Flexible laparoscope capable of automatically tracking movement of surgical instrument
A surgical instrument and automatic tracking technology, which is applied in the field of laparoscopy, can solve the problems of the doctor holding the mirror, such as the influence of the stability of the mirror holding, the instability of the mirror holding, and human error, so as to eliminate medical accidents, ensure fluency, and maximize flexibility Effect
Pending Publication Date: 2019-01-18
SHANDONG PROVINCIAL HOSPITAL
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Problems solved by technology
Among them is a doctor holding a mirror. Due to the limited operating space and field of view, the doctor holding the mirror should adjust his position at any time during the mirror holding process, so as to provide enough space for the operating doctor and not interfere with the operating doctor. The stability of the mirror-holding doctor is affected, resulting in instability of the mirror-holding doctor, and the doctor holding the mirror for a long time because of fatigue also affects the stability of the mirror-holding
[0004] During the operation, the doctor needs to change the observation position in time, and needs to cooperate well with the doctor holding the mirror. At this time, human error is prone to occur, which leads to problems in the operation. Now there is a need for a laparoscopic lens that can be replaced in time with the operation of the surgeon. location technology
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[0037] In order to better understand the present invention, the specific implementation manners of the present invention will be explained in detail below in conjunction with the accompanying drawings.
[0038] A flexible laparoscope that can automatically track the movement of surgical instruments, including a pulling reversing mechanism 1, a bending arm 2, and a three-dimensional position tracker 5. The pulling and reversing mechanism 1 is connected to the bending arm 2, and the three-dimensional position The tracker 5 cooperates with the bending arm 2, and the bending arm 2 is composed of several small bending arms, and the end of the bending arm 2 is connected with a terminal 4; The action of the reversing mechanism 1 can ensure that each small bending arm is bent independently, thus achieving greater flexibility of the bending arm 2 .
[0039] The curved arm 2 includes an arm section 3, and the arm section 3 includes an arm section cylinder 31, an arm section universal ba...
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The invention discloses a flexible laparoscope capable of automatically tracking movement of a surgical instrument. The laparoscope comprises a pulling and reversing mechanism, a bending arm and a three-dimensional position tracker, wherein the pulling and reversing mechanism is connected with the bending arm, the three-dimensional position tracker cooperates with the bending arm, the bending armis composed of a plurality of small bending arms, and the end of the bending arm is connected with an end; The position and relative position relationship of the three receivers can be accurately detected by the transmitter signal of the three-dimensional position tracker and the analysis of the control computer, according to the setting, the bending arm may be positioned relative to the surgicalinstrument, Thus, when the surgical instrument moves, the bending arm can be bent and moved under the set condition, so as to achieve the purpose of following the surgical instrument, so that the surgeon can freely control the end position of the bending arm through the surgical instrument, the cooperation of the doctor holding the mirror is not required, and the artificial medical accident is eliminated.
Description
technical field [0001] The invention relates to the field of laparoscopes, in particular to a flexible laparoscope which can automatically track the movement of surgical instruments. Background technique [0002] Because of the advantages of minimally invasive surgery such as less trauma, shorter hospital stay, and faster recovery of patients, minimally invasive surgery has been popularized and applied in China in recent years. Minimally invasive surgery usually requires one to several small holes to be operated. The laparoscopy system solves the problems of image display, waste liquid suction, and light source irradiation. [0003] During the operation, multiple doctors and nurses are usually required to complete the operation at the same time. Among them is a doctor holding a mirror. Due to the limited operating space and field of view, the doctor holding the mirror should adjust his position at any time during the mirror holding process, so as to provide enough space for...
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IPC IPC(8): A61B17/94A61B34/20
CPCA61B17/00234A61B34/20A61B2017/00296A61B2034/2046
Inventor 郭锋张硕王晓庆崔明宇
Owner SHANDONG PROVINCIAL HOSPITAL