Bipolar electric coagulation forceps positioning device based on binocular optics and method thereof

A technology of bipolar coagulation forceps and positioning method, which is applied in the field of biomedical engineering, can solve the problems of incomplete tumor resection and bipolar injury in brain functional areas and other important intracranial tissues of patients, and meet the requirements of clinical use and improve The effect of accurate positioning

Inactive Publication Date: 2020-10-09
哈尔滨梓滨科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention provides an operation map for the existing medical images, and the specific operation of the operation is completed by the bipolar, but the inaccurate positioning of the bipolar will damage the patient's

Method used

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  • Bipolar electric coagulation forceps positioning device based on binocular optics and method thereof
  • Bipolar electric coagulation forceps positioning device based on binocular optics and method thereof
  • Bipolar electric coagulation forceps positioning device based on binocular optics and method thereof

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specific Embodiment approach 1

[0049] Specific implementation mode one: combine Figure 1 to Figure 2 Describe this embodiment, a bipolar electrocoagulation tweezers positioning device based on binocular optics described in this embodiment includes a bipolar 1 and a positioning rigid body, and the tail end of the bipolar 1 is provided with a positioning rigid body;

[0050] The positioning rigid body includes a first fixtor2 and a second fixtor3; the upper surface of the first fixtor2 is provided with a groove, the first fixtor2 is directly installed on the fixing seat at the rear end of the bipolar 1 in a wrapping manner, and the bottom of the second fixtor3 is inserted into the upper surface of the first fixtor2 in the groove;

[0051] The second fixtor3 includes No. 1 supporting board 2-1, No. 2 supporting board 2-2, No. 3 supporting board 2-3 and identifier (marker) 2-4; No. 1 supporting board 2-1 and No. 2 supporting board The center of the plate 2-2 is arranged crosswise, the intersection of the No. ...

specific Embodiment approach 2

[0053] Specific implementation mode two: combination Figure 3 to Figure 5 Describe this embodiment, a bipolar coagulation tweezers positioning method based on binocular optics described in this embodiment, its specific steps are as follows;

[0054] Step 1. Construct a coordinate system for the binocular camera, and set the spatial coordinate points of the identifier (marker) 2-4 on the binocular camera to construct the coordinate system;

[0055] Step 2. Based on the coordinate system constructed by the binocular camera, calculate the coordinates of the bipolar tip at the fixed position in the binocular camera coordinate system;

[0056] Step 3. Find the spatial position relationship between the bipolar tip and the marker in the coordinate system constructed by the binocular camera, and calculate the coordinates of the bipolar tip in the local coordinate system of the positioning rigid body;

[0057] Step 4. Using the calculation results of step 3, combined with the positio...

specific Embodiment approach 3

[0059] Specific implementation mode three: combination image 3 Describe this embodiment, this embodiment is a further limitation on the positioning method described in the second specific embodiment, a bipolar coagulation tweezers positioning method based on binocular optics described in this embodiment, the first step In the coordinate system constructed by the binocular camera, and the specific steps of calculating the coordinates of the bipolar tip at the fixed position in the binocular camera coordinate system are as follows:

[0060] Step 11, the optical axes of the binocular cameras are placed in parallel to form a plane, and the distance b and the focal length f between the two cameras are known;

[0061] Step 12. In the plane in step 11, the straight line connecting the centers of the two cameras is the X-axis, and the direction of one lens of the binocular camera is positive; it is perpendicular to the X-axis and is located in the middle of the two optical axes The ...

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Abstract

The invention discloses a bipolar electric coagulation forceps positioning device based on binocular optics and a method thereof, and relates to the field of biomedical engineering. The purpose of theinvention is to solve the problems that an existing medical image provides an operation map for an operation, the specific operation of the operation is completed by double poles, but inaccurate positioning of the double poles may damage a brain functional area of a patient and incomplete excision of other intracranial important tissues. The method comprises the following steps: constructing a coordinate system for a binocular camera, and setting space coordinate points of a recognizer marker in the coordinate system constructed for the binocular camera; calculating the coordinates of the bipolar tip at the fixed position under the coordinate system of the binocular camera; calculating coordinates of the bipolar tip in a local coordinate system of a positioning rigid body; and calculatingthe coordinates of the bipolar tip in an open state in a coordinate system constructed by the binocular camera by using the calculation result of the position of the bipolar tip and combining the position of the positioning rigid body local coordinate system in the coordinate system constructed by the binocular camera, and calculating the tip coordinates in a closed state from the midpoint of theconnecting line of the two tips in the open state. The device and the method are suitable for biomedical engineering.

Description

technical field [0001] The invention relates to the field of biomedical engineering, in particular to a bipolar electrocoagulation forceps positioning device and method based on binocular optics. Background technique [0002] Brain tumor is a neurological disease that seriously endangers human life and health. The most direct and effective way to treat brain tumors is neurosurgery, but surgery has high requirements for doctors. It not only requires doctors to accurately remove the lesion, but also to minimize the surgical incision to avoid additional trauma to the patient. However, traditional neurosurgery often relies on the doctor's surgical experience, and it is difficult to accurately locate and remove the lesion, which may easily cause deviation of the surgical approach and bring additional harm to the patient. Mastering positioning technology is the basis of neurosurgeons' operation, and it is also related to the difficulty of operation, the length of time, the therap...

Claims

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Application Information

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IPC IPC(8): A61B18/12A61B18/14A61B34/20
CPCA61B18/12A61B18/1442A61B2018/00321A61B2018/126A61B2018/1462A61B34/20A61B2034/2057
Inventor 吕中华栾宽秦焕昊
Owner 哈尔滨梓滨科技有限公司
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