A robotic infrared thermal scanning medical microscope system

Abstract

The present invention discloses a robotic infrared thermal scanning medical mirror system, comprising a camera system and a robot system; the camera system comprises an infrared camera, a display and a data processing host; the infrared camera comprises an infrared thermal scanning probe for collecting infrared radiation reflected by a measured object, an infrared detector for signal conversion and a signal processing module; the signal processing module is electrically connected to the data processing host to obtain an infrared thermal image on the display. The present invention enables infrared thermal scanning imaging technology to be flexibly applied to surgical operations, facilitates doctors to grasp the entire surgical environment and surgical process, helps doctors accurately determine the nature of lesions, and can make accurate treatment surgical plans on site in real time, so as to greatly improve surgical efficiency and surgical accuracy.

Description

Technical Field

[0001] The invention belongs to the field of medical equipment, and in particular relates to a robotic infrared thermal scanning medical mirror system. Background Art

[0002] At present, in various types of clinical open surgeries, doctors generally rely on experience and various invasive medical diagnostic methods to diagnose patients' diseases, which often cause pain and discomfort to patients during the diagnostic process. At the same time, there are disadvantages such as low detection accuracy and low diagnostic efficiency.

[0003] Medical infrared imaging originated from military technology and has been used for more than 40 years. With the development of medicine, infrared imaging, multimedia and other technologies, the temperature resolution of infrared imaging has reached 0.05°, the spatial resolution has reached 0.8mrad, the image clarity has been greatly improved, the result analysis is intuitive and convenient, and its application range in clinical practice is expanding. At present, infrared imaging diagnosis shows certain advantages in the following aspects:

[0004] 1. Determine the location, scope and degree of acute and chronic inflammation;

[0005] 2. Monitor the blood supply function of vascular lesions;

[0006] 3. Tumor early warning indication, full-course monitoring and efficacy evaluation.

[0007] It can be seen that infrared imaging is an important supplement to other morphological diagnostic methods such as B-ultrasound, CT, and MR.

[0008] Clinically, preoperative diagnosis is generally used to make a preliminary diagnosis of the patient in order to determine the surgical method; however, infrared imaging technology in existing medical clinical applications is mostly used in combination with separately set equipment, and the equipment is placed in a room different from the operating room. Infrared imaging technology cannot be used synchronously in the actual surgical operation process, so when encountering emergencies or pathological changes during the operation, there is no diagnostic equipment for the surgeon to use, and the surgical plan cannot be adjusted in time. Summary of the invention

[0009] In order to solve the above problems, the present invention aims to provide a robotic infrared thermal scanning medical mirror system, so that infrared thermal scanning imaging technology can be flexibly applied to surgical operations to improve surgical efficiency and surgical accuracy.

[0010] To achieve the above object, the present invention is implemented according to the following technical solutions:

[0011] A robotic infrared thermal scanning medical mirror system comprises a camera system and a robot system; the camera system comprises an infrared camera, a display and a data processing host; the infrared camera comprises an infrared thermal scanning probe for collecting infrared radiation reflected by a measured object, an infrared detector for signal conversion and a signal processing module; the signal processing module is electrically connected to the data processing host to obtain an infrared thermal image on the display; the robot system comprises a mechanical arm and a frame, the mechanical arm comprises a fixed end for fixed installation and a movable end for position adjustment; the infrared camera and the display are mounted on the movable end of the mechanical arm.

[0012] Preferably, the camera system also includes a scene camera, which is arranged on the wall of the operating room or on the robotic arm; the scene camera includes a high-definition CCD optical system, which includes a plurality of optical lenses arranged in an array, and the scene camera is used for 360° panoramic photography.

[0013] Preferably, the fixed end of the robotic arm is hoisted on the wall of the operating room via a first carrier; and the frame is hoisted on the wall of the operating room via a second carrier.

[0014] Preferably, the robotic arm is provided with two groups, and the infrared camera and the display are respectively arranged on the movable ends of the robotic arm.

[0015] Preferably, the frame comprises a box body, a plurality of universal wheels are arranged at the bottom of the box body, and the fixed end of the mechanical arm is arranged on the frame.

[0016] Preferably, the temperature error of the infrared camera is less than 0.5°.

[0017] Preferably, the data processing host includes an operation panel, an operation keyboard or a handheld operation device, and the operation panel, operation keyboard or handheld operation device is provided with control buttons; the control buttons include a switch button, a mode selection button with a normal display mode and a night vision display mode, an infrared intensity fine-tuning function button and a display menu button.

[0018] Preferably, the robotic arm is provided with at least five degrees of freedom, including mechanical control or electric control; the mechanical control includes a mechanical transmission structure or a pressure transmission structure arranged on the joints of the robotic arm; the electric control includes a number of micro motors arranged on the joints of the robotic arm.

[0019] Preferably, the camera system further comprises a high-definition camera or a 3D camera; and the number of the displays is less than or equal to the total number of the high-definition cameras, 3D cameras and infrared cameras.

[0020] Preferably, a cross bar is provided on the movable end of the robotic arm, and at least two camera placement seats are provided on the cross bar.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. In this solution, a robot system is cleverly provided, and a camera system is mounted on the robot system, wherein the camera system is provided with an infrared camera, a display and a data processing host, so that the doctor can conveniently and quickly obtain a clear and accurate static image of the temperature difference around the tissue and the tissue blood vessels at the observation site during the operation, and can accurately judge the nature of the lesion by analyzing and comparing the infrared thermal images under different display modes; this avoids the problem in the prior art that when the condition changes or the lesion is suspected during the operation, it is necessary to rely on the inspection and diagnostic equipment of other departments to perform pathological analysis and cannot make a diagnosis in time, thereby greatly reducing the waiting time for the diagnosis result, and reducing the patient's pain and surgical risks.

[0023] 2. The robot system in this scheme can be set as a hanging tower type to adapt to the internal environment of various operating rooms, reduce the floor space occupied in the operating room, and improve the efficiency of surgical collaboration; the robot system can also be set to be mobile through a box to facilitate the use and movement of medical staff; so that multiple operating rooms can share one device, which reduces the configuration cost of medical equipment and makes the operation more scientific and reliable; by adjusting the swing of the robot arm, the observation field of view can be adjusted, and the design of the entire system is reasonable and easy to operate.

[0024] 3. This solution can also be equipped with a variety of surgical field cameras for combined use. With the assistance of the robot arm, the infrared camera is used to scan the surgical tissue to obtain an infrared thermal map, the high-definition camera is used to obtain a clearer and more accurate surgical field image, and the 3D camera is used to obtain a more specific observation object; so that information including the surgical field, lesions, temperature differences of tissues around the lesions, and static images of tissue 3D blood vessels can be displayed clearly on the display. By analyzing and comparing diagnostic images under different display modes, it is greatly helpful for doctors to accurately judge the nature of the lesions, and can make accurate treatment surgical plans on the spot in real time, greatly improving surgical efficiency and accuracy.

[0025] 4. This solution also provides a scene camera to record the operation scene in 360°. By using the scene camera in combination with the surgical field camera, it can realize the integration, display and centralized control of various information, making this system applicable to various types of open surgeries, and can meet the requirements of live broadcast of the operation process, storage and backup of surgical images, and surgical teaching. In addition, it can also be connected to the network to realize remote teaching or remote consultation, which fully demonstrates an epoch-making, advanced scientific and technological achievement, and has subversive significance in the field of medical technology and even in the history of mankind. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0027] Figure 1 It is a working schematic diagram of the infrared camera of the present invention;

[0028] Figure 2 This is a schematic diagram of imaging of the infrared camera of the present invention;

[0029] Figure 3 Schematic diagram of the structure of the robotic medical mirror system in Example 1 of the present invention;

[0030] Figure 4 It is a schematic diagram of the side structure of the mechanical arm of the present invention;

[0031] Figure 5 It is a schematic diagram of the top view of the structure of the mechanical arm of the present invention;

[0032] Figure 6 This is a schematic diagram of the structure of the robot arm of the present invention when it is equipped with an infrared camera and a high-definition camera;

[0033] Figure 7 This is a schematic diagram of the structure of the robot arm of the present invention when it is equipped with an infrared camera and a 3D camera;

[0034] Figure 8 Schematic diagram of the structure of the robotic medical mirror system in Example 2 of the present invention;

[0035] in:

[0036] 1-frame, 11-first carrier, 111-first mechanical arm, 12-second carrier, 121-second mechanical arm, 13-fixed column, 14-movable layer plate, 15-universal wheel;

[0037] 2-mechanical arm, 21-first arm, 22-second arm, 23-third arm, 24-cross bar, 25-camera placement seat, 26-handle;

[0038] 31-infrared camera, 311-infrared thermal scanning probe, 312-infrared detector, 313-signal processing module, 314-infrared radiation, 32-high-definition camera, 33-3D camera;

[0039] 41-active glasses, 42-polarizing lenses, 43-naked eye observation area, 5-scene camera, 6-display, 7-data processing host. DETAILED DESCRIPTION

[0040] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. In the following description, many specific details are set forth in order to fully understand the present invention, and the embodiments described are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the art without making creative work are within the scope of protection of the present invention.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0042] Example 1

[0043] like Figure 1-7 As shown, in this embodiment, a robotic medical mirror system with an infrared thermal scanning function is provided, which is mainly presented in the form of a mobile robot, including a movable robot system and a camera system.

[0044] The robot system includes a robot arm 2 and a frame 1 which is arranged in a rectangular shape.

[0045] The base of the frame 1 is provided with four universal wheels 15 with a locking function; specifically, the base of the frame 1 is formed by two main rods intersecting each other at 90 degrees, and the position where the two main rods intersect each other is located at the rear section of the main rods, and the fixed column 13 of the robotic arm 2 is vertically fixed on the intersection of the two main rods, and the rear portion of the frame 1 is recessed, and the fixed column 13 is embedded in the recess; in addition, a wire groove is provided in the fixed column 13, and its top is hingedly connected to the fixed end of the robotic arm 2.

[0046] The camera system includes an infrared thermal scanning camera system and a high-definition optical camera system or a 3D camera system; in addition, it also includes a scene camera 5, a display 6 and a data processing host 7. The data processing host 7 can be adaptively deployed according to the camera system. When multiple imaging devices are arranged in the camera system, multiple data processing hosts 7 can be arranged to correspond thereto.

[0047] The scene camera 5 is used for 360° panoramic photography. The scene camera 5 includes a high-definition CCD optical system, and the high-definition CCD optical system includes a plurality of optical lenses arranged in an array.

[0048] like Figure 1 As shown, the infrared thermal scanning camera system includes an infrared camera 31, and the infrared camera 31 includes an infrared thermal scanning probe 311, an infrared detector 312, and a signal processing module 313. The infrared thermal scanning probe 311 receives and converges the infrared radiation 314 emitted outward by the measured tissue, and the energy distribution diagram of the infrared radiation 314 converts the thermal radiation signal into an electrical signal through the photosensitive element of the infrared detector 312. The signal processing module 313 further organizes the data signal, and then transmits it to the corresponding data processing host 7 for processing, and then outputs the visible light image to the display 6. In order to facilitate the doctor to see the clear temperature difference around the tissue, the static image of the tissue blood vessels, etc., by analyzing and comparing the infrared thermal images under different display modes, the nature of the lesion can be accurately determined, and an accurate treatment and surgical plan can be made on the spot in real time. In addition, the data processing host 7 corresponding to the infrared thermal scanning probe 311 can convert the temperature difference of the tissue into a real-time video image and output it to the display 6, and its temperature accuracy is less than 0.5°.

[0049] The high-definition optical camera system includes a high-definition camera 32, the lens resolution of the high-definition camera 32 is at least 1280×720 or 1920×1080, at least 10 times optical zoom, and at least 2 million effective pixels.

[0050] The 3D camera system includes a 3D camera 33, and the 3D camera 33 is composed of two independent optical lenses on the same camera. Figure 5 As shown, the CCD camera systems respectively correspond to the left and right eyes of the simulated human. The binocular lens of the CCD obtains two sets of images in the same surgical field, which are synthesized and processed by the corresponding data processing host 7 and then output to the display 6.

[0051] The output modes of the data processing host 7 of the 3D camera 33 include the following:

[0052] The first method is that the display 6 cooperates with the active glasses 41 to display images at twice the normal frequency. While the display 6 displays the image, the active glasses 41 will cover the left eye or the right eye: when the display 6 shows the left eye image, the active glasses 41 covers the right eye, and vice versa;

[0053] The second method is that the display 6 is equipped with a polarizing filter 42. This display 6 uses different polarizing filters 42 to display two images at the same time. The polarization of the lens filters is different, so that the left eye can only see the left eye image, and the right eye can only see the right eye image;

[0054] The third method is naked-eye 3D technology, which allows users to see the three-dimensional image of the display in the naked-eye observation area 43 without wearing glasses, and no special glasses are required.

[0055] The clear 3D image of cell tissue displayed on the display 6 can provide the doctor with a three-dimensional experience during surgical diagnosis, help the doctor clearly observe the lesion at the surgical site, and then accurately judge the nature of the lesion, and make an accurate treatment surgical plan on the spot in real time.

[0056] As a preferred solution, the scene camera 5 is arranged below the fixed end of the robotic arm 2, and extends out and is fixed on the top of the fixed column 13; the overall structure of the rack 1 is a square structure, which can be closed or open, and the rack 1 is designed with a cabinet door and at least three layers of movable shelves 14 for placing the data processing host 7, and the data processing host 7 is connected to the display 6 via a data cable.

[0057] like Figure 5 As shown, a cross bar 24 is provided on the movable end of the mechanical arm 2, and at least two camera placement seats 25 are provided on the cross bar 24. A handle 26 that can resist high temperature disinfection is designed below the cross bar 24, which can facilitate medical staff to manually move the mechanical arm 2 and the camera on the camera system for use.

[0058] Specifically, the mechanical arm 2 further includes a first arm 21, a second arm 22 and a third arm 23, wherein the first arm 21 is hinged to the fixed column 13 to realize swinging motion on the horizontal plane; the second arm 22 is hinged to the first arm 21 to realize swinging motion on the horizontal plane; and the third arm 23 is hinged to the second arm 22 to realize swinging motion on the vertical plane. The mechanical arm 2 has at least five degrees of freedom, the rotation angle of the first arm 21 and the second arm 22 of the mechanical arm 2 in the horizontal direction is greater than 320°, the arm span length of the mechanical arm 2 is less than 1800mm, and the up and down swing height of the third arm 23 of the mechanical arm 2 is between 850-2400mm with the horizontal floor of the operating room as the reference plane.

[0059] The camera and scene camera 5 on the camera system are connected to their respective data processing hosts 7 through communication cables, and the communication cables are placed in the wire grooves of the mechanical arm 2 or the fixed column 13. The images scanned by various cameras are processed by the corresponding data processing hosts 7 and then transmitted to the display 6 through the communication lines. The data processing host 7 also includes an operation panel, an operation keyboard or a handheld operation device connected thereto, and the operation panel, the operation keyboard or the handheld operation device is provided with control buttons, including a switch button, a mode selection button with a normal display mode and a night vision display mode, an infrared intensity fine-tuning function button and a display menu button.

[0060] The control method of the robotic arm 2 can be manual control, remote control or voice control; for example, the control method of the robotic arm 2 is designed to be mechanical or electric; the mechanical control method means that the robotic arm 2 is designed with a mechanical or hydraulic structure, and the movement of the robotic arm 2 is manually manipulated to drive the camera of the camera system to move; the electric control method means that the movement of the robotic arm 2 is driven by a micro motor to realize the movement of the camera of the camera system.

[0061] In addition, the number of the displays 6 corresponds one-to-one to the number of cameras in the camera system, and the number of the displays 6 can also be set to be less than the number of cameras in the camera system, depending on the specific needs during operation; the displays 6 have the function of displaying multiple screens and multiple monitoring parameters on the same screen.

[0062] Example 2

[0063] like Figure 8 As shown, the same points as those in Example 1 are not repeated here. A robotic medical mirror system with a color Doppler ultrasound function is provided in this embodiment, which is presented in the form of a hanging tower type robotic exoscopic mirror, including a first carrier 11 and a second carrier 12 fixedly arranged on the ceiling, a first robotic arm 111 and a second robotic arm 121.

[0064] The first carrier 11 is used to carry the camera system, scene camera 5 and display 6, and the second carrier 12 is used to carry the rack 1 storing the data processing host 7. The first carrier 11 and the second carrier 12 are respectively suspended and fixed on the ceiling of the operating room. Furthermore, two first mechanical arms 111 are respectively provided on the first carrier 11 corresponding to the display 6 and the imaging camera; the second mechanical arm 121 also has the function of rotation adjustment, and the rack 1 is suspended at the movable end of the second mechanical arm 121.

[0065] The steps of the pendant robot exoscopic system during surgery in this embodiment are as follows:

[0066] Before the operation, the adjustable operating table is adjusted to a suitable position, and then the handle 26 of the robotic arm 2 is held and swung to align the camera in the camera system with the operating table, and the corresponding imaging camera and scene camera 5 are turned on, and the field of view of the camera is adjusted to a suitable state;

[0067] Then, the patient is transferred to the operating table and the imaging camera is fine-tuned towards the surgical site to make the surgical field open and clear;

[0068] Finally, doctors can obtain various images including the surgical field, lesions, three-dimensional cell images, vascular blood flow dynamics, and patient vital signs by observing the display 6. Through the combination of various cameras, doctors can quickly and accurately determine the nature of the lesions and make precise treatment surgical plans on the spot.

[0069] In addition, it can also conduct live broadcast of surgical processes, academic exchanges, clinical teaching, surgical demonstrations, etc., and can also connect to the Internet to achieve remote teaching and remote consultation.

[0070] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Therefore, any modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A robotic infrared thermal scanning medical mirror system, characterized in that: Including camera system and robotic system; The camera system includes an infrared camera, a display and a data processing host; the infrared camera includes an infrared thermal scanning probe for collecting infrared radiation reflected by the object under test, an infrared detector for signal conversion and a signal processing module; the signal processing module is electrically connected to the data processing host to obtain an infrared thermal image on the display; The robot system comprises a mechanical arm and a frame, wherein the mechanical arm comprises a fixed end for fixed installation and a movable end for position adjustment; the infrared camera and the display are mounted on the movable end of the mechanical arm; The data processing host includes an operation panel, an operation keyboard or a handheld operation device, and the operation panel, the operation keyboard or the handheld operation device is provided with control buttons; the control buttons include a switch button, a mode selection button with a normal display mode and a night vision display mode, an infrared intensity fine-tuning function button and a display menu button; The robot arm is provided with at least five degrees of freedom, including mechanical control or electric control; The mechanical control includes a mechanical transmission structure or a pressure transmission structure provided on the joint of the mechanical arm; The electric control includes a plurality of micro motors arranged on the joints of the robot arm.

2. The robotic infrared thermal scanning medical mirror system according to claim 1, characterized in that: The camera system also includes a scene camera, which is arranged on the wall of the operating room or on the robotic arm; the scene camera includes a high-definition CCD optical system, which includes a plurality of optical lenses arranged in an array, and the scene camera is used for 360° panoramic photography.

3. The robotic infrared thermal scanning medical mirror system according to claim 1, characterized in that: The fixed end of the mechanical arm is hoisted and arranged on the wall of the operating room through the first carrier.

4. The robotic infrared thermal scanning medical mirror system according to claim 3, characterized in that: The mechanical arms are provided with two groups, and the infrared cameras and the display are respectively arranged on the movable ends of the mechanical arms.

5. The robotic infrared thermal scanning medical mirror system according to claim 1, characterized in that: The frame comprises a box body, a plurality of universal wheels are arranged at the bottom of the box body, and the fixed end of the mechanical arm is arranged on the frame.

6. The robotic infrared thermal scanning medical mirror system according to claim 1, characterized in that: The temperature error of the infrared camera is less than 0.5°.

7. The robotic infrared thermal scanning medical mirror system according to claim 1, characterized in that: The camera system also includes a high-definition camera or a 3D camera; The number of the displays is less than or equal to the total number of the high-definition cameras, 3D cameras, and infrared cameras.

8. The robotic infrared thermal scanning medical mirror system according to claim 7, characterized in that: A cross bar is arranged on the movable end of the mechanical arm, and at least two camera placement seats are arranged on the cross bar.

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