CN113576560A

CN113576560A - Holographic thoracoscope system

Info

Publication number: CN113576560A
Application number: CN202110951527.2A
Authority: CN
Inventors: 陈应泰; 李凤卫
Original assignee: BEIJING AEROSPACE GENERAL HOSPITAL
Current assignee: BEIJING AEROSPACE GENERAL HOSPITAL
Priority date: 2021-08-19
Filing date: 2021-08-19
Publication date: 2021-11-02
Anticipated expiration: 2041-08-19
Also published as: CN113576560B

Abstract

The invention discloses a holographic thoracoscope system, which comprises: a plurality of image generating devices, which are respectively arranged on different parts of the inner wall of the thoracic cavity of patients undergoing thoracoscopic surgery, and each image generating device provides illumination in the thoracic cavity and corresponds to the acquisition of the thoracic cavity image information of the part, and form video data including the ID of each image generation device; positioning device, used to determine the position of each image generation device on the inner wall of the patient's chest; receiving and processing device, used to receive multiple image generation devices The video data sent by the device, and the multiple video data are synthesized and processed according to the position of the inner wall of the patient's chest cavity by multiple image generating devices to obtain a stereoscopic image of the interior of the patient's chest cavity; the flexible display device is used for thoracoscopic surgery. On the outer wall of the patient's thoracic cavity, a stereoscopic image in the thoracic cavity obtained after being processed by the receiving and processing device is displayed, so that the operator can perform thoracoscopic surgery through the stereoscopic image and surgical instruments.

Description

Holographic thoracoscope system

Technical Field

The invention relates to the technical field of medical instruments, in particular to a holographic thoracoscope system.

Background

In recent years, with the popularization of low-dose spiral CT, the epidemiology and treatment mode of lung tumor are greatly changed, and more early lung cancer patients are discovered, so that the patients are more suitable for minimally invasive resection. Thoracoscopy has been perfected since 1992 in nearly 30 years, and its efficacy in treating lung cancer has been written in NCCN guidelines as early as 2006, comparable to that of a conventional thoracotomy. Traditional VATS includes three-hole and four-hole thoracoscopes, and with the development of the technical level, in recent years, the single-hole thoracoscope is gradually applied clinically due to smaller trauma, and 2011 Spanish scholars Okauri reports single-hole thoracoscope lobectomy at first. More and more researches show that the single-hole thoracoscope can be applied to lung cancer resection like multi-hole thoracoscope lobectomy, and compared with the traditional multi-hole thoracoscope, the single-hole thoracoscope has small wound and quicker recovery.

However, the single-port thoracoscope surgery is the same as the endoscope system used by the traditional multi-port thoracoscope, and both enter the rod-shaped endoscope system from the incision, and the single-port thoracoscope surgery needs to enter the endoscope system and a plurality of operating instruments from the same small incision, so that the endoscope system and the operating instruments are easy to contend for the same operating incision, and interfere with the operating instruments, thereby increasing the risk and difficulty of the surgery, having higher technical requirements on doctors, needing special holding hands to operate the endoscope system during the surgery, and the rod-shaped endoscope system may increase the damage to patients during the surgery to cause chronic pain, furthermore, the images obtained by the endoscope system are transmitted to a display outside the operating table for display, and the operator in the surgery needs to look at the display to operate the images on the images like the images of the operating area inside the thoracic cavity, and needs to perform angle conversion during the surgery, the difficulty of the operation is also increased.

Disclosure of Invention

The invention aims to solve the problems in the prior art, and provides a holographic thoracoscope system which can provide illumination for the interior of a thoracic cavity and collect and display operation images during thoracoscope operation, does not compete with surgical instruments for incision operation, does not interfere the surgical instruments, does not need special endoscope handers, accords with the original operation habit during thoracoscope operation, can further reduce the incision injury to a patient, and is beneficial to early recovery of the patient.

To achieve the above object of the present invention, the present invention provides a holographic thoracoscope system, comprising: the system comprises a plurality of image generating devices, a display device and a display device, wherein the image generating devices are respectively arranged at different parts of the inner wall of the thoracic cavity of a patient subjected to thoracoscopic surgery, each image generating device provides illumination for the thoracic cavity and acquires image information of a corresponding part in the thoracic cavity, and video data containing ID of each image generating device is formed; positioning means for determining where each image generating means is located on the inner wall of the patient's thorax; the receiving and processing device is used for receiving the video data sent by the plurality of image generating devices and synthesizing the plurality of video data according to the positions of the plurality of image generating devices on the inner wall of the chest of the patient so as to obtain a three-dimensional image of the inner part of the chest of the patient; and the flexible display device is used for being arranged on the outer wall of the thoracic cavity of the patient subjected to the thoracoscopic surgery and displaying the three-dimensional image in the thoracic cavity obtained after the processing of the receiving and processing device so that an operator can conveniently carry out the thoracoscopic surgery operation through the three-dimensional image and the surgical instrument.

Wherein the image generation apparatus includes: a base; the image acquisition and transmission assembly is arranged on the base and is used for acquiring image information in the chest cavity; an illumination assembly mounted on the base for providing illumination to the interior of the thorax; a securing assembly mounted on the base for securing the base to the inner wall of the patient's chest.

Preferably, the base is further provided with a clamping structure convenient for clamping of the thoracoscope surgical forceps.

Wherein, fixed subassembly is sucking disc structure or barb structure.

Wherein the image acquisition and transmission assembly comprises: the image acquisition element is used for acquiring image information inside the thoracic cavity; the processing module is connected with the image acquisition element and is used for converting acquired image information into video data; and the wireless transmitting module is connected with the processing module and is used for transmitting the video data carrying the ID of the image acquisition element.

Further, the method also comprises the following steps: and the power supply device is used for being arranged outside the patient body and supplying electric energy to the plurality of image generation devices arranged in the chest cavity of the patient in a wireless mode.

Further, the method also comprises the following steps: and the hard display device is used for at least displaying the picture displayed by the flexible display device.

Furthermore, the system also comprises an operation video acquisition module which is used for at least acquiring the live-action picture and the operation field picture of the thoracoscope operating room and can display the pictures through a hard display device.

Preferably, the plurality of image generating devices includes at least three image generating devices.

Wherein the positioning device comprises: a magnetic field generator disposed outside the patient's body for emitting electromagnetic waves; the electromagnetic wave receiving element is detachably arranged on the thoracoscope surgical forceps used for clamping the image generating device, is connected with the magnetic field generator and is used for receiving the electromagnetic waves sent by the magnetic field generator when the thoracoscope surgical forceps send the clamped image generating device into the thoracic cavity of a patient.

Alternatively, the positioning device comprises a plurality of positioning sensors integrated on a plurality of image generating devices, respectively.

Preferably, the flexible display device is provided with a notch matched with the incision of the thoracoscopic surgery patient.

Compared with the prior art, the holographic thoracoscope system has the following advantages:

according to the holographic thoracoscope system, in the process of performing thoracoscope surgery by an operator, illumination can be provided for the interior of the thoracic cavity, surgical images can be collected and displayed, and an operation incision is not occupied, so that the operation incision is avoided being contended with surgical instruments, the surgical instruments are not interfered, a special endoscope supporting hand is not needed in the thoracoscope surgery process, manpower is saved, the thoracoscope surgery can be performed according to the original operation habit, the operation is convenient, and the success rate is high; in addition, because the operation incision is not occupied, the size of the operation incision can be further reduced, so that the injury to the incision of a patient is reduced, the pain of the patient can be reduced to the maximum extent, and the early recovery of the patient is facilitated.

The following describes embodiments of the present invention in detail with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic structural view of a holographic thoracoscope system of the present invention;

FIG. 2a is a perspective view of a first angle of the image generation device and flexible display device of the present invention on a patient's chest;

FIG. 2b is a perspective view of the image generation device and flexible display device of the present invention at a second angle over the patient's chest;

FIG. 3 is a schematic diagram of a first configuration of an image generating apparatus of the present invention;

FIG. 4 is a schematic diagram of a second configuration of the image generation apparatus of the present invention;

FIG. 5 is a schematic diagram of a third configuration of the image generating apparatus of the present invention;

FIG. 6 is a schematic view of another embodiment of a barb structure of the image forming apparatus of the present invention;

FIG. 7 is a schematic block diagram of the image capture and transfer assembly configuration of the present invention;

FIG. 8 is a block diagram of the schematic structure of the image transmission and display of the present invention;

FIG. 9 is a block diagram of a schematic configuration of power supply of the power supply apparatus of the present invention;

FIG. 10 is a schematic block diagram of a structure of the positioning apparatus of the present invention.

Detailed Description

As shown in fig. 1, which is a schematic structural diagram of the holographic thoracoscope system provided by the present invention, as shown in fig. 2a and fig. 2b, which are perspective views of the image generation device and the flexible display device of the present invention on the thorax of a patient at two angles, respectively, it can be seen that the holographic thoracoscope system of the present invention includes: the image generation devices 3 are respectively arranged at different parts of the inner wall of the thoracic cavity of the patient subjected to the thoracoscopic surgery, each image generation device provides illumination for the thoracic cavity and acquires image information of a corresponding part in the thoracic cavity, and video data containing an ID (identity) of each image generation device is formed; a positioning device 7 for determining the position of each image generating device on the inner wall of the patient's thorax; the receiving and processing device 4 is used for receiving the video data sent by the plurality of image generating devices and synthesizing the plurality of video data according to the positions of the plurality of image generating devices on the inner wall of the chest of the patient so as to obtain a three-dimensional image of the inner part of the chest of the patient; and the flexible display device 2 is used for being arranged on the outer wall of the thoracic cavity of the patient subjected to the thoracoscopic surgery and displaying the three-dimensional image in the thoracic cavity obtained after the processing of the receiving and processing device so that an operator can conveniently carry out the thoracoscopic surgery operation through the three-dimensional image and the surgical instruments.

Specifically, in order to solve the problem that in the process of the single-hole thoracoscope operation in the prior art, a special endoscope hand is required to specially hold a thoracoscope system which extends into the thoracic cavity from an operation incision of a patient, and the thoracoscope system can compete for the incision with surgical instruments and interfere with the surgical instruments to influence the operation efficiency, in the invention, before the operation is performed by using the surgical instruments, a plurality of image generation devices 3 are placed in the thoracic cavity of the patient in advance, the operation is illuminated by the plurality of image generation devices, image information in the thoracic cavity is collected to generate video data with the ID of each image generation device, then the video data are sent to a receiving and processing device 4 which is positioned outside the patient, the receiving and processing device 4 synthesizes the video data sent by the plurality of image generation devices according to the position relationship of the plurality of image generation devices, thereby obtaining a stereoscopic image of the interior of the patient's chest. The three-dimensional images can be displayed on the flexible display device 2 arranged on the outer wall of the chest cavity of the patient, so that an operator can use a surgical instrument to perform operation in the chest cavity by watching the three-dimensional images on the flexible display device 2.

The number of the image generating devices 3 adopted by the invention is at least three (five are shown in fig. 1-2 b), the image generating devices 3 are respectively arranged at different parts of the inner wall of the thoracic cavity of a thoracoscopic surgery patient, and when the image generating devices 3 are arranged, the central connecting lines of the image generating devices 3 are required to be polygonal, so that the three-dimensional images of the different parts in the thoracic cavity can be obtained.

The image generating apparatus of the present invention may adopt a configuration as shown in fig. 3 to 5, including: a base 33; an image acquisition and transmission assembly 31 mounted on the base for acquiring image information of the interior of the thoracic cavity; an illumination assembly 32 mounted on the base for providing illumination to the interior of the thorax; a fixing assembly 35 mounted on the base for fixing the base to the inner wall of the patient's thorax. In addition, the base is also provided with a clamping structure 34 which is convenient for clamping the thoracoscope surgical forceps.

Specifically, the base 33 is a support frame, the image capturing and transmitting assembly 31 and the illuminating assembly 32 are mounted on one side of the base 33, and the fixing assembly 35 is mounted on the other side of the base.

The image capturing and transmitting assembly 31 may adopt a structure as shown in fig. 7, and includes: an image acquisition element 310 for acquiring image information of the interior of the thoracic cavity; a processing module 311 connected to the image capturing element for converting the captured image information into video data; and a wireless transmitting module 312 connected to the processing module for transmitting the video data carrying the image capturing element ID. In addition, the device also comprises a housing for accommodating the image acquisition element 310, the processing module 311 and the wireless transmission module 312. The image acquisition element can be a Charge Coupled Device (CCD), the CCD can acquire image information at a corresponding position in the chest cavity and generate a corresponding analog signal, the analog signal is transmitted to the processing module, the processing module converts the analog signal into a digital signal to generate video data with an ID (identity) corresponding to the image generation device, and the wireless transmission module transmits the video data with the ID of the image generation device in a wireless mode, such as transmitting the video data through Bluetooth. In application, the image capturing and transmitting assembly 31 may also adopt a camera structure capable of transmitting the self ID and the photographed video in the prior art.

Wherein the illumination assembly 32 includes a plurality of illumination lamps, which can be installed at different positions of the housing of the image collecting and transferring assembly 31 to provide illumination at various angles. When in design, the outer cover can be a semi-spherical outer cover as shown in fig. 3, or a plane circular outer cover as shown in fig. 5, and the illuminating lamp can be exposed out of the outer cover (as shown in fig. 3 and 5) or embedded in the outer cover (as shown in fig. 4). During manufacturing, the circuit of the illumination assembly and the circuit of the image acquisition and transmission assembly 31 may be integrated on one circuit board or may be separately disposed. When in use, the camera with the illuminating lamp in the prior art can also be adopted.

Wherein, fixed subassembly 35 is used for being fixed in patient's thorax inner wall with base 33 on, this fixed subassembly 35 can adopt sucker structure (as shown in fig. 4), and sucker structure's opening is up (the opening deviates from the light side promptly), during the operation, presses the base through the operation pincers for sucker structure can adsorb on the inner wall of thorax.

Alternatively, the fixing member 35 may have a barb structure. This barb structure can adopt first structure, promptly, set up a plurality of inside cavity that are the elongated bar or be solid anchor line in deviating from light side (as shown in fig. 3) and/or base both sides (as shown in fig. 5) at the base, the end that stretches out of anchor line is the needle point shape, set up a plurality of barbs that are the shape of falling V at the outer wall of anchor line, a plurality of barbs set up along the axial interval of anchor line, and the V-arrangement barb is followed the anchor line axial by front end to rear end slope, promptly, the directional anchor line point end of front end of V-arrangement barb, rear end opening is towards the base. The barb can be anchored in patient's thorax inner wall, plays the effect with image generation device location in thorax inner wall to can prevent that image generation device location from dropping in the thorax.

During manufacturing, the anchoring lines and the barbs are made of medical absorbable materials. Thus, when the image generating device is taken out after the operation, even if the barb remains on the inner wall of the thoracic cavity of the patient, the patient is not damaged.

Alternatively, the barb structure may be a second structure as shown in fig. 6, in which a fixing rod 353 is disposed on the base, an anchoring tube 352 having a hollow interior is sleeved outside the fixing rod, an extending end of the anchoring tube is in a needle point shape, and a plurality of barbs 352 having an inverted V-shape are disposed on an outer wall of the anchoring tube. Wherein the shape of the barbs is the same as the first structure and will not be repeated here. During manufacturing, the fixed rod and the anchoring pipe can be in interference fit or transition fit. Adopt the second kind of structure, when the operation finishes and needs to take out image generation device, the dead lever can break away from with the anchor pipe, can reduce and drag downwards hard and make the barb to the damage that patient's thorax inner wall caused, and the barb of staying on patient's thorax inner wall can be absorbed.

In addition, the base 33 of the present invention is further provided with a clamping structure 34 for facilitating the clamping of the base by the thoracoscope surgery forceps, and the clamping structure may be a ring-shaped annular groove (as shown in fig. 3) annularly arranged on the periphery of the base 33, or may be a pair of clamping grooves symmetrically arranged on both sides of the outer wall of the base, or of course, may adopt other structures which can be adapted to a pair of jaws of the surgical forceps in the prior art.

The image generating devices of the present invention are positioned by the positioning device 7, so that the video image of each image generating device can be placed according to the position of the video image in the chest cavity when the stereo image is synthesized. The positioning device of the present invention may adopt a structure as shown in fig. 10, including: a magnetic field generator 72 disposed outside the patient's body and for emitting electromagnetic waves; the electromagnetic wave receiving element 71 is detachably mounted on the thoracoscope surgical forceps for clamping the image generating device and is connected with the main machine of the magnetic field generator. When the thoracoscopic forceps are used for delivering the clamped image generating device into the thoracic cavity of a patient, the electromagnetic wave receiving element arranged on the forceps is used for receiving the electromagnetic wave sent by the magnetic field generator, so that the position of the image generating device in the thoracic cavity is determined. Correspondingly, before the thoracoscopic surgery is carried out, the three-dimensional image model of the chest cavity of the patient is constructed through CT, and after the image generating device is sent into the chest cavity of the patient, the corresponding position of the image generating device on the three-dimensional chest cavity image model can be correspondingly obtained according to the position of the image generating device in the chest cavity. For example, a coordinate system is established based on the three-dimensional image model (the origin of coordinates may be set at the operative incision position), and the position of each image generation device within the thoracic cavity may be translated into corresponding coordinates on the coordinate system. In this way, after the video data generated by the image generating devices are sent to the receiving and processing device, the receiving and processing device can correspondingly arrange the data so as to form a complete intrathoracic stereo image.

Alternatively, the positioning device of the present invention may also adopt a configuration including a plurality of positioning sensors (not shown in the drawings) respectively integrated on a plurality of image generating devices. The positioning sensor can adopt a sensor which can acquire the position information of the image generation device in the prior art and wirelessly transmit the position information.

The receiving and processing device 4 of the present invention can receive the video data sent by the plurality of image generating devices, and perform a synthesizing process on the plurality of video data according to the actual positions of the plurality of image generating devices on the inner wall of the thoracic cavity of the patient, so as to obtain a stereoscopic image of the interior of the thoracic cavity of the patient. The receiving and processing means 4 may employ a prior art means that can perform composite processing on a plurality of video data.

And the three-dimensional image inside the patient's thorax can be shown through flexible display device 2, and it is settled on patient's thorax outer wall, and the operator carries out the action of surgical instruments through watching this three-dimensional image to accomplish the thoracoscopic surgery operation.

When in design, the flexible display device 2 can be provided with a notch 21 matched with the incision of the patient in the thoracoscopic surgery.

The thoracoscopic system of the present invention, in addition to the above-described components, may further comprise a wireless power supply means 6 (shown in fig. 9) for being positioned outside the patient's body for wirelessly providing electrical power to the plurality of image generating devices positioned within the patient's thorax. Of course, the image generating device may also be provided with a rechargeable battery.

In addition, a hard display device 5 (as shown in fig. 8) may be further included for displaying at least a picture displayed by the flexible display device. Furthermore, the system also comprises an operation video acquisition module which is used for at least acquiring the live-action picture and the operation field picture of the thoracoscope operating room and can display the pictures through a hard display device.

Next, the structure of the holographic thoracoscope system of one embodiment of the present invention will be described.

The holographic thoracoscope system can be composed of an external wireless power supply (serving as a power supply device), a position sensor (serving as a positioning device), a signal receiving and processing device, a soft image display screen (serving as a flexible display device), a hard image display (serving as a hard display device) and an internal camera matrix (serving as an image generating device).

The connection mode of each device is as follows: the wireless power supply is connected with the power supply through the socket, is arranged outside the operation area and close to the position of the camera matrix and is used for providing a power source for the camera matrix arranged in the patient body. The built-in cameras are attached to the inner wall of the chest and provided with light sources and image collecting lenses, electric power of the built-in cameras comes from a wireless power supply, the cameras are internally provided with position sensors and emit position information of the cameras in real time, and images collected by the cameras are also transmitted to the signal receiving and processing device in a wireless mode. The signal receiving and processing device carries out fusion optimization on the received image information with the position information to form a three-dimensional holographic image in the thoracic cavity. The three-dimensional holographic image is put on a soft image display screen attached to the surface of the chest wall, the final display effect is the image of the operation habit under the original common open operation direct vision, the study is convenient, the operation under a new thoracoscope image system can be completed without the conversion of the operation habit of the open operation-thoracoscope minimally invasive surgery, and the three-dimensional holographic image is synchronously transmitted to a hard image display for the purposes of teaching, operation demonstration and the like.

The wireless power supply is connected with the power supply through the socket, emits electromagnetic waves and provides energy for the built-in camera through the induction coil in the built-in camera.

The position sensor is positioned in the built-in camera, can sense the position and the direction of the built-in camera, provides position information for the image identified by the built-in camera, and is convenient for the image processor to synthesize the three-dimensional holographic image by utilizing the information of the camera.

The signal receiving and processing device is the brain of the whole system, receives the graphic signals from the built-in camera matrix in a wireless mode, combines the real-time position information of the specific camera, and synthesizes the three-dimensional holographic thoracoscope internal image.

The soft image display screen is a foldable flexible display device, can be laid on the chest wall of a patient after being sterilized, and can be operated by directly aiming at the visual angle of an operation area when being operated by an operating doctor. The effect of 'stealth' of the chest wall is achieved through the camera shooting and displaying system.

The hard image display is a common display screen, and synchronously displays the video in the operation for teaching.

The built-in camera matrix comprises more than 3 built-in cameras, an image acquisition camera, a self position sensor, an image wireless transmission system and an induction coil connected with wireless power supply energy are integrated in the built-in camera matrix, a groove convenient to hold is formed in the built-in camera matrix, and the tail end of the built-in camera matrix is provided with an attraction disc for adsorbing and fixing the chest wall.

In summary, the holographic thoracoscope system of the present invention has the following advantages:

Although the embodiments of the present invention have been described in detail, the embodiments of the present invention are not limited thereto, and those skilled in the art can modify the principles of the embodiments of the present invention, and therefore, various modifications made in accordance with the principles of the embodiments of the present invention should be understood to fall within the scope of the embodiments of the present invention.

Claims

1. a holographic thoracoscope system, is characterized in that, comprises:

A plurality of image generating devices are used to be respectively placed on different parts of the inner wall of the thoracic cavity of patients undergoing thoracoscopic surgery. video data;

a positioning device for determining the position of each image generating device on the inner wall of the patient's thoracic cavity;

The receiving and processing device is used for receiving video data sent by multiple image generating devices, and synthesizing the multiple video data according to the positions of the multiple image generating devices on the inner wall of the patient's chest, so as to obtain a stereoscopic image of the patient's chest ;

The flexible display device is used to be placed on the outer wall of the thoracic cavity of a patient undergoing thoracoscopic surgery, and displays the stereoscopic image in the thoracic cavity obtained after being processed by the receiving and processing device, so that the operator can perform thoracoscopic surgery through the stereoscopic image and surgical instruments.

2. The holographic thoracoscope system according to claim 1, wherein the image generating device comprises:

pedestal;

an image acquisition and transmission component installed on the base for acquiring image information inside the chest;

a lighting assembly mounted on the base for illuminating the interior of the thoracic cavity;

A fixing component mounted on the base for fixing the base to the inner wall of the patient's chest.

3 . The holographic thoracoscope system according to claim 2 , wherein the base is further provided with a clamping structure that is convenient for thoracoscopic surgical forceps to be clamped. 4 .

4. The holographic thoracoscope system according to claim 2, wherein the fixing component is a suction cup structure or a barb structure.

5. The holographic thoracoscope system according to claim 2, wherein the image acquisition and transmission assembly comprises:

An image acquisition element for acquiring image information inside the thoracic cavity;

A processing module connected with the image acquisition element for converting the acquired image information into video data;

A wireless transmitting module connected with the processing module for sending out the video data carrying the ID of the image acquisition element.

6. The holographic thoracoscope system according to any one of claims 1-5, characterized in that, further comprising:

The power supply device is arranged outside the patient's body and provides electrical energy to a plurality of image generating devices arranged in the patient's chest cavity in a wireless manner.

7. The holographic thoracoscope system according to any one of claims 1-5, characterized in that, further comprising:

The hard display device is used to display at least the picture displayed by the flexible display device.

8. The holographic thoracoscope system according to claim 1, wherein the plurality of image generating devices comprises at least three image generating devices.

9. The holographic thoracoscope system according to claim 1, wherein the positioning device comprises:

a magnetic field generator, placed outside the patient's body and used to emit electromagnetic waves;

The electromagnetic wave receiving element is detachably mounted on the thoracoscopic surgical forceps for holding the image generating device, and is connected with the magnetic field generator, and is used when the thoracoscopic surgical forceps sends the held image generating device into the chest cavity of the patient , to receive the electromagnetic waves emitted by the magnetic field generator.

10 . The holographic thoracoscope system according to claim 1 , wherein the positioning device comprises a plurality of positioning sensors respectively integrated on a plurality of image generating devices. 11 .