Integrated sensing scalpel and intraoperative flap perforation positioning auxiliary system

Abstract

The invention provides an integrated sensing scalpel and an intraoperative flap perforation positioning auxiliary system, and belongs to the technical field of flap transplantation wound repair. The integrated sensing scalpel is provided with an integrated sensing device in an integrated mode, and when the scalpel works, the sensing device can detect organism tissue and blood flow characteristics around a scalpel tip of the scalpel and can assist skin flap puncturing and positioning in real time in an operation. The puncture and branch condition of the surgical knife and the skin flap can be displayed in real time, so that surgical implementation personnel can observe puncture and branch positioning of the skin flap in the surgical process to perform precise surgery.

Description

Technical Field

[0001] The invention belongs to the technical field of skin flap transplantation wound repair, and in particular relates to an integrated sensor scalpel and an intraoperative skin flap perforator positioning auxiliary system. Background Art

[0002] Perforator flaps have become one of the preferred methods for tissue defect reconstruction because they carry perforating blood vessels, have stable blood supply, are easy to survive, and can reduce donor site complications. However, there are great individual differences in the diameter, number, shape and position of the blood vessels, which makes it difficult for doctors to accurately locate the perforators when performing transplant operations on patients, and thus it is often difficult to accurately perform operations. At present, in order to enable doctors to accurately locate the perforators before surgery, auxiliary equipment is used to locate the perforators and detect the state of the blood vessels to help doctors design the flaps before surgery, increase the success rate of the operation, reduce accidental injuries, and promote postoperative recovery. Or the modular tissues are scanned and imaged by 3D imaging equipment before surgery, so that doctors can know the individual flap perforators of the patients in advance and perform surgical treatment better during surgery. These methods have a good effect on evaluating the length of the vascular pedicles that need to be dissected during surgery, the size and shape of the flaps, and the pursuit of smaller donor site injuries. However, whether it is auxiliary positioning or preoperative positioning technology such as 3D scanning, they only play an auxiliary observation role for doctors before surgery. In actual surgery, doctors can only perform surgery based on memory and cannot actually understand whether the positioning during the specific operation is accurate. Therefore, in the actual operation, doctors are bound to make inaccurate positioning, which may cause additional damage or affect the effect of the operation. Summary of the invention

[0003] The present application aims to provide an integrated sensing scalpel and an intraoperative flap perforator positioning assistance system, which is a device that can assist in the real-time positioning of flap perforators during surgery and can display the perforator status of the scalpel and flap in real time, so that the surgeon can observe the positioning of flap perforators during the operation to perform precise surgery.

[0004] The present application provides an integrated sensor scalpel, which is integrated with a sensor device 3. When the scalpel is working, the sensor device 3 can detect the body tissue and blood flow around the scalpel tip 11. The sensor device 3 includes a wireless transmission module, a microprocessor and a battery. The wireless transmission module is used to transmit the detection signal of the sensor device 3. The battery supplies power to the microprocessor, the wireless transmission module and the sensor device 3. The sensor device 3 is arranged on the scalpel head 1.

[0005] Optionally, the sensor device 3 is disposed near the position of the surgical knife tip 11 , for example, the edge of the sensor device 3 may be within a position less than 5 mm from the position of the surgical knife tip 11 .

[0006] Optionally, the sensor device 3 is a high-frequency ultrasonic probe, and the probe frequency is above 200 MHZ.

[0007] Optionally, the sensing device 3 further includes a positioning sensor.

[0008] Optionally, the detection signal of the sensor device 3 includes monitoring signals of multiple sensors, and the multiple sensor signals are used to characterize the body tissue characteristics and blood flow characteristics around the blade tip 11 and the position information of the blade tip 11.

[0009] The present application also provides an intraoperative flap perforator positioning assistance system, which includes the aforementioned integrated sensing scalpel, at least one wireless receiving device, a controller and at least one graphic display device, the wireless transmission module is wirelessly connected to the wireless sensing device 3, and the wireless receiving device is communicatively connected to the controller; the controller stores or receives the image data of the body tissue where the flap perforator is located prepared before the operation, and the controller generates the position of the knife tip 11 in the body tissue based on the detection signal received by the wireless receiving device, and displays it on the display device together with the flap perforator and the image of the body tissue where the flap perforator is located.

[0010] Optionally, the controller is further provided with an input device, and the input device is used to input the body tissue image and / or flap design data.

[0011] Optionally, the controller identifies the body tissue data and blood flow data in the detection signal received by the wireless receiving device, and uses a feature matching algorithm to match the blood flow feature data and body tissue data with the data in the preoperative body tissue image, respectively, to determine the surrounding body tissue and flap perforators of the knife tip 11.

[0012] Optionally, the controller is provided with a data fusion algorithm, which fuses the data in the preoperative body tissue image coordinate system, the patient's body surface coordinate system and the scalpel coordinate system, and generates the initial calculated position of the position sensor relative to the body tissue in combination with the distance between the position sensor and the blade tip 11. The controller further generates the accurate position of the blade tip 11 relative to the body tissue based on the initial calculated position, the surrounding body tissue and flap perforators of the blade tip 11, and the distance between the position sensor and the blade tip 11.

[0013] Furthermore, the controller generates a recommended movement path for the scalpel tip 11 according to the preoperative body tissue image, the flap design data, and the accurate position of the scalpel tip 11 relative to the body tissue.

[0014] Optionally, the image display device is a 3D image display device.

[0015] Optionally, in the display device, the body tissue, the skin flap, the blade tip 11 and the recommended movement path of the blade tip 11 are represented by different colors respectively.

[0016] Optionally, the display color of each part in the image display device can be set by the input device.

[0017] Optionally, there are multiple graphic display devices, wherein the first graphic display device is used to display the stored image of the body tissue where the flap perforator is located, and the second graphic display device is used to display the scalpel tip 11, the flap and the body tissue.

[0018] Optionally, the tool tip 11 is displayed as a dot in the graphic display device, and the origin size can be set through the input device.

[0019] Compared with the prior art, the integrated sensing scalpel adopted in the present application is provided with an integrated sensing device 3 at the position of the blade head 1, so that during the operation, the position of the blade head 1 and the body tissue and blood flow conditions around the blade head 1 can be transmitted to the external controller through the integrated sensing device 3, and the external controller can obtain the accurate position of the blade tip 11 through the calculation program; in the integrated sensing device 3, multiple sensors are provided, so that the controller can obtain multiple monitoring signals, and can make the calculated position more accurate through verification operation; the controller is provided with an input device, and the input device can receive or store the body tissue image data of the transplanted skin flap prepared before the operation, and at the same time, the skin flap setting parameters can also be input through the input device, so that the controller can produce the accurate position of the scalpel according to the original body tissue image data, skin flap design data and the monitoring signal of the scalpel, and produce the recommended movement route of the scalpel tip 11, so that the skin flap transplant operator can better locate the skin flap perforator during the operation. The controller adopts a data fusion algorithm, firstly matches the body tissue and blood flow characteristics monitored by the blade head 1 sensor with the body tissue image data that has been stored and received, and determines the position of the body tissue or skin flap where the blade head 1 is located. On the other hand, the position information obtained by the positioning sensor is fused with the data in the preoperative body tissue image coordinate system, the patient's body surface coordinate system and the scalpel coordinate system, so as to obtain the initial calculated position of the position sensor relative to the body tissue, and then generates a more accurate position of the blade tip 11 and a recommended path based on the body tissue and skin flap position around the blade head 1, the initial calculated position, and the distance from the sensor to the blade tip 11. Compared with a general scalpel that only calculates the position based on the position sensor, it first determines the large body range, then determines the relative position, and finally converts it into the accurate position of the blade tip 11 relative to the body. Through data superposition, the position progress is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only 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 creative work.

[0021] Figure 1 The overall stereogram of the integrated sensor scalpel Figure 2 Schematic diagram of integrated sensor surgical knife head 1 Figure 3 Schematic diagram of integrated sensor scalpel handle 2 Figure 4 Integrated sensor scalpel assembly diagram Figure 5 Schematic diagram of the flap perforator positioning assistance system during surgery 1. Cutter head 1; 11. Cutter tip 11; 12. Cutter head 1 transverse groove; 13. Cutter head 1 through hole; 2. Handle 2; 21. Front fork; 22. Connecting part; 3. Integrated sensor device 3 DETAILED DESCRIPTION

[0022] The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are for making the present application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, this is to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0023] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0024] The serial numbers of the components in this document, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0025] The inventor of this application has found in his long-term medical practice that due to individual differences, the perforators of the flap are not fixed in existing flap transplantation surgeries, making it difficult for surgeons to accurately locate the flap during surgery. Existing positioning assistance systems are all preoperative positioning systems, which can only help surgeons design flaps and understand the perforators in the flaps, but cannot allow surgeons to specifically observe the perforators and surgical operations during surgery.

[0026] Reference Figure 1-4 The first embodiment of the present application provides an integrated sensor scalpel, which is integrated with a sensor device 3. When the scalpel is working, the sensor device 3 can detect the body tissue and blood flow around the scalpel tip 11. The sensor device 3 also includes a wireless transmission module (not shown), which is used to transmit the detection signal of the sensor device 3. The wireless transmission module includes a microprocessor and a battery. The battery supplies power to the microprocessor, the wireless transmission module and other electrical components. The sensor device 3 is arranged on the scalpel head 1 near the tip. Optionally, the sensor device 3 is an integrated sensor device.

[0027] Optionally, the sensor device 3 is disposed near the position of the surgical knife tip 11 , for example, the edge of the sensor device 3 may be within a position less than 5 mm from the position of the surgical knife tip 11 .

[0028] Optionally, the scalpel is in a shape that gradually thickens from the blade to the back of the blade. The scalpel is in a hollow structure. The sensor device 3 is arranged in the hollow structure. An opening is arranged at the back or rear end of the scalpel head 1. Optionally, a blade through hole 12 is arranged in the blade head 1, and the opening is connected to the hollow structure. The sensor device 3 is installed in the hollow structure through the opening. A blade transverse groove 12 is arranged on both sides of the middle position from the blade to the back of the scalpel head 1. The sensor device 3 is arranged in a plastic shell. After the sensor device 3 is fully installed in the hollow structure, the plastic shell is just stuck in the blade transverse groove 12, so that the tube-penetrating device can well monitor the external body tissue and blood flow characteristics of the blade head 1 during the movement of the knife.

[0029] Optionally, in a direction perpendicular to the center plane of the tool head passing through the blade, the opening projection area of ​​the tool head transverse groove 12 is smaller than the projection area of ​​the hollow structure, so that the sensor device can be better fixed in the hollow structure and the tool head transverse groove 12.

[0030] Optionally, an opening (not shown) may be provided on the back of the surgical knife head 1 , and the sensor device 3 may be installed through the back opening.

[0031] To facilitate multiple uses, the plastic shell of the sensor device 3 is also provided with a cutter head through hole 13, and the cutter head through hole 13 is adapted to the rear end opening of the cutter head 1. After the sensor device 3 is installed into the cutter head 1, the cutter head through hole 13 is sleeved in the rear end opening of the cutter head 1, and the wall of the cutter head through hole 13 fits tightly with the opening wall, and the outer end of the cutter head through hole 13 is flush with the outer end of the rear end opening.

[0032] Optionally, the front end of the scalpel handle 2 is provided with a plug-in portion 22 adapted to the blade through hole 13. When the plug-in portion 22 is inserted into the blade through hole 13, on the one hand, the plug-in portion 22 makes the plug-in portion 22, the wall of the blade through hole 13, and the opening wall closely abut against each other, forming a seal for the hollow portion and the plastic shell; at the same time, by setting a suitable length of the plug-in portion 22, the plug-in portion 22 is inserted into the sensor device 3, and the sensor device 3 is well fixed. At the same time, after the operation is completed, the plug-in portion 22 is pulled out and the sensor device 3 is turned off. Further, the sensor device 3 can also be pulled out to separate the sensor device 3 from the blade 1, and the sensor device 3 can be further sterilized and stored for reuse.

[0033] Optionally, a front fork 21 is provided on the plug-in portion 22 at the front end of the handle 2, and the size of the front fork 21 matches the size of the sensor device 3. Before the handle 2 is installed in the cutter head 1, the sensor device 3 is just fixed in the front fork 21, and the front end of the front fork can be flush with or exceed the front end of the sensor device 3. During the assembly process, the sensor device 3 smoothly enters the cutter head 1 as the front fork is inserted.

[0034] Optionally, the sensor device 3 is provided with a first sensor, which is a high-frequency ultrasonic probe with a frequency of 200 MHZ or more. More preferably, the first sensor can be other imaging sensor probes, such as linear array probes and other superficial organ detection probes. The first sensor is used to detect the body tissue and blood flow characteristics around the blade tip 11, and transmit them through the wireless transmission module.

[0035] Optionally, the sensor device 3 further comprises a second sensor, which is a positioning sensor, and the positioning sensor may be a position sensor. The second sensor is used to provide position signals of the scalpel and the position sensor.

[0036] Reference Figure 5The second embodiment of the present application provides an intraoperative flap perforator positioning assistance system, which includes the integrated sensing scalpel of the previous embodiment, a first wireless receiving device, a controller and a first graphic display device, the wireless transmission module of the sensing device 3 is communicatively connected to the first wireless receiving device, and the wireless receiving device is communicatively connected to the controller; the controller stores or receives image data of the body tissue where the skin flap to be transplanted is located prepared before the operation, and the controller generates the position of the knife tip 11 in the body tissue according to the detection signal received by the wireless receiving device, and displays it on the display device together with the image of the body tissue where the skin flap to be transplanted and the skin flap perforator are located.

[0037] Optionally, the controller is further provided with an input device, and the input device is used to input the body tissue image and / or flap design data.

[0038] Optionally, the controller identifies the body tissue data and blood flow characteristic data in the detection signal received by the wireless receiving device, and uses a feature matching algorithm to match the blood flow characteristic data and body tissue data with the body tissue image data in the preoperative body tissue image, respectively, to determine the body tissue and flap perforators surrounding the blade tip 11. The tissue and flap perforators surrounding the blade tip 11 can be accurately identified through data matching, rather than directly using the data directly monitored by the first sensor to produce an image. The monitoring data is equivalent to a calibration, which can greatly reduce the impact of implementation changes such as scalpel movement and short monitoring time on the monitoring results.

[0039] Furthermore, the controller determines the initial calculated position of the position sensor relative to the body tissue based on the monitoring information of the second sensor. Specifically, by adopting a data fusion algorithm, the data in the preoperative body tissue image coordinate system, the patient's body surface coordinate system and the scalpel coordinate system are fused to obtain the initial calculated position of the position sensor relative to the body tissue, and then generate a more accurate position and recommended path of the blade tip 11 based on the body tissue and flap perforators around the blade head 1, the initial calculated position, and the distance from the position sensor to the blade tip 11. Compared with a general scalpel that only calculates the position based on the position sensor, it first determines the large body range, then determines the relative position, and finally converts it into the accurate position of the blade tip 11 relative to the body. Through data superposition, the position progress is greatly improved.

[0040] Furthermore, the controller generates a recommended movement path for the surgical knife tip 11 according to the preoperative body tissue image data, the flap design data, and the accurate position.

[0041] Optionally, the image display device is a 3D image display device so that operators can observe better.

[0042] Optionally, in the display device, the body tissue, the skin flap, the blade tip 11, and the recommended path for the blade tip 11 to move are represented by different colors. Generally, the blade tip 11 can be displayed in gray, the recommended path can be displayed in red, the body tissue and the skin flap can be designed to be transparent, and the blood vessels and perforators can be displayed, and the skin flap has a contour line that is different from other parts.

[0043] Optionally, the display color of each part in the image display device can be set by the input device.

[0044] Optionally, the first graphic display device is used to display the stored image of the body tissue where the flap perforator is located. There are multiple graphic display devices, and a second graphic display device is also provided to display the scalpel tip 11, the flap and the body tissue.

[0045] Optionally, the tool tip 11 is displayed as a dot in the graphic display device, and the origin size can be set through the input device.

[0046] The present application sets a sensor device on the scalpel to simultaneously collect blood flow, body information and position information around the blade tip, accurately obtain the blade tip position through data superposition, generate a recommended path, and display it through a display device, thus effectively solving the problem of flap perforator positioning during surgery.

Claims

1. An integrated sensor scalpel, wherein the scalpel is integrated with an integrated sensor device. When the scalpel is working, the sensor device can detect the body tissue and blood flow characteristics around the scalpel tip.

2. The integrated sensing scalpel as described in claim 1, wherein the integrated sensing device comprises a wireless transmission module, a microprocessor and a battery, and the wireless transmission module is used to transmit the detection signal of the sensing device.

3. The integrated sensing scalpel as described in claim 2, wherein the integrated sensing device comprises a high-frequency ultrasonic probe and a position sensor.

4. An intraoperative flap perforator positioning auxiliary system, comprising the integrated sensor scalpel according to any one of claims 1 to 3, at least one wireless receiving device, a controller and at least one graphic display device, The wireless transmission module is connected to the wireless receiving device for wireless communication, and the wireless receiving device is connected to the controller for wireless communication; The controller stores or receives image data of the body tissue where the flap perforator is located prepared before the operation. The controller generates the position of the knife tip in the body tissue based on the detection signal received by the wireless receiving device, and displays it on the display device together with the flap perforator and the image of the body tissue where the flap perforator is located.

5. According to the intraoperative flap perforator positioning auxiliary system as described in claim 4, the controller is also provided with an input device, and the input device is used to input the body tissue image data and / or flap design data.

6. In the intraoperative flap perforator positioning assistance system as described in claim 5, the controller identifies the body tissue data and blood flow characteristic data in the detection signal received by the wireless receiving device, and matches the blood flow characteristic data and the body tissue data with the data in the preoperative body tissue image, respectively, to determine the surrounding body tissue and flap perforators of the knife tip.

7. In the intraoperative flap perforator positioning assistance system as described in claim 6, the controller generates an initial calculated position of the position sensor relative to the body tissue based on the position signal in the detection signal.

8. In the intraoperative flap perforator positioning assistance system as described in claim 7, a data fusion algorithm is provided in the controller, and the data fusion algorithm fuses the data in the preoperative body tissue image coordinate system, the patient's body surface coordinate system and the scalpel coordinate system to obtain the initial calculated position, and combines the surrounding body tissue and flap perforators of the knife tip and the distance from the position sensor to the knife tip to generate the accurate position of the scalpel tip relative to the body tissue.

9. The intraoperative flap perforator positioning assistance system as described in any one of claims 5-8, wherein the controller generates a recommended movement path of the scalpel tip based on the preoperative body tissue image data, the flap design data, and the accurate position.

10. The intraoperative flap perforator positioning auxiliary system as described in claim 9, wherein the image display device is a 3D image display device.

11. The intraoperative flap perforator positioning assistance system as described in claim 9, wherein in the display device, the body tissue, the flap, the blade tip, and the recommended path for the blade tip to move are represented by different colors respectively.

12. The intraoperative flap perforator positioning assistance system as described in claim 9, wherein the display color of each part in the image display device can be set by the input device.

13. The intraoperative skin flap perforator positioning assistance system as described in claim 9, wherein there are multiple graphic display devices, wherein the first graphic display device is used to display the stored image of the body tissue where the skin flap perforator is located, and the second graphic display device is used to display the scalpel tip, the skin flap and the body tissue.

14. The intraoperative flap perforator positioning assistance system as described in claim 9, wherein the knife tip is displayed as a dot in the graphic display device, and the origin size can be set through the input device.

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