手术时间，及降低感染机率。
以上所述实施例仅表达了本发明的具体实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。

Claims (19)

  1. 一种自动手术照明装置，其特征在于，其位置对应目标面，该自动手术照明装置包括：
    支撑件；
    至少一个移动件，连接该支撑件；
    至少一个光照提取模组，其设于该至少一个移动件上，并照亮目标面，及提取目标面的影像，以输出其对应的回授讯号；以及
    至少一个控制单元，电性连接该至少一个光照提取模组与该至少一个移动件，该至少一个控制单元接收该回授讯号，以据此通过该至少一个移动件移动该至少一个光照提取模组，直到使该影像抓到完整的目标面为止。
  2. 根据权利要求1所述自动手术照明装置，其特征在于，还包括中心轴杆，其连结该支撑件与该至少一个移动件，并位于此两者之间，该中心轴杆的轴向垂直目标面。
  3. 据权利要求2所述自动手术照明装置，其特征在于，还包括：
    机械手臂，其连结该支撑件与该中心轴杆，并位于此两者之间；以及
    至少一个第一位调器，其设于该机械手臂上，并电性连接该至少一个控制单元，该至少一个控制单元根据该回授讯号，通过该至少一个第一位调器控制该机械手臂移动，以带动该至少一个光照提取模组，直到使该影像抓到完整的目标面为止。
  4. 根据权利要求3所述自动手术照明装置，其特征在于，还包括第二位调器，其设于该中心轴杆与该机械手臂上，并电性连接该至少一个控制单元，该至少一个控制单元根据该回授讯号通过该第二位调器，控制该中心轴杆以与连结该机械手臂的连结处为固定点进行转动，使该中心轴杆的该轴向垂直目标面。
  5. 权利要求2所述自动手术照明装置，其特征在于，其中该至少一个移动件还包括：
    滑杆，连接该中心轴杆，并位于目标面上方；以及
    第三位调器，其设于该滑杆上，并电性连接该至少一个控制单元，该至少一个控制单元接收该回授讯号，以据此通过该第三位调器控制该至少一个光照提取模组于该滑杆上移动，直到使该影像抓到完整的目标面为止。
  6. 根据权利要求5所述自动手术照明装置，其特征在于，其中该至少一个控制单元根据该回授讯号，通过该至少一个第三位调器控制该至少一个光照提取模组于该至少一个滑杆上滑动，直到使该影像抓到完整的目标面为止。
  7. 根据权利要求5所述自动手术照明装置，其特征在于，其中该至少一个控制单元根据该回授讯号，通过该至少一个第三位调器控制该至少一个光照提取模组于该至少一个滑杆上，以垂直该至少一个滑杆的方向为轴，进行转动，直到使该影像抓到完整的目标面为止。
  8. 根据权利要求5所述自动手术照明装置，其特征在于，其中该至少一个控制单元根据该回授讯号，通过该至少一个第三位调器控制该至少一个光照提取模组于该至少一个滑杆上，以该至少一个滑杆的轴向为轴，进行转动，直到使该影像抓到完整的目标面为止。
  9. 据权利要求5所述自动手术照明装置，其特征在于，其中该至少一个光照提取模组还包括：
    发光源，通过该至少一个第三位调器设于该至少一个滑杆上，并照亮目标面；以及
    影像感测器，通过该至少一个第三位调器设于该至少一个滑杆上，并电性连接该至少一个控制单元，该影像感测器连续提取该影像，以输出该回授讯号。
  10. 根据权利要求5所述自动手术照明装置，其特征在于，还包括至少一个第四位调器，其设于该中心轴杆与该至少一个滑杆上，并电性连接该至少一个控制单元，该至少一个控制单元根据该回授讯号通过该至少一个第四位调器，控制该至少一个滑杆以该中心轴杆的该轴向为轴，进行转动，以带动该至少一个光照提取模组，直到使该影像抓到完整的目标面为止。
  11. 根据权利要求10所述自动手术照明装置，其特征在于，其中该滑杆与该第三位调器皆为多个时，该至少一个第四位调器与该至少一个光照提取模组皆为多个，每一个该光照提取模组分别通过每一个该第三位调器设于每一个该滑杆上，且该控制单元将360度区分为多个角度区间，以根据该回授讯号通过该至少一个第四位调器，控制每一个该滑杆以该中心轴杆的该轴向为轴，进行转动。
  12. 根据权利要求1所述自动手术照明装置，其特征在于，其中该至少一个光照提取模组周期性提取该影像，以输出该回授讯号。
  13. 根据权利要求1所述自动手术照明装置，其特征在于，其中该支撑件为支撑座或附挂于诊疗椅的支撑架。
  14. 根据权利要求1所述自动手术照明装置，其特征在于，其中该至少一个控制单元为外置式，或者整合于该至少一个光照提取模组或该支撑件中。
  15. 据权利要求1所述自动手术照明装置，其特征在于，还包括有：
    机械手臂，其位于支撑件与移动件之间并用于连接支撑件与移动件；
    第一位调器，其设于机械手臂上，并电性连接该控制单元，控制单元根据该回授讯号，通过该第一位调器控制该机械手臂移动，以带动光照提取模组，直到使该影像抓到该完整的该目标面为止。
  16. 根据权利要求1所述自动手术照明装置，其特征在于，该控制单元预设有对应所述光照提取模组的至少一个目标区域，该控制单元接收该回授讯号，以比较该影像与其对应的该目标区域，并据其比较结果通过该移动件移动该光照提取模组，直到使该影像位于其对应的该目标区域内，且该影像抓到完整的目标面为止。
  17. 根据权利要求1所述自动手术照明装置，其特征在于，其中该目标面为口腔面、手术操作部位中可侦测的目标物件、医师手部、牙科手机头部、口镜、牙齿或嘴巴外型。
  18. 种自动手术照明方法，其特征在于，其利用至少一个移动件及设于移动件上的至少一个光照提取模组执行，该方法包含下列步骤：
    该至少一个光照提取模组照亮目标面，并提取该目标面的影像，以输出其对应的回授讯号；以及
    接收该回授讯号，以据此通过该至少一个移动件移动该至少一个光照提取模组，直到使该影像抓到完整的该目标面为止。
  19. 据权利要求18所述自动手术照明方法，其中在接收该回授讯号，以据此通过该至少一个移动件移动该至少一个光照提取模组，直到使该影像抓到完整的目标面为止的步骤，进一步包含下列步骤：
    接收该回授讯号，以比较该影像与其对应的目标区域，产生比较结果；以及
    依据该比较结果通过该至少一个移动件移动该至少一个光照提取模组，直到使该影像位于其对应的目标区域内，且该影像抓到完整的该目标面为止。
PCT/CN2012/079620 2012-07-11 2012-08-03 自动手术照明装置及手术自动照明控制方法 WO2014008695A1 (zh)

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