Handheld minimally invasive tissue Young modulus measuring device and use method thereof

Abstract

The invention relates to the technical field of Young modulus testing, in particular to a handheld minimally invasive tissue Young modulus measuring device and a using method thereof.The handheld minimally invasive tissue Young modulus measuring device comprises a measuring module, a display module and an auxiliary module, and the measuring module comprises a pipe body, a probe, a transmitting module, a recycling module, a sensing module and a main control module; the transmitting module, the sensing module and the recycling module are sequentially arranged in the pipe body, the transmitting module is located at the front end of the pipe body, the probe is slidably installed in the pipe body and matched with the transmitting module, the sensing module and the recycling module, and the main control module is connected with the transmitting module, the sensing module and the recycling module. The main control module is located at the rear end of the tube body, the display module is connected with the main control module, the auxiliary module is an auxiliary device in the operation process and is used in cooperation with the measurement module, and the instrument is simple in structure and small in size, achieves the purpose of tissue Young modulus measurement in the operation and has the advantages of being real-time, innovative, accurate, capable of achieving multi-angle measurement and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of Young's modulus testing, and specifically relates to a handheld minimally invasive tissue Young's modulus measuring device and a method for using the same. Background Art

[0002] There are many scenarios in real life that involve measuring the Young's modulus of objects and tissues. For example, in the manufacturing industry, when developing new materials or improving existing materials, Young's modulus testing helps to understand the basic properties of materials, such as wear resistance and compressive strength. In the electronics industry, the Young's modulus of wafers and packaging materials in semiconductor manufacturing will affect the quality and reliability of chips. In the medical industry, the development of prosthetic and orthotic devices should be customized according to the specific needs of patients with appropriate Young's modulus products to improve comfort and functionality. The technical principle of this patent is to use it to measure the Young's modulus of surgical sites and tissues while doctors are performing surgery on patients, so as to achieve better surgical results. This method and time node for measuring Young's modulus are real-time, efficient, accurate, and greatly improve the completion of surgery.

[0003] Measuring the Young's modulus of objects and human tissue can be achieved through a variety of techniques, each with its own specific applications and advantages. For example, indentation or nanoindentation both involve pressing a probe of known shape into the material surface and recording the relationship between the force applied and the resulting displacement to determine the Young's modulus of tissue. However, these techniques differ in their scope of application, equipment accuracy, and the specific implementation of the testing principles. Nanoindentation offers higher accuracy, but the test time is long and requires strict environmental requirements. Indentation is simple and time-saving, but it is not suitable for very soft samples and has difficulty measuring living tissue. Alternatively, magnetic resonance elastography (MRE) can be used. This technique introduces mechanical vibration waves into the body and uses MRI scans to capture how these waves propagate, thereby mapping the elasticity distribution of tissues. This technique is particularly effective in measuring liver fibrosis, brain tissue, muscles, and joints. Alternatively, optical coherence tomography elastography (OCTE) utilizes the principle of optical interference to generate high-resolution three-dimensional images while simultaneously monitoring the deformation of tissues under external forces to infer their Young's modulus characteristics. Ultrasound elastography (UE) is also a well-established technology. It uses the emission and reception of ultrasound waves. When tissue is compressed, harder areas exhibit faster changes in the speed of sound than softer areas. Ultrasound elastography is a noninvasive medical imaging technique that provides information about tissue status by assessing the tissue's Young's modulus, or elastic properties. This method combines traditional ultrasound imaging with the principles of mechanical wave propagation, enabling the acquisition of the mechanical properties of soft tissues in vivo without affecting the patient.

[0004] While the aforementioned methods are common and offer various advantages, they also have their own drawbacks. For example, nanoindentation methods require high costs and high precision, while ultrasound elastography technology lacks measurement effectiveness and requires complex and bulky imaging peripherals. These issues can have significant impacts on both surgeons and patients during surgery, leading to longer surgeries, increased risks, inaccurate assessment of the surgical site, and potentially inaccurate treatment plans. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the purpose of the present invention is to provide a handheld minimally invasive tissue Young's modulus measurement device and its use method, which can accurately and quickly measure the Young's modulus of the surgical tissue site in real time during the intraoperative scenario and provide timely feedback to the doctor.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a handheld minimally invasive tissue Young's modulus measuring device, comprising a measuring module, a display module and an auxiliary module, the measuring module comprising a tube body, a probe, a transmitting module, a recovery module, a sensing module and a main control module, the transmitting module, the sensing module and the recovery module are arranged in sequence in the tube body, and the transmitting module is located at the front end of the tube body, the probe is slidably installed in the tube body, and the probe cooperates with the transmitting module, the sensing module and the recovery module, the main control module is respectively connected to the transmitting module, the sensing module and the recovery module, the main control module is located at the rear end of the tube body, the display module is connected to the main control module, the auxiliary module is an auxiliary device during the operation, and is used in conjunction with the measuring module.

[0007] In some embodiments, a binocular camera mechanism is provided on the front end of the tube body, and the binocular camera mechanism is connected to the main control module via a data cable.

[0008] In some embodiments, a limited-position foam is filled between the inner wall of the tube and the outer wall of each module.

[0009] In some embodiments, the probe includes a magnetic needle and a PMMA plastic probe coated on the outside of the magnetic needle.

[0010] In some embodiments, the transmitting module is a transmitting coil, the recovery module is a retraction coil, and the induction module is an induction coil. The transmitting coil, the retraction coil and the induction coil are respectively connected to the main control module through wires. The probe is arranged throughout the transmitting coil, the induction coil and the retraction coil, and in the initial state, the center of mass of the probe is located at the rear end of the transmitting coil.

[0011] In some embodiments, the main control module includes a main control board and a gyroscope, and an output end of the gyroscope is connected to the main control board.

[0012] In some embodiments, the auxiliary module includes but is not limited to a puncture device, a laparoscope, an inflation catheter, and a pneumoperitoneum machine, alone or in combination.

[0013] To achieve the above object, the present invention provides the following technical solution: a method for using a handheld minimally invasive tissue Young's modulus measuring device, according to the measuring device, the steps are:

[0014] (1) First, the doctor needs to make a small incision on the patient's skin, insert a puncture device, and then insert a pneumoperitoneum machine. The inflation tube is connected to the pneumoperitoneum machine interface in the puncture device and the abdominal cavity is filled with , making the space larger and facilitating surgical operations;

[0015] (2) Then, a small incision is made on each side of the abdomen. One of the incisions is used as an auxiliary operation hole. After the incision is made, a puncture device is inserted. Generally, instruments such as separation forceps are used to achieve some auxiliary functions such as separating adjacent tissues. The other is the main operation hole. After the incision is made, there is no need to insert a puncture device again.

[0016] (3) When the doctor is performing surgery and needs to make a real-time judgment on the Young's modulus of the tissue at the surgical site, the doctor inserts the Young's modulus measuring device directly into the abdominal cavity through the main operation hole of the minimally invasive surgery. The binocular camera in the device observes the image inside the abdomen in real time. The doctor adjusts the position of the device while watching and measures the surgical tissue. The doctor also adjusts the angle to achieve the purpose of measuring the Young's modulus of different tissue positions.

[0017] In some embodiments, according to step (3), the specific measurement method is:

[0018] ①In the initial state, the main control module controls the retraction coil to give the probe an adsorption force first;

[0019] ② After aligning to the measurement position, the main control module controls the transmitting coil to be energized. Since the center of mass of the probe is behind the transmitting coil, the probe is launched through the effect of magnetic attraction;

[0020] ③ The probe moves forward, and the speed of the probe is measured through the induction coil to obtain the speed-time curve of the probe. The point where time is 0 is the starting point of the probe launch, and the point where the probe speed suddenly changes downward is the impact point;

[0021] ④ When the probe hits the tissue at the measured position, a rebound force is generated to bounce the probe back into the tube body. At the same time, the suction coil will also give an adsorption force again to stably recover and fix the probe;

[0022] ⑤ When the probe hits different human tissues, according to the Hertz contact theory mechanical model analysis, the harder the tissue, the greater the acceleration of the probe when it rebounds, and the softer the tissue, the smaller the acceleration when it rebounds. By calculating the acceleration at the zero point of velocity at this time, the Young's modulus value is obtained.

[0023] To achieve the above objectives, the present invention provides the following technical solution: a method for using a handheld minimally invasive tissue Young's modulus measuring device, wherein a vertical measurement mode is set according to the measuring device, and the steps are as follows:

[0024] (1) Detect the actual angle of the measuring device through the gyroscope and send the measured angle to the main control board;

[0025] (2) The main control board adjusts the suction force of the retraction coil on the probe based on the angle information;

[0026] (3) The larger the angle, the greater the adsorption force of the suction coil driven by the main control board to prevent the probe from falling;

[0027] (4) After the probe is launched and the measurement is completed, the main control board drives the retraction coil again based on the real-time measurement angle data of the gyroscope to stably retract the probe.

[0028] Compared with the prior art, the beneficial effects of the present invention are: the purpose of measuring the Young's modulus of tissue during surgery is achieved by using simple and small-volume tooling, and it has the characteristics of real-time, innovative, accurate, and multi-angle measurement.

[0029] The binocular camera module was designed with endoscopes as inspiration, and a visualization function was added. It can accurately measure the desired area multiple times without misalignment between the measurement results and the measured area. The perfect fusion of high-definition visualization and multi-angle measurement greatly improves surgical accuracy while also enhancing the completeness and functionality of the integrated equipment.

[0030] It simplifies the traditional method and provides a method that does not require large equipment, saving time and equipment space, and greatly improving measurement efficiency and the integrity and smoothness of the operation.

[0031] Details of one or more embodiments of the present application are presented in the following drawings and descriptions to make other features, purposes and advantages of the present application more concise and easy to understand, and the present application is fully described and understood through the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the module connection principle of the present invention;

[0033] Figure 2 This is a schematic diagram of the structure of the measurement module of the present invention;

[0034] Figure 3 This is a structural diagram of the position-limiting foam body of the present invention;

[0035] Figure 4 This is a schematic diagram of the cooperation between the modules in the pipe body and the limiting foam body of the present invention;

[0036] Figure 5 To obtain the velocity-time curve of the probe;

[0037] Figure 6 Schematic diagram of Young's modulus measurement during 45-degree surgery;

[0038] Figure 7 This is the display example 1 in the display module;

[0039] Figure 8 This is the second display example in the display module;

[0040] Figure 9 Figure 1 is a schematic diagram of the auxiliary module, A is the overall assembly diagram of the auxiliary module, B is a cross-sectional view of the auxiliary module, C is a schematic diagram of the connection between the trocar and the pneumoperitoneum machine in the auxiliary module, D is a cross-sectional view of the trocar in the auxiliary module, and E is a schematic diagram of the laparoscope in the auxiliary module;

[0041] Figure 10 Schematic diagram of the structure implemented for the measurement module.

[0042] In the figure: 101, probe; 102, transmitting coil; 103, induction coil; 104, retraction coil; 105, binocular camera mechanism; 106, tube; 107, plastic tube; 108, wire; 109, main control board; 110, limit foam body;

[0043] 201, display module;

[0044] 301. Trocar; 302. Laparoscope; 303. Inflation catheter; 304. Pneumoperitoneum machine. DETAILED DESCRIPTION

[0045] 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.

[0046] Example 1

[0047] See also Figures 1 to 9The present invention provides a technical solution: a handheld minimally invasive tissue Young's modulus measuring device, comprising a measuring module, a display module and an auxiliary module, the measuring module comprising a tube body, a probe, a transmitting module, a recovery module, a sensing module and a main control module, the transmitting module, the sensing module and the recovery module are sequentially arranged in the tube body, and the transmitting module is arranged at the front end of the tube body, the probe is slidably installed in the tube body, and the probe cooperates with the transmitting module, the sensing module and the recovery module, the main control module is respectively connected to the transmitting module, the sensing module and the recovery module, the main control module is arranged at the rear end of the tube body, the display module is connected to the main control module, the auxiliary module is an auxiliary device during the operation, and is used in conjunction with the measuring module.

[0048] The function of the probe is as follows: The probe is the component that directly contacts the object being measured. Its design needs to be able to withstand impact force and maintain structural integrity without damaging the object being measured.

[0049] The transmitter module is responsible for launching the probe at a specific speed and direction to impact the object being measured. The transmitter module must be able to precisely control the force and speed of the launch to ensure that the probe impacts the object within the predetermined parameters. The transmitter module may include a coil, copper tube, or pneumatic or electric device to provide the necessary power.

[0050] The sensing module monitors the probe's velocity in real time as it impacts the object being measured. This module, which may include an accelerometer, Hall effect sensor, and / or other sensor types, accurately captures the probe's velocity changes before and after impact, providing critical data for subsequent analysis.

[0051] The main control module controls the entire measurement process, including probe launch, data collection by the velocity sensing module, and final data processing. It automatically adjusts the launch module's operating state according to preset parameters, ensuring the probe strikes the object at the correct speed. Furthermore, the main control module processes the data collected by the velocity sensing module, calculates the object's Young's modulus using a built-in algorithm, and outputs the result.

[0052] The minimally invasive intraoperative tissue Young's modulus measurement provided by the present invention utilizes rebound technology to conduct testing, and can be implemented in the environment of minimally invasive surgery in the fields of abdomen, intravascular, urology, and neurology.

[0053] Example 2

[0054] On the basis of Example 1, in order to facilitate the doctor to select the tissue site to be tested inside the patient, Figure 2 As shown, a binocular camera mechanism is provided on the front end of the tube body, and the binocular camera mechanism is connected to the main control module via a data cable.

[0055] The binocular camera operates primarily based on the principles of parallax and triangulation, simulating the way human eyes perceive depth to acquire three-dimensional information about a scene. As the name suggests, the binocular camera module consists of two cameras, similar to human eyes, separated horizontally by a certain distance (called the baseline). When the binocular camera module captures the abdominal cavity, the two cameras simultaneously capture two two-dimensional images of the same scene from different perspectives. Due to the different positions of the two cameras, the captured images will differ slightly, and this difference is the basis for parallax.

[0056] Example 3

[0057] On the basis of Example 1, in order to prevent the movement of each module in the tube body, as shown in FIG. Figure 3 and 4 As shown, a limiting foam body 110 is filled between the inner wall of the tube body and the outer wall of each module.

[0058] The tube body is made of copper tube, and a tubular foam structure is added between the entire measurement module and the external tube body. Figure 3 The middle curved portion is the foam. The purpose of adding this tubular foam structure is to provide support for the entire measurement module, ensuring a tight, stable, and gentle fit with the inner wall of the housing. This prevents the measurement module from slipping within the tube, while also preventing direct friction between metal components that could affect the lifespan of the measurement module and the copper tube. Based on this, the present invention proposes a typical implementation method for selecting material geometric dimensions: the tubular foam structure has a wall thickness of 4mm, the copper tube has a diameter of 7mm, and the inner diameter of the outer tube is 11mm. From a hardware perspective, this ensures that the coil is tightly integrated with the copper tube, preventing any looseness. Furthermore, to protect the wiring connecting each module to the main control board, a plastic tube 107 is installed between the tube and the main control board. The copper tube and plastic tube 107 are connected by glue. Because the plastic tube is a single piece of plastic and is relatively lightweight, and the measurement module, tubular foam structure, and outer tube are virtually seamlessly connected, there is no room for plastic tube 107 to move, making this glue method a perfect way to achieve a stable connection.

[0059] Example 4

[0060] On the basis of Example 1, Figure 2 As shown, the probe includes a magnetic needle and a PMMA plastic probe wrapped around the outside of the magnetic needle, the transmitting module is a transmitting coil, the recovery module is a retraction coil, and the induction module is an induction coil. The transmitting coil, the retraction coil and the induction coil are respectively connected to the main control module through wires. The probe is arranged throughout the transmitting coil, the induction coil and the retraction coil, and in the initial state, the center of mass of the probe is located at the rear end of the transmitting coil.

[0061] 101 is the measuring probe, which is composed of a magnetic needle inserted into a PMMA plastic probe. The magnetic needle can be a permanent magnet, a soft magnetic material, or a weak magnetic material. The PMMA plastic probe and the magnetic needle constitute a complete probe; 102 is the transmitting coil, which can launch the probe 101 under the control of the main control board, and 104 is the opposite of it, that is, the retraction coil. When the device changes the measurement angle, it can work with the gyroscope to adsorb the probe before the test to ensure that the probe does not fall due to its own gravity, and after the probe is launched and hits the object to be measured, it gives it an adsorption force to ensure that the probe can stably return to the copper tube. 103 is the induction coil. Its function is to obtain the speed-time curve of the probe movement during the entire test process from the probe launching to the retraction because the probe cuts the magnetic induction line, providing data for the algorithm.

[0062] Example 5

[0063] On the basis of Example 1, in order to ensure the adsorption stability of the probe in the tube body, the main control module includes a main control board and a gyroscope, and the output end of the gyroscope is connected to the main control board.

[0064] Taking into account the operating environment during surgery, patients are generally in a nearly flat position, so when using equipment to measure the Young's modulus, it is also measured at an almost vertical angle. Therefore, a new mode is introduced in the present invention: vertical measurement. A gyroscope is added to the main control board 109. When the equipment is measuring, the gyroscope reads the measurement angle. The larger the angle, the greater the adsorption force of the induction retraction coil driven by the main control board based on the gyroscope's measurement angle data to prevent the probe from falling. After the probe is launched, after 50ms, the measurement is completed. The main control board then drives the induction coil again based on the real-time gyroscope measurement angle data to stably absorb the probe. In this way, the requirement of stable measurement of the tissue Young's modulus during surgery can be achieved. The present invention can achieve free and accurate measurement accuracy within the range of 0 degrees to 90 degrees horizontally, such as Figure 6 Shown is a schematic diagram of the Young's modulus measurement during the 45-degree operation.

[0065] Based on the above embodiment, the display module is used to provide two solutions for the results of measuring Young's modulus:

[0066] (1) Different Young's modulus intervals are distinguished by color. The Young's modulus levels of human organs and tissues used in medicine are generally divided into five levels: very soft tissue: such as brain tissue and fat tissue; softer tissue: such as solid organs such as liver, kidney, spleen; medium Young's modulus tissue: such as muscles in a relaxed state; harder tissue: such as tendons and scar tissue; very hard tissue: such as bones. Data of these five levels of Young's modulus values are first collected and then divided into intervals according to size. Yellow represents very soft tissue, orange represents soft tissue, red represents medium Young's modulus tissue, purple represents harder tissue, and black represents very hard tissue. Figure 7 As shown,

[0067] 201 is the LCD display. 202 is the yellow highlight area. When the measurement result corresponds to very soft tissue, the color is highlighted yellow, and other colors are not displayed. 203 is the orange highlight area. When the measurement result corresponds to relatively soft tissue, the color is highlighted orange, and other colors are not displayed. 204 is the red highlight area. When the measurement result corresponds to tissue with a medium Young's modulus, the color is highlighted red, and other colors are not displayed. 205 is the purple highlight area. When the measurement result corresponds to relatively hard tissue, the color is highlighted purple, and other colors are not displayed. 206 is the black highlight area. When the measurement result corresponds to very hard tissue, the color is highlighted black, and other colors are not displayed. This is a relatively rough way to judge the degree of hardness by color. Data can be pre-collected for different tissues during the product training phase, and then trained to obtain accurate results during measurement.

[0068] (2) An accurate Young's modulus value is calculated by the algorithm to reflect the Young's modulus of the measured tissue. Because the conclusion drawn from the experiment is that the Young's modulus of elastic tissue or soft tissue is positively correlated with the Young's modulus of the tissue, the Young's modulus of human tissue is difficult to define, so it is converted to the calculation of its Young's modulus. The larger the Young's modulus value, the harder it is, and the smaller the Young's modulus value, the softer it is. It is a simple process of comparing the relationship between the numerical values. The display screen shows Figure 8 The 201 still features an LCD display, with the calculated Young's modulus displayed in the center. * indicates unmeasured values, which will be replaced by numbers after measurement. The Young's modulus result is accurately obtained by fitting extensive experimental data. Furthermore, the effects of these parameters are calculated and taken into account regardless of angle changes, ensuring the accuracy of the result.

[0069] Based on the above embodiment, the auxiliary module for cooperating with the measuring device is as follows: Figure 9 shown.

[0070] The auxiliary modules include but are not limited to a puncture device, a laparoscope, an inflation catheter, and a pneumoperitoneum machine, used singly or in combination.

[0071] The main components of the auxiliary module include a puncture device 301 and a laparoscope 302. A puncture device 301 is required in the visualization observation hole. Its main function is to provide a laparoscope insertion channel 302 for presenting abdominal images and to connect the pneumoperitoneum machine to fill the The application of the surgical auxiliary operation hole is relatively simple, and the same puncture device 301, separation forceps and other surgical tools will be inserted. 303 is an inflation catheter, one end of which is connected to the interface of the puncture device 301, and the other end is connected to the pneumoperitoneum machine 304. It is filled before the formal operation. , so that the space can be expanded to facilitate surgical operations.

[0072] Through the technical solution of the present application, a method for using a handheld minimally invasive tissue Young's modulus measurement device is implemented. According to the measuring device, the steps are as follows:

[0073] (1) First, the doctor needs to make a small incision on the patient's skin, insert a puncture device, and then insert a pneumoperitoneum machine. The inflation tube is connected to the pneumoperitoneum machine interface in the puncture device and the abdominal cavity is filled with , making the space larger and facilitating surgical operations;

[0074] (2) Then, a small incision is made on each side of the abdomen. One of the incisions is used as an auxiliary operation hole. After the incision is made, a puncture device is inserted. Generally, instruments such as separation forceps are used to achieve some auxiliary functions such as separating adjacent tissues. The other is the main operation hole. After the incision is made, there is no need to insert a puncture device again.

[0075] (3) When the doctor is performing surgery and needs to make a real-time judgment on the Young's modulus of the tissue at the surgical site, the doctor inserts the Young's modulus measuring device directly into the abdominal cavity through the main operation hole of the minimally invasive surgery. The binocular camera in the device observes the image inside the abdomen in real time. The doctor adjusts the position of the device while watching and measures the surgical tissue. The doctor also adjusts the angle to achieve the purpose of measuring the Young's modulus of different tissue positions.

[0076] According to step (3), the specific measurement method is:

[0077] ①In the initial state, the main control module controls the retraction coil to give the probe an adsorption force first;

[0078] ② After aligning to the measurement position, the main control module controls the transmitting coil to be energized. Since the center of mass of the probe is behind the transmitting coil, the probe is launched through the effect of magnetic attraction;

[0079] ③ The probe moves forward, and the speed of the probe is measured through the induction coil to obtain the speed-time curve of the probe. The point where time is 0 is the starting point of the probe launch, and the point where the probe speed suddenly changes downward is the impact point;

[0080] ④ When the probe hits the tissue at the measured position, a rebound force is generated to bounce the probe back into the tube body. At the same time, the suction coil will also give an adsorption force again to stably recover and fix the probe;

[0081] ⑤ When the probe hits different human tissues, according to the Hertz contact theory mechanical model analysis, the harder the tissue, the greater the acceleration of the probe when it rebounds, and the softer the tissue, the smaller the acceleration when it rebounds. By calculating the acceleration at the zero point of velocity at this time, the Young's modulus value is obtained.

[0082] Using the above operating steps, and based on the fifth embodiment, setting the vertical measurement mode, the steps are as follows:

[0083] (1) Detect the actual angle of the measuring device through the gyroscope and send the measured angle to the main control board;

[0084] (2) The main control board adjusts the suction force of the retraction coil on the probe based on the angle information;

[0085] (3) The larger the angle, the greater the adsorption force of the suction coil driven by the main control board to prevent the probe from falling;

[0086] (4) After the probe is launched and the measurement is completed, the main control board drives the retraction coil again based on the real-time measurement angle data of the gyroscope to stably retract the probe.

[0087] The present invention can achieve free and accurate measurement accuracy within the range of 0 degrees to 90 degrees horizontally.

[0088] Based on the technical solution of this application, a new minimally invasive Young's modulus measurement system structure is designed in practical application. The overall structure is integrated. After a small minimally invasive incision, the Young's modulus of tissue can be measured at any angle within 90 degrees from horizontal to vertical without the help of any instruments under the condition of binocular camera visualization. Figure 10 As shown in FIG, the system structure mainly consists of a rebound measurement system, a vertical measurement system, a main control system, and a minimally invasive hardware structure (including buttons and a display screen).

[0089] 401 is a medical-grade stainless steel tube, similar in function to a trocar, capable of being inserted through the main surgical port into the abdominal cavity. 402 is the binocular camera module, 403 is the overall measurement module, 404 is the main control system for data processing and other algorithmic functions, 405 is the device housing, 406 is the device display, 407 is the measurement button, 408 is the power button, and 409 is the handheld handle. The entire device is integrated and handheld, offering high portability and ease of operation for the doctor.

[0090] The 402 binocular camera operates primarily based on the principles of parallax and triangulation, simulating the way human binocular depth perception is used to acquire three-dimensional information about a scene. As the name suggests, the binocular camera module consists of two cameras, similar to human eyes, separated horizontally by a certain distance (called a baseline). When the binocular camera module captures the abdominal cavity, the two cameras simultaneously capture two two-dimensional images of the same scene from different perspectives. Due to the different positions of the two cameras, the captured images will differ slightly, and this difference is the basis for parallax.

[0091] The binocular camera module is used in the present invention mainly because it has the following four obvious advantages:

[0092] 1. Accurately measure distance.

[0093] 2. Object shape recognition: The shape, size, and spatial position of objects can be perceived more accurately, even in complex environments.

[0094] 3. Provide multi-angle views: Two cameras simultaneously capture the same scene from different angles, and the two images obtained contain more details and information.

[0095] 4. Reduce misjudgment due to occlusion: For partially occluded objects, the binocular camera can use information from two perspectives to make a comprehensive judgment, more accurately identifying the overall appearance and position of the object, and avoiding misjudgment or missed judgment due to occlusion.

[0096] Through the above advantages and characteristics, doctors can better complete intraoperative operations, reduce errors, and thus perform measurements more quickly and accurately.

[0097] This practical application provides a typical measurement implementation steps:

[0098] 1. Press the round button to turn on the handheld Young's modulus measuring device. When the display prompts you to load the probe, randomly open a new probe and place it into the copper tube launch port.

[0099] 2. Insert the handheld Young's modulus measurement device into the abdominal cavity through a minimally invasive incision made before the formal surgery;

[0100] 3. Using the visualization function of the 402 binocular camera, aim the transmitting port at the tissue area you want to measure and press the triangle button to start the measurement. The result will then be displayed on the display of the handheld Young's modulus measurement device.

[0101] 4. Multiple and multi-angle measurements can be performed;

[0102] Pull the device tube out of the minimally invasive incision and the measurement is completed.

[0103] The above embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

[0104] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A handheld minimally invasive tissue Young's modulus measurement device, characterized by: It includes a measuring module, a display module and an auxiliary module. The measuring module includes a tube body, a probe, a transmitting module, a recovery module, a sensing module and a main control module. The transmitting module, the sensing module and the recovery module are arranged in sequence in the tube body, and the transmitting module is located at the front end of the tube body. The probe is slidably installed in the tube body, and the probe cooperates with the transmitting module, the sensing module and the recovery module. The main control module is respectively connected to the transmitting module, the sensing module and the recovery module. The main control module is located at the rear end of the tube body. The display module is connected to the main control module. The auxiliary module is an auxiliary device during the operation, which is used in conjunction with the measuring module.

2. A handheld minimally invasive tissue Young's modulus measurement device according to claim 1, characterized in that: A binocular camera mechanism is provided on the front end of the tube body, and the binocular camera mechanism is connected to the main control module via a data line.

3. The handheld minimally invasive tissue Young's modulus measurement device according to claim 1, characterized in that: A limited foam body is filled between the inner wall of the tube body and the outer wall of each module.

4. The handheld minimally invasive tissue Young's modulus measurement device according to claim 1, characterized in that: The probe comprises a magnetic needle and a PMMA plastic probe wrapped around the magnetic needle.

5. The handheld minimally invasive tissue Young's modulus measurement device according to claim 1, characterized in that: The transmitting module is a transmitting coil, the recovery module is a retraction coil, and the induction module is an induction coil. The transmitting coil, the retraction coil and the induction coil are respectively connected to the main control module through wires. The probe is arranged in the transmitting coil, the induction coil and the retraction coil, and in the initial state, the center of mass of the probe is located at the rear end of the transmitting coil.

6. The handheld minimally invasive tissue Young's modulus measurement device according to claim 1, characterized in that: The main control module includes a main control board and a gyroscope, and the output end of the gyroscope is connected to the main control board.

7. The handheld minimally invasive tissue Young's modulus measurement device according to claim 1, characterized in that: The auxiliary modules include but are not limited to a puncture device, a laparoscope, an inflation catheter, and a pneumoperitoneum machine, used singly or in combination.

8. A method for using a handheld minimally invasive tissue Young's modulus measurement device, characterized by: The measuring device according to any one of claims 1 to 5, wherein the steps are: (1) First, the doctor needs to make a small incision above the patient's skin, insert a puncture device, and then insert a pneumoperitoneum machine. The inflation tube is connected to the pneumoperitoneum machine interface in the puncture device, and CO2 is filled into the abdominal cavity to expand the space and facilitate surgical operation; (2) Then, a small incision is made on each side of the abdomen. One of the incisions is used as an auxiliary operation hole. After the incision is made, a puncture device is inserted. Generally, instruments such as separation forceps are used to achieve some auxiliary functions such as separating adjacent tissues. The other is the main operation hole. After the incision is made, there is no need to insert a puncture device again. (3) When the doctor is performing surgery and needs to make a real-time judgment on the Young's modulus of the tissue at the surgical site, the doctor inserts the Young's modulus measuring device directly into the abdominal cavity through the main operation hole of the minimally invasive surgery. The binocular camera in the device observes the image inside the abdomen in real time. The doctor adjusts the position of the device while watching and measures the surgical tissue. The doctor also adjusts the angle to achieve the purpose of measuring the Young's modulus of different tissue positions.

9. The method for using the handheld minimally invasive tissue Young's modulus measurement device according to claim 8, characterized in that: According to step (3), the specific measurement method is: ①In the initial state, the main control module controls the retraction coil to give the probe an adsorption force first; ② After aligning to the measurement position, the main control module controls the transmitting coil to be energized. Since the center of mass of the probe is behind the transmitting coil, the probe is launched through the effect of magnetic attraction; ③ The probe moves forward, and the speed of the probe is measured through the induction coil to obtain the speed-time curve of the probe. The point where time is 0 is the starting point of the probe launch, and the point where the probe speed suddenly changes downward is the impact point; ④ When the probe hits the tissue at the measured position, a rebound force is generated to bounce the probe back into the tube body. At the same time, the suction coil will also give an adsorption force again to stably recover and fix the probe; ⑤ When the probe hits different human tissues, according to the Hertz contact theory mechanical model analysis, the harder the tissue, the greater the acceleration of the probe when it rebounds, and the softer the tissue, the smaller the acceleration when it rebounds. By calculating the acceleration at the zero point of velocity at this time, the Young's modulus value is obtained.

10. A method for using a handheld minimally invasive tissue Young's modulus measurement device, characterized by: The measuring device according to claim 6, wherein the vertical measurement mode is set by: (1) Detect the actual angle of the measuring device through the gyroscope and send the measured angle to the main control board; (2) The main control board adjusts the suction force of the retraction coil on the probe based on the angle information; (3) The larger the angle, the greater the adsorption force of the suction coil driven by the main control board to prevent the probe from falling; (4) After the probe is launched and the measurement is completed, the main control board drives the retraction coil again based on the real-time measurement angle data of the gyroscope to stably retract the probe.

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