Thoracic surgery endoscope imaging system

Abstract

The invention relates to the technical field of endoscopes, and discloses a thoracic surgery endoscope imaging system which comprises a mounting plate and a head-mounted device, a supporting rod is fixedly connected to the upper surface of the mounting plate, a bearing device is arranged at the upper end of the supporting rod, a control box is fixedly connected to one side of the bearing device, and a mechanical arm is mounted at the upper end of the control box; an adjuster is fixedly connected to the end, away from the control box, of the mechanical arm, an adjusting rod is slidably connected to the inner wall of the adjuster, a mounting block is fixedly connected to one end of the adjusting rod, and a thoracoscope is fixedly connected to the interior of the mounting block. The gyroscope captures the head action of a doctor and converts the head action into an electric signal, the electric signal is resolved by the processing module and then drives the mechanical arm to be linked with the arc-shaped adjusting rod, visual control of head action-thoracoscope response is achieved, compared with traditional pedal adjusting, efficiency is effectively improved, foot fatigue of the doctor is reduced, and the device is particularly suitable for long-time complex operations.

Description

Technical Field

[0001] The present invention relates to the technical field of laparoscopy, and in particular to a thoracic surgery laparoscopic imaging system. Background Art

[0002] Thoracic surgery laparoscope is a minimally invasive surgical instrument commonly used in the field of thoracic surgery. The laparoscope and operating instruments are inserted through a small incision in the chest wall, and the image is transmitted to the monitor through the lens. The doctor performs the operation based on this. It has significant technical advantages and can reduce the large incision of traditional open chest surgery. It has the characteristics of small trauma, less bleeding, mild postoperative pain, and fast recovery. It can be used to treat a variety of diseases, such as lung tumor resection, esophageal cancer radical resection, mediastinal tumor removal, pleural effusion exploration, thoracic sympathectomy, etc. This technology promotes the development of thoracic surgery towards minimally invasive surgery, improves surgical safety and patient quality of life, and is one of the important technical means of modern thoracic surgery.

[0003] Currently, during thoracic laparoscopic surgery, doctors often control the position of the thoracoscope by stepping on a pedal, while also observing the monitor to understand the patient's condition. During long surgeries, fatigue can easily occur, affecting the safety of the surgery. To address this issue, we propose a thoracic laparoscopic imaging system. Summary of the Invention

[0004] (1) Technical problems solved

[0005] In response to the shortcomings of the existing technology, the present invention provides a thoracic surgery laparoscopic imaging system, which solves the problem that existing doctors often control the position of the thoracoscope by stepping on a pedal, and at the same time need to observe the display to understand the patient's condition. During long operations, they are prone to fatigue, which affects the safety of the operation.

[0006] (2) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a thoracic surgical laparoscopic imaging system, comprising a mounting plate and a head-mounted device, the upper surface of the mounting plate is fixedly connected to a support rod, the upper end of the support rod is provided with a carrying device, one side of the carrying device is fixedly connected to a control box, the upper end of the control box is equipped with a robotic arm, the end of the robotic arm away from the control box is fixedly connected to an adjuster, the inner wall of the adjuster is slidably connected to an adjusting rod, one end of the adjusting rod is fixedly connected to a mounting block, the interior of the mounting block is fixedly connected to a thoracoscope, the head-mounted device is located on one side of the carrying device, the surface of the head-mounted device is fixedly connected to a strap, the extension and rotation of the robotic arm cooperate with the arc-shaped sliding of the adjuster, so that the thoracoscope has the ability to penetrate into various parts of the chest cavity, cover blind spots that are difficult for traditional laparoscopy to reach, and effectively improve the coverage rate of the surgical field of view.

[0008] Preferably, self-locking casters are installed on the lower surface of the mounting plate to facilitate the use of the equipment.

[0009] Preferably, the carrying device includes a first support plate, the first support plate is fixedly connected to the upper end of the support rod, the upper surface of the first support plate is fixedly connected to the first protective pad, one side of the first support plate is rotatably connected to the second support plate, the upper surface of the second support plate is fixedly connected to the second protective pad, the side of the second support plate away from the first support plate is rotatably connected to the third support plate, the upper surface of the third support plate is fixedly connected to the third protective pad, the end of the third support plate away from the second support plate is rotatably connected to the fourth support plate, the upper end of the fourth support plate is fixedly connected to the fourth protective pad, the side of the first support plate away from the second support plate is rotatably connected to the fifth support plate, and the upper end of the fifth support plate is fixedly connected to the fifth protective pad.

[0010] Preferably, the control box includes a gyroscope, a processing module, a data transmitting module, a data receiving module and a head-mounted display module. The output end of the gyroscope is electrically connected to the input end of the processing module, the output end of the processing module is electrically connected to the input end of the data transmitting module, the output end of the data receiving module is electrically connected to the input end of the processing module, and the output end of the processing module is electrically connected to the input end of the head-mounted display module. The gyroscope captures the doctor's head movement and converts it into an electrical signal. After calculation by the processing module, the robotic arm is driven to link with the arc-shaped adjustment rod to achieve intuitive control of "head movement-thoracoscope response", which effectively improves the efficiency of traditional foot-operated adjustment and reduces the doctor's foot fatigue. It is especially suitable for long and complex operations.

[0011] Preferably, the control box includes an information receiving module, a control module and an information transmitting module. The transmitting end of the information receiving module is electrically connected to the input end of the control module, and the output end of the control module is electrically connected to the input end of the information transmitting module. The data transmitting module and the information receiving module, as well as the information transmitting module and the data receiving module form a two-way communication link, which effectively reduces the transmission delay of the action signal and the image data, synchronizes the doctor's head movement with the change of the thoracoscope's viewing angle, avoids operational errors caused by visual lag, and improves the accuracy of fine operations such as tissue separation and hemostasis.

[0012] Preferably, the output end of the data transmitting module is electrically connected to the receiving end of the information receiving module, and the output end of the information transmitting module is electrically connected to the input end of the data receiving module. The thoracic image is encoded by the control module and transmitted back to the head display module in real time. The doctor does not need to frequently lower his head to check the display, reducing neck fatigue. At the same time, the thoracic angle can be automatically fine-tuned according to the real-time image, thereby improving the clarity of the surgical field of view and effectively shortening the operation time.

[0013] Preferably, the output end of the control module is electrically connected to the input end of the robotic arm, the output end of the control module is electrically connected to the input end of the regulator, and the output end of the thoracoscope is electrically connected to the input end of the control module. The real-time image taken by the thoracoscope is encoded by the control module, transmitted back to the processing module through the data receiving module, and finally displayed in the head display module of the head-mounted device, forming a real-time closed-loop system of "head movement-mirror adjustment-image feedback". In this process, the data transmission module and the information receiving module, as well as the information transmission module and the data receiving module form a two-way communication link, which effectively reduces the transmission delay of the action signal and the image data, realizes the synchronization of the doctor's head movement and the change of the thoracoscope's viewing angle, and avoids operation lag.

[0014] Preferably, the adjusting rod is arc-shaped, and the adjuster effectively drives the thoracoscope to move in an arc shape through the adjusting rod, thereby increasing the working area of ​​the thoracoscope.

[0015] Preferably, the strap is an elastic strap, which makes it easier for the user to wear the head-mounted device.

[0016] Preferably, the number of the self-locking casters is four, and the four self-locking casters are arranged in a mirror image. Before the operation, the medical staff can move the entire device to the side of the operating table by using the four self-locking casters distributed in a mirror image on the lower surface of the mounting plate, and then lock the casters to fix the position. The doctor wears the head-mounted device, and the elastic straps on its surface can ensure that it is comfortable and stable to wear.

[0017] In summary, the technical effects and advantages of the present invention are as follows:

[0018] 1. In the present invention, the gyroscope captures the doctor's head movement and converts it into an electrical signal. After being solved by the processing module, it drives the robotic arm and the arc-shaped adjustment rod to work together to achieve intuitive control of "head movement-thoracoscope response". Compared with traditional foot-operated adjustment, the efficiency is effectively improved, the doctor's foot fatigue is reduced, and it is especially suitable for long and complex operations.

[0019] 2. In the present invention, the telescopic and rotating motion of the robotic arm cooperates with the arc-shaped sliding motion of the regulator, so that the thoracoscope can penetrate deep into various parts of the chest cavity, covering blind spots that are difficult to reach with traditional laparoscopy, and effectively improving the coverage of the surgical field of view.

[0020] 3. In the present invention, the data transmission module and the information receiving module, as well as the information transmission module and the data receiving module, form a two-way communication link, which effectively reduces the transmission delay of the action signal and the image data. The doctor's head movement is synchronized with the change of the thoracoscope's viewing angle, avoiding operational errors caused by visual lag and improving the accuracy of delicate operations such as tissue separation and hemostasis.

[0021] 4. In the present invention, the thoracoscope image is encoded by the control module and transmitted back to the head display module in real time. The doctor does not need to frequently look down at the display, which reduces neck fatigue. At the same time, the thoracoscope angle can be automatically fine-tuned according to the real-time image, thereby improving the clarity of the surgical field of view and effectively shortening the operation time. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of a thoracic surgery laparoscopic imaging system according to the present invention;

[0023] Figure 2 The present invention is a thoracic surgery laparoscopic imaging system Figure 1 Schematic diagram of the structure at A;

[0024] Figure 3 This is a side view structural diagram of a thoracic surgery laparoscopic imaging system according to the present invention;

[0025] Figure 4 This is a schematic diagram of the partial structure of a thoracic surgery laparoscopic imaging system according to the present invention;

[0026] Figure 5 The figure is a schematic diagram of the system structure of a thoracic surgery laparoscopic imaging system of the present invention.

[0027] In the figure: 1. Mounting plate; 2. Self-locking casters; 3. Support rod; 4. Carrying device; 41. First pallet; 42. First protective pad; 43. Second pallet; 44. Second protective pad; 45. Third pallet; 46. Third protective pad; 47. Fourth pallet; 48. Fourth protective pad; 49. Fifth pallet; 410. Fifth protective pad; 5. Control box; 6. Robotic arm; 7. Regulator; 8. Adjustment rod; 9. Mounting block; 10. Thoracoscope; 11. Head-mounted device; 12. Strap. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] refer to Figure 1-Figure 5The shown system comprises a mounting plate 1 and a head mounted device 11. A support rod 3 is fixedly connected to the upper surface of the mounting plate 1. A carrying device 4 is provided at the upper end of the support rod 3. A control box 5 is fixedly connected to one side of the carrying device 4. A robotic arm 6 is mounted on the upper end of the control box 5. An adjuster 7 is fixedly connected to the end of the robotic arm 6 away from the control box 5. An adjusting rod 8 is slidably connected to the inner wall of the adjuster 7. An end of the adjusting rod 8 is fixedly connected to a mounting block 9. A thoracoscope 10 is fixedly connected to the interior of the mounting block 9. The head mounted device 11 is located on one side of the carrying device 4. A strap 12 is fixedly connected to the surface of the head mounted device 11. The extension and rotation of the robotic arm 6 cooperate with the arc-shaped sliding of the adjuster 7, so that the thoracoscope 10 can penetrate into various parts of the chest cavity and cover blind spots that are difficult for traditional laparoscopy to reach, thereby effectively improving the coverage rate of the surgical field of view.

[0030] Among them, the lower surface of the mounting plate 1 is equipped with self-locking casters 2 to facilitate the use of the equipment.

[0031] Among them, the carrying device 4 includes a first support plate 41, the first support plate 41 is fixedly connected to the upper end of the support rod 3, the upper surface of the first support plate 41 is fixedly connected to the first protective pad 42, one side of the first support plate 41 is rotatably connected to the second support plate 43, the upper surface of the second support plate 43 is fixedly connected to the second protective pad 44, the side of the second support plate 43 away from the first support plate 41 is rotatably connected to the third support plate 45, the upper surface of the third support plate 45 is fixedly connected to the third protective pad 46, the end of the third support plate 45 away from the second support plate 43 is rotatably connected to the fourth support plate 47, the upper end of the fourth support plate 47 is fixedly connected to the fourth protective pad 48, the side of the first support plate 41 away from the second support plate 43 is rotatably connected to the fifth support plate 49, the upper end of the fifth support plate 49 is fixedly connected to the fifth protective pad 410.

[0032] Among them, the control box 5 includes a gyroscope, a processing module, a data transmitting module, a data receiving module and a head-mounted display module. The output end of the gyroscope is electrically connected to the input end of the processing module, the output end of the processing module is electrically connected to the input end of the data transmitting module, the output end of the data receiving module is electrically connected to the input end of the processing module, and the output end of the processing module is electrically connected to the input end of the head-mounted display module. The gyroscope captures the doctor's head movement and converts it into an electrical signal. After calculation by the processing module, it drives the robotic arm 6 and the arc-shaped adjustment rod 8 to realize the intuitive control of "head movement-thoracoscope 10 response", which effectively improves the efficiency of traditional foot-operated adjustment and reduces the doctor's foot fatigue. It is especially suitable for long and complex operations.

[0033] Among them, the control box 5 includes an information receiving module, a control module and an information transmitting module. The transmitting end of the information receiving module is electrically connected to the input end of the control module, and the output end of the control module is electrically connected to the input end of the information transmitting module. The data transmitting module and the information receiving module, and the information transmitting module and the data receiving module form a two-way communication link, which effectively reduces the transmission delay of the action signal and the image data. The doctor's head movement is synchronized with the change of the viewing angle of the thoracoscope 10, avoiding operational errors caused by visual lag, and improving the accuracy of fine operations such as tissue separation and hemostasis.

[0034] Among them, the output end of the data transmission module is electrically connected to the receiving end of the information receiving module, and the output end of the information transmission module is electrically connected to the input end of the data receiving module. The image of the thoracoscope 10 is encoded by the control module and transmitted back to the head display module in real time. The doctor does not need to frequently lower his head to check the display, reducing neck fatigue. At the same time, the angle of the thoracoscope 10 can be automatically fine-tuned according to the real-time image, thereby improving the clarity of the surgical field of view and effectively shortening the operation time.

[0035] Among them, the output end of the control module is electrically connected to the input end of the robotic arm 6, the output end of the control module is electrically connected to the input end of the regulator 7, and the output end of the thoracoscope 10 is electrically connected to the input end of the control module.

[0036] The adjusting rod 8 is arc-shaped, and the adjuster 7 effectively drives the thoracoscope 10 to move in an arc shape through the adjusting rod 8, thereby increasing the working area of ​​the thoracoscope 10.

[0037] The strap 12 is an elastic strap, which makes it easier for the user to wear the head-mounted device 11.

[0038] Among them, there are four self-locking casters 2, and the four self-locking casters 2 are arranged in a mirror image. Before the operation, medical staff can move the entire equipment to the side of the operating table through the four self-locking casters 2 distributed in a mirror image on the lower surface of the mounting plate 1, and then lock the casters to fix the position. The doctor wears the head-mounted device 11, and the elastic strap 12 on its surface can ensure that it is comfortable and stable to wear.

[0039] Working principle of the present invention: Before surgery, medical staff can move the entire device to the operating table using the four self-locking casters 2 arranged in a mirror image on the lower surface of the mounting plate 1. The casters are then locked to fix the position. The doctor wears the head-mounted device 11, and the elastic strap 12 on the surface ensures a comfortable and stable wearing experience.

[0040] During operation, the gyroscope in the head-mounted device 11 captures the rotation, pitch and other movements of the doctor's head in real time, converts them into electrical signals and transmits them to the processing module. The processing module performs algorithm analysis on the signals and generates corresponding control instructions, which are sent to the information receiving module of the control box 5 through the data transmission module. The information receiving module transmits the instructions to the control module, thereby driving the mechanical arm 6 and the regulator 7 to move. The mechanical arm 6 can perform multi-dimensional movements such as extension and rotation. The arc-shaped adjustment rod 8 in the regulator 7 changes the pitch angle of the thoracoscope 10 by sliding. The two work together to enable the thoracoscope 10 to accurately adjust its position and angle and penetrate into different parts of the chest cavity.

[0041] The real-time image captured by the thoracoscope 10 is encoded by the control module, transmitted back to the processing module through the data receiving module, and finally displayed on the head display module of the head-mounted device 11, forming a real-time closed-loop system of "head movement - mirror adjustment - image feedback". During this process, the data transmission module and the information receiving module, as well as the information transmission module and the data receiving module, form a two-way communication link, effectively reducing the transmission delay of the action signal and the image data, achieving synchronization between the doctor's head movement and the change of the viewing angle of the thoracoscope 10, and avoiding operation lag;

[0042] In addition, the first to fifth support plates 49 of the supporting device 4 are connected by rotation, and a protective pad is provided on the surface of each support plate. The doctor can manually adjust the height and angle of the support plate according to the surgical requirements, and further cooperate with the robotic arm 6 and the regulator 7 to enable the thoracoscope 10 to have multi-dimensional adjustment capabilities, accurately covering the blind spots of the surgical field of view, and meeting the operational requirements of different surgical scenarios.

[0043] The electrical components mentioned in this article are all connected to an external main controller and 220V mains electricity, and the main controller can be a conventional known device that performs control such as a computer.

[0044] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A thoracic surgery laparoscopic imaging system, comprising a mounting plate (1) and a head-mounted device (11), characterized in that: The upper surface of the mounting plate (1) is fixedly connected to a support rod (3), the upper end of the support rod (3) is provided with a bearing device (4), one side of the bearing device (4) is fixedly connected to a control box (5), the upper end of the control box (5) is provided with a mechanical arm (6), the end of the mechanical arm (6) away from the control box (5) is fixedly connected to an adjuster (7), the inner wall of the adjuster (7) is slidably connected to an adjusting rod (8), one end of the adjusting rod (8) is fixedly connected to a mounting block (9), the interior of the mounting block (9) is fixedly connected to a thoracoscope (10), the head-mounted device (11) is located on one side of the bearing device (4), and the surface of the head-mounted device (11) is fixedly connected to a strap (12).

2. A thoracic surgery laparoscopic imaging system according to claim 1, characterized in that: Self-locking casters (2) are installed on the lower surface of the mounting plate (1).

3. The thoracic surgery laparoscopic imaging system according to claim 1, characterized in that: The carrying device (4) includes a first support plate (41), the first support plate (41) is fixedly connected to the upper end of the support rod (3), the upper surface of the first support plate (41) is fixedly connected to a first protective pad (42), one side of the first support plate (41) is rotatably connected to a second support plate (43), the upper surface of the second support plate (43) is fixedly connected to a second protective pad (44), and the side of the second support plate (43) away from the first support plate (41) is rotatably connected to a third support plate ( 45), the upper surface of the third support plate (45) is fixedly connected to a third protective pad (46), the end of the third support plate (45) away from the second support plate (43) is rotatably connected to a fourth support plate (47), the upper end of the fourth support plate (47) is fixedly connected to a fourth protective pad (48), the side of the first support plate (41) away from the second support plate (43) is rotatably connected to a fifth support plate (49), and the upper end of the fifth support plate (49) is fixedly connected to a fifth protective pad (410).

4. The thoracic surgery laparoscopic imaging system according to claim 1, characterized in that: The control box (5) comprises a gyroscope, a processing module, a data transmitting module, a data receiving module and a head display module, wherein the output end of the gyroscope is electrically connected to the input end of the processing module, the output end of the processing module is electrically connected to the input end of the data transmitting module, the output end of the data receiving module is electrically connected to the input end of the processing module, and the output end of the processing module is electrically connected to the input end of the head display module.

5. The thoracic surgery laparoscopic imaging system according to claim 4, characterized in that: The control box (5) comprises an information receiving module, a control module and an information transmitting module, the transmitting end of the information receiving module is electrically connected to the input end of the control module, and the output end of the control module is electrically connected to the input end of the information transmitting module.

6. The thoracic surgery laparoscopic imaging system according to claim 5, characterized in that: The output end of the data transmitting module is electrically connected to the receiving end of the information receiving module, and the output end of the information transmitting module is electrically connected to the input end of the data receiving module.

7. The thoracic surgery laparoscopic imaging system according to claim 5, characterized in that: The output end of the control module is electrically connected to the input end of the robotic arm (6), the output end of the control module is electrically connected to the input end of the regulator (7), and the output end of the thoracoscope (10) is electrically connected to the input end of the control module.

8. The thoracic surgery laparoscopic imaging system according to claim 1, characterized in that: The adjusting rod (8) is arc-shaped.

9. The thoracic surgery laparoscopic imaging system according to claim 1, characterized in that: The strap (12) is an elastic strap.

10. The thoracic surgery laparoscopic imaging system according to claim 2, characterized in that: The number of the self-locking casters (2) is four, and the four self-locking casters (2) are arranged in a mirror image.

Images