A handheld micro-invasive tissue Young's modulus measuring device and a method of using the same

Abstract

The application relates to the technical field of Young's modulus testing, in particular to a handheld micro-invasive tissue Young's modulus measuring device and a using method thereof, which comprises a measuring module, a display module and an auxiliary module, the measuring module comprises a pipe body, a probe, a transmitting module, a recycling module, a sensing module and a master control module, the transmitting module, the sensing module and the recycling module are sequentially arranged in the pipe body, the transmitting module is arranged at the front end of the pipe body, the probe is slidingly installed in the pipe body and cooperates with the transmitting module, the sensing module and the recycling module, the master control module is connected with the transmitting module, the sensing module and the recycling module, the master control module is arranged at the rear end of the pipe body, the display module is connected with the master control module, and the auxiliary module is an auxiliary equipment in a surgical process and is used in cooperation with the measuring module. The application has the characteristics of simplicity in structure, small size, real-time performance, innovation, accuracy and multi-angle measurement and realizes the purpose of intraoperative tissue Young's modulus measurement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of Young's modulus testing, and in particular to a handheld minimally invasive tissue Young's modulus measuring device and a method for using the same. BACKGROUND

[0002] There are many scenarios in real life that involve measuring the Young's modulus of objects or 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, compressive strength, etc. In the semiconductor manufacturing field of the electronic industry, the Young's modulus of wafer and packaging materials can affect the quality and reliability of chips. In the medical industry, the development of prostheses and orthotic devices requires customizing products with appropriate Young's modulus based on the specific needs of patients to improve comfort and functionality. The technical principle of this patent is to apply it to doctors during surgery to measure the Young's modulus of the surgical site and tissue, thereby achieving better surgical results. This way of measuring Young's modulus has the advantages of real-time, efficiency, accuracy, and greatly improving the completion of surgery.

[0003] The measurement of the Young's modulus of objects and human tissues can be achieved through various technologies, each with its own specific application scenarios and advantages. For example, indentation or nanoindentation, both of which involve pressing a known-shaped probe into the material surface and recording the relationship between the force applied by the probe and the displacement generated to determine the Young's modulus of the tissue, thereby achieving the measurement of the Young's modulus. However, they differ in application range, device precision, and specific implementation of testing principles. Nanoindentation has higher measurement accuracy, but requires long testing time and high environmental requirements. Indentation is simple and time-saving, but is not suitable for very soft samples and is difficult to measure living tissues. Alternatively, magnetic resonance elastography (MRE) technology can be used, which involves introducing mechanical vibration waves into the body and using MRI scans to capture how these waves propagate, thereby mapping the elastic distribution of the tissue. It can better measure liver fibrosis, brain tissue, muscle, and joints. Alternatively, optical coherence tomography elastography (OCTE) technology can be used, which uses light interference principles to generate high-resolution three-dimensional images while monitoring the deformation of tissues under external forces to infer their Young's modulus characteristics. Ultrasound elastography (UE) technology is also a mature technology that involves the emission and reception of ultrasonic waves. When tissues are compressed, harder areas will show faster changes in sound velocity than softer areas. Ultrasound elastography is a non-invasive medical imaging technology that provides information about the state of tissues by evaluating their Young's modulus or elastic properties. This method combines traditional ultrasound imaging with mechanical wave propagation principles to obtain the mechanical properties of soft tissues in the body without affecting the patient.

[0004] In view of the above-mentioned methods, although they are common and have different advantages, they also have their own unavoidable defects, for example, the high price and high precision requirement of the nano indentation method, the measurement effectiveness and the complex and bulky imaging peripherals of the ultrasonic elastography technology. These problems will have certain influence on the doctors and patients who are undergoing surgery, for example, resulting in longer surgery time, increased risk, less accurate judgment of the surgical site by the doctors, and deviation of the treatment plan. SUMMARY

[0005] In view of the deficiencies of the prior art, the purpose of the present application is to provide a handheld minimally invasive tissue Young's modulus measuring device and its use method, which can make correct measurement of the Young's modulus of the surgical tissue site in real time, accurately and quickly, and timely feedback to the doctor.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme: 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 recycling module, a sensing module and a main control module, the transmitting module, the sensing module and the recycling module being arranged in the tube body in sequence, and the transmitting module being arranged at the front end of the tube body, the probe being slidingly installed in the tube body and cooperating with the transmitting module, the sensing module and the recycling module, the main control module being connected with the transmitting module, the sensing module and the recycling module, and being arranged at the rear end of the tube body, the display module being connected with the main control module, and the auxiliary module being an auxiliary equipment used in the surgical process and cooperating with the measuring module.

[0007] In some embodiments, a binocular camera mechanism is arranged on the front end of the tube body, and the binocular camera mechanism is connected with the main control module through a data line.

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

[0009] In some embodiments, the probe comprises a magnetic needle and a PMMA plastic probe wrapped outside the magnetic needle.

[0010] In some embodiments, the transmitting module is a transmitting coil, the recycling module is a recycling coil, and the sensing module is a sensing coil, the transmitting coil, the recycling coil and the sensing coil are respectively connected with the main control module through wires, the probe is arranged through the transmitting coil, the sensing coil and the recycling coil, and the center of mass of the probe is located at the rear end of the transmitting coil in the initial state.

[0011] In some embodiments, the main control module comprises a main control board and a gyroscope, and the output end of the gyroscope is connected with 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, a single or multiple combination of a gas insufflation machine.

[0013] To achieve the above object, the application provides the following technical scheme: a use method of a handheld micro-invasive tissue Young's modulus measuring device, according to the measuring device, the steps are:

[0014] (1) First, the doctor needs to cut a small hole above the patient's skin, insert the puncture device, and then intervene the gas insufflation machine. The inflation tube is connected to the gas insufflation machine interface in the puncture device, and the abdominal cavity is inflated to make the space larger, facilitating surgical operation;

[0015] (2) Then, a small hole is made on the left and right sides of the abdomen, one of which is a surgical auxiliary operation hole, and the puncture device is inserted after the small hole is cut. Separating forceps and other instruments are generally used to achieve some auxiliary functions such as separating tissues that are close to each other; the other is a surgical main operation hole, and the puncture device does not need to be inserted again after the small hole is cut;

[0016] (3) When the doctor is operating and needs to judge the Young's modulus of the surgical site tissue in real time, the Young's modulus measuring device is directly inserted into the abdominal cavity from the micro-invasive surgical main operation hole. The dual-camera head in the device can observe the internal image of the abdomen in real time, adjust the device position while observing, and measure the surgical tissue. By adjusting the angle, the purpose of measuring the Young's modulus of the tissue at different positions is achieved;

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

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

[0019] ② After aligning 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 achieves the effect of being emitted through the action of magnetic attraction;

[0020] ③ The probe moves forward, and the inductive coil measures the speed of the probe to obtain the speed-time curve of the probe. The point of time 0 is the starting point of the probe emission, and the point where the probe speed suddenly decreases 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, and the suction coil also gives an adsorption force again to stabilize the recovery and fixation of the probe;

[0022] ⑤When the probe hits different human tissues, according to the analysis of the Hertz contact theory mechanical model, the harder the tissue is, the greater the acceleration of the probe rebound is, and the softer the tissue is, the smaller the acceleration of the probe rebound is, and the Young's modulus value is obtained by calculating the acceleration of the speed zero point.

[0023] To achieve the above object, the application provides the following technical scheme: a handheld micro-invasive tissue Young's modulus measuring device usage method, according to the measuring device, a vertical measurement mode is arranged, and the steps are:

[0024] (1) the actual angle of the measuring device is detected through a gyroscope, and the measuring angle is sent to a main control board;

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

[0026] (3) the greater the angle is, the greater the adsorption force of the main control board driving the suction coil is, so as to prevent the probe from falling;

[0027] (4) after the probe is launched, the measurement is completed, and the main control board drives the suction coil to stably suck back the probe based on the real-time measurement angle data of the gyroscope.

[0028] Compared with the prior art, the application has the advantages that: the simple and small tool is used to achieve the purpose of measuring the Young's modulus of the tissue in the operation, and has the characteristics of real-time, innovation, accuracy, multi-angle measurement and the like.

[0029] The dual-lens camera module is designed by taking the endoscope as inspiration, the visualization function is increased, the measured part can be accurately and repeatedly measured, the measurement result and the measured part are not misaligned, the high-definition visualization and the multi-angle measurement are perfectly combined, the operation precision is greatly improved, and the completeness and functionality of the integrated equipment are also improved.

[0030] The traditional method is simplified, a method without large equipment is provided, time and equipment space are saved, and the measurement efficiency, operation integrity and smoothness are greatly improved.

[0031] Details of one or more embodiments of the application are presented in the following drawings and description to make other features, objects and advantages of the application more clear, concise and easy to understand. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a module connection principle of the application;

[0033] Figure 2 It is a measurement module structure schematic view of the application;

[0034] Figure 3 Figure of the limiting foam structure of the present application;

[0035] Figure 4 Figure of the cooperation between the modules in the tube and the limiting foam of the present application;

[0036] Figure 5 Figure of the speed-time curve of the probe;

[0037] Figure 6 Figure of the 45-degree intraoperative Young's modulus measurement;

[0038] Figure 7 Figure of the display screen in the display module showing Example 1;

[0039] Figure 8 Figure of the display screen in the display module showing Example 2;

[0040] Figure 9 Figure of the cooperation of the auxiliary module, A is the overall assembly drawing of the auxiliary module, B is the sectional view of the auxiliary module, C is the connection diagram of the puncture device and the pneumoperitoneum machine in the auxiliary module, D is the sectional view of the puncture device in the auxiliary module, and E is the schematic diagram of the laparoscope in the auxiliary module;

[0041] Figure 10 Figure of the implementation structure of the measurement module.

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

[0043] 201, display module;

[0044] 301, puncture device; 302, laparoscope; 303, inflation catheter; 304, pneumoperitoneum machine. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0046] Embodiment 1

[0047] Please refer to 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 working principle of the binocular camera is mainly based on the principle of parallax and the principle of triangulation, which simulates the way of human binocular depth perception to obtain three-dimensional information of the scene. The binocular camera module is composed of two cameras, similar to human eyes, and the two cameras have a certain interval (called baseline) in the horizontal direction. When the binocular camera module takes pictures inside the abdominal cavity, the two cameras will simultaneously obtain two two-dimensional images of the same scene from different angles. Due to the different positions of the two cameras, there will be certain differences in the images taken, which is the basis of parallax.

[0056] Embodiment 3

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

[0058] The pipe body adopts a copper pipe, and between the entire measuring module and the external pipe body, a tubular foam structure is added, Figure 3 the middle curve part is the foam body. The purpose of adding a tubular foam structure is to provide support for the entire measuring module, so that it is tightly, stably and softly attached to the inner wall of the shell, preventing the measuring module from sliding in the pipe body, and also preventing the direct friction of metal parts from affecting the service life of the measuring module and the copper pipe. On this basis, a typical material geometric size selection embodiment is proposed: the wall thickness of the tubular foam structure is 4 mm, the diameter of the copper pipe is 7 mm, and the inner diameter of the external pipe body part is 11 mm. From the hardware point of view, the coil part can be tightly combined with the copper pipe body without loosening; at the same time, in order to protect the wires connected between each module and the main control board, a plastic pipe body 107 is arranged between the main control board. The connection mode of the copper pipe and the plastic pipe body 107 is point gluing. Because the plastic pipe body is a plastic body itself with relatively light weight, and the measuring module, the tubular foam structure and the external pipe body are almost seamlessly attached, the plastic pipe body 107 also has no shaking space, so the point gluing method can completely achieve a stable effect.

[0059] Embodiment 4

[0060] On the basis of embodiment 1, as shown in Figure 2 , the probe includes a magnetic needle and a PMMA plastic probe wrapped outside the magnetic needle, the transmitting module is a transmitting coil, the recycling module is a recycling coil, and the sensing module is an inductive coil. The transmitting coil, the recycling coil and the inductive coil are respectively connected to the main control module through wires, the probe is arranged to penetrate the transmitting coil, the inductive coil and the recycling coil, and the centroid of the probe is located at the rear end of the transmitting coil in the initial state.

[0061] 101 is a measuring probe, which is formed by inserting a magnetic needle into a PMMA plastic probe, the magnetic needle can be a permanent magnet, a soft magnetic material or a weak magnetic material, and the PMMA plastic probe with the magnetic needle constitutes a complete probe; 102 is a transmitting coil, which can make the 101 probe transmit under the control of the main control board, and 104 is the opposite, that is, a suction coil, when the device changes the measurement angle, before testing, it can work with the gyroscope to adsorb the probe to ensure that the probe will not fall due to its own gravity, and after the probe is transmitted and hits the object to be measured, it gives the object an adsorption force to ensure that the probe can stably return to the copper pipe, 103 is an induction coil, which functions to obtain the speed-time curve of the probe movement during the entire test process from the transmission to the suction of the probe, and provides data for the algorithm.

[0062] Embodiment 5

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

[0064] Considering the operation environment in the operation, the patient is generally in a nearly horizontal state, and when the device is used to measure the Young's modulus, it is also measured at a nearly vertical angle, so a new mode is introduced in the present application: vertical measurement. A gyroscope is added in the main control board 109, and the gyroscope reads the measurement angle when the device measures, the greater the angle, the greater the adsorption force of the inductive suction coil driven by the main control board based on the measurement angle data of the gyroscope, so as to prevent the probe from falling, after the probe is transmitted, after 50 ms, the measurement is completed, and the main control board is based on the real-time gyroscope measurement angle data, and the inductive coil is driven again to stably suck the probe back, so that the requirement of stable measurement of the Young's modulus of the tissue in the operation can be realized, and the present application can realize the free and accurate measurement in the range from 0 degree to 90 degree, for example, as shown in the figure. Figure 6 Fig. 4 is a schematic diagram of in-operation Young's modulus measurement at 45 degrees.

[0065] Based on the above embodiment scheme, the display module is used to propose two schemes for the result of measuring the Young's modulus:

[0066] (1) Differentiate different Young's modulus intervals by color. The medical human body organ tissue Young's modulus level is generally divided into five levels: very soft tissue: brain tissue, fat tissue; relatively soft tissue: liver, kidney, spleen and other solid organs; medium Young's modulus tissue: for example, muscle in a relaxed state; relatively hard tissue: such as tendon, scar tissue; very hard tissue: such as bone. The Young's modulus values of the five degrees are collected first, and then the intervals are divided according to the size. Yellow represents very soft, orange represents relatively soft tissue, red represents medium Young's modulus tissue, purple represents relatively hard tissue, and black represents very hard tissue, as shown in Figure 7

[0067] 201 is an LCD display screen, 202 is a yellow highlight area, and yellow highlights when the measurement result corresponds to very soft tissue, and other colors are not displayed; 203 is an orange highlight area, and orange highlights when the measurement result corresponds to relatively soft tissue, and other colors are not displayed; 204 is a red highlight area, and red highlights when the measurement result corresponds to medium Young's modulus tissue, and other colors are not displayed; 205 is a purple highlight area, and purple highlights when the measurement result corresponds to relatively hard tissue, and other colors are not displayed; 206 is a black highlight area, and black highlights when the measurement result corresponds to very hard tissue, and other colors are not displayed; this is a relatively rough judgment method to judge the softness and hardness by color. Different tissues can be pre-collected and trained during product training, so that accurate results can be obtained during measurement.

[0068] (2) An accurate Young's modulus value is calculated by algorithm to reflect the Young's modulus of the measured tissue. Because it is concluded through experiments 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 and is converted to the calculation of the 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 comparison of the size relationship of the value, and the display screen is shown as Figure 8 201 is still an LCD display screen, and the calculated Young's modulus is displayed in the middle of the screen, and * represents that it has not been measured and will be replaced by a number after measurement. The result of the Young's modulus is obtained by fitting a large amount of experimental data to obtain an accurate value; and no matter how the angle changes, the influence of the parameter is calculated and considered. After a large amount of experimental data fitting, the result is still accurate.

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

[0070] The auxiliary module includes but is not limited to a single or multiple combination of a puncture device, a laparoscope, an inflation catheter, and a gas insufflation machine. ​​

[0071] The main components in the auxiliary module include a puncture device 301, a laparoscope 302, a visual observation hole, a puncture device 301, which mainly provides a laparoscope insertion channel 302 for presenting abdominal images, and can be connected to a pneumoperitoneum machine to inflate , the application of the surgical auxiliary operation hole is relatively simple, and the same puncture device 301 is inserted, and surgical tools such as a separating forceps 303 are connected to the interface of the puncture device 301 at one end and connected to the pneumoperitoneum machine 304 at the other end, and before the formal operation, the , so that the space is expanded, and the operation is facilitated.

[0072] Through the technical scheme of the present application, a use method of a handheld micro-invasive tissue Young's modulus measuring device is realized. According to the measuring device, the steps are as follows:

[0073] (1) First, the doctor needs to cut a small opening on the patient's skin, insert a puncture device, and then intervene in the pneumoperitoneum machine. The inflation tube is connected to the interface of the puncture device and the pneumoperitoneum machine, and the , so that the space is expanded, and the operation is facilitated.

[0074] (2) Then, a small opening is made on the left and right sides of the abdomen, one of which is a surgical auxiliary operation hole, and the other is a surgical main operation hole. After cutting the small opening, a puncture device is inserted, and a separating forceps and other instruments are generally used to achieve some auxiliary functions such as separating tissues that are close to each other; the other is a surgical main operation hole, and the puncture device does not need to be inserted again after cutting the small opening;

[0075] (3) When the doctor is operating and needs to determine the Young's modulus of the tissue at the operation site in real time, the Young's modulus measuring device is directly inserted into the abdominal cavity from the micro-invasive surgical main operation hole. The dual-camera head in the device can observe the internal image of the abdomen in real time, adjust the position of the device while observing, and measure the tissue at the operation site. By adjusting the angle, the Young's modulus of the tissue at different positions can be measured.

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

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

[0078] ② After aligning 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 attracted to the transmitting coil through magnetic attraction, achieving the effect of being launched;

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

[0080] When the probe hits the tissue at the measured position, a rebound force is generated to rebound the probe into the tube, and the coil also generates an adsorption force to stably recover and fix the probe;

[0081] When the probe hits different human tissues, according to the analysis of the Hertz contact theory mechanical model, the harder the tissue is, the greater the acceleration of the probe rebound is, and the softer the tissue is, the smaller the acceleration of the probe rebound is, and the Young's modulus value is obtained through the acceleration calculation of the speed zero point.

[0082] The above use operation steps are adopted, and on the basis of example five, a vertical measurement mode is set, and the steps are as follows:

[0083] (1) The actual angle of the measuring device is detected by the gyroscope, and the measuring angle is sent to the main control board;

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

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

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

[0087] The present application can achieve free and accurate measurement within the range from 0 degrees to 90 degrees.

[0088] Based on the technical scheme of the present application, a new type of minimally invasive Young's modulus measurement system structure is designed in actual application, and the overall structure is integrated, and after a small hole is minimally invasive, any instrument is not needed to complete the measurement of the Young's modulus of the tissue within any angle from horizontal to vertical 90 degrees under the condition of visualization of the binocular camera, such as Figure 10 As shown, the system structure mainly comprises a rebound type measurement system, a vertical measurement system, a main control system, and a minimally invasive hardware structure (including a key and a display screen).

[0089] Among them, 401 is a medical grade stainless steel tube body and a puncture device function similar to the puncture device, which can pass through the main operation hole to extend into the abdominal cavity, 402 is a binocular camera module, 403 is an overall measurement module, 404 is a main control system for processing data algorithm function, 405 is a device shell, 406 is a device display screen, 407 is a measurement key, 408 is a power on / off key, and 409 is a handheld handle part. The whole device realizes integration and provides high portability in handheld mode, which is easy for doctors to operate.

[0090] The working principle of the 402 binocular camera is mainly based on the principle of parallax and the principle of triangulation, which simulates the way human eyes perceive depth to obtain three-dimensional information of the scene. The binocular camera module is composed of two cameras, similar to human eyes, and the two cameras have a certain distance (called baseline) in the horizontal direction. When the binocular camera module takes pictures inside the abdominal cavity, the two cameras will simultaneously obtain two two-dimensional images of the same scene from different angles. Because of the different positions of the two cameras, there will be some differences in the images taken, which is the basis of parallax.

[0091] The reason for using a binocular camera module in the present application is mainly because it has the following four obvious advantages:

[0092] 1. Accurate distance measurement.

[0093] 2. Recognize object shape: can more accurately perceive the shape, size and spatial position of the object, even in complex environments.

[0094] 3. Provide multi-angle view: two cameras simultaneously take pictures of 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 the information from two angles to make a comprehensive judgment, more accurately identify the overall appearance and position of the object, and avoid misjudgment or omission due to occlusion.

[0096] Through the above advantages and characteristics, the intraoperative operation of the doctor can be better completed, the mistakes can be reduced, and the measurement can be more quickly and accurately.

[0097] The present application gives a typical measurement implementation step:

[0098] 1. Press the round button to turn on the handheld Young's modulus measurement device, see the display screen prompt to load the probe, and randomly open a new probe and put it into the copper pipe launch port;

[0099] 2. Before the formal operation, insert the handheld Young's modulus measurement device into the abdominal cavity through the small incision of minimally invasive surgery;

[0100] 3. Align the launch port with the tissue part to be measured through the visualization function of the 402 binocular camera, press the triangular button to measure, and the result will be displayed on the display screen of the handheld Young's modulus measurement device;

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

[0102] Pull out the device tube from the minimally invasive opening, and the measurement is complete.

[0103] The above embodiments only express several implementation ways of the present application, and the description is specific and detailed, but it should not be understood as a limitation to the patent scope of the application. It should be pointed out that for ordinary skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, which are all within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

[0104] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A handheld minimally invasive tissue Young's modulus measurement device, characterized by: The invention comprises a measuring module, a display module and an auxiliary module, wherein the measuring module comprises a tube body, a probe, a transmitting module, a recovery module, a sensing module and a main control module, wherein 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 with 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 with the main control module, the auxiliary module is an auxiliary device during the operation, and is connected with the measuring module. The module is used in conjunction with the module, a binocular camera mechanism is provided on the front end of the tube body, the binocular camera mechanism is connected to the main control module via a data cable, a limited position foam is filled between the inner wall of the tube body and the outer wall of each module, the probe includes a magnetic needle and a PMMA plastic probe coated on the outside of the magnetic needle, the transmitting module is a transmitting coil, the recovery module is a retraction coil, 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 via 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; When it is necessary to make a real-time judgment on the Young's modulus of the surgical site tissue, the specific steps for measuring the Young's modulus value using the handheld minimally invasive tissue Young's modulus measuring device are as follows: 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.

2. A 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.

3. 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.

Images