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CN114451996A - Operation navigation system for detecting and drilling wound surface and skin microskin - Google Patents

Operation navigation system for detecting and drilling wound surface and skin microskin Download PDF

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Publication number
CN114451996A
CN114451996A CN202210121570.0A CN202210121570A CN114451996A CN 114451996 A CN114451996 A CN 114451996A CN 202210121570 A CN202210121570 A CN 202210121570A CN 114451996 A CN114451996 A CN 114451996A
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China
Prior art keywords
drilling
light shield
camera
rod
probe
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Pending
Application number
CN202210121570.0A
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Chinese (zh)
Inventor
孙雅丽
胡雪剑
吕国忠
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C&a Light International Medical Investment Management Beijing Co ltd
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C&a Light International Medical Investment Management Beijing Co ltd
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Priority to CN202210121570.0A priority Critical patent/CN114451996A/en
Publication of CN114451996A publication Critical patent/CN114451996A/en
Pending legal-status Critical Current

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods
    • A61B17/32Surgical cutting instruments
    • A61B17/322Skin grafting apparatus
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06Measuring instruments not otherwise provided for
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/14Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00Operating tables; Auxiliary appliances therefor
    • A61G13/02Adjustable operating tables; Controls therefor
    • A61G13/06Adjustable operating tables; Controls therefor raising or lowering of the whole table surface
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00Operating tables; Auxiliary appliances therefor
    • A61G13/02Adjustable operating tables; Controls therefor
    • A61G13/08Adjustable operating tables; Controls therefor the table being divided into different adjustable sections
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00Operating tables; Auxiliary appliances therefor
    • A61G13/10Parts, details or accessories
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00Operating tables; Auxiliary appliances therefor
    • A61G13/10Parts, details or accessories
    • A61G13/12Rests specially adapted therefor; Arrangements of patient-supporting surfaces
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00Operating tables; Auxiliary appliances therefor
    • A61G13/10Parts, details or accessories
    • A61G13/12Rests specially adapted therefor; Arrangements of patient-supporting surfaces
    • A61G13/1205Rests specially adapted therefor; Arrangements of patient-supporting surfaces for specific parts of the body
    • A61G13/121Head or neck
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods
    • A61B17/32Surgical cutting instruments
    • A61B2017/320052Guides for cutting instruments
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046Tracking techniques
    • A61B2034/2055Optical tracking systems
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046Tracking techniques
    • A61B2034/2065Tracking using image or pattern recognition
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06Measuring instruments not otherwise provided for
    • A61B2090/061Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06Measuring instruments not otherwise provided for
    • A61B2090/062Measuring instruments not otherwise provided for penetration depth
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06Measuring instruments not otherwise provided for
    • A61B2090/067Measuring instruments not otherwise provided for for measuring angles

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Neurosurgery (AREA)
  • Otolaryngology (AREA)
  • Plastic & Reconstructive Surgery (AREA)
  • Transplantation (AREA)
  • Surgical Instruments (AREA)

Abstract

The invention discloses a surgical navigation system for detecting and drilling a wound surface and a dermatogic microskin, which comprises: the device comprises a detection device, a camera device, a drilling device and a light shield, wherein the camera device is connected to the inner cavity wall of the light shield and is electrically connected with a PC terminal; the first end of the drilling device is connected to the inner cavity wall of the light shield, the second end of the drilling device is provided with a drilling probe, and the drilling probe is electrically connected with the PC end; the drilling probe rotates to pull the barrier open, and the tip of the drilling probe is provided with a sensor for detecting columnar particle skin at a point. The invention can realize the detection and drilling evaluation of the point columnar microskin and the application of the auxiliary point columnar microskin 3D treatment on wound surface transplantation, hair transplantation and pigment-deficient skin and scars, has high survival rate in granulation wound surface planting, has the function of promoting wound surface healing, solves the difficult problems of complex wound surface and skin repair, and is a novel planting method.

Description

Operation navigation system for detecting and drilling wound surface and skin microskin
The invention relates to the technical field of medical instruments, in particular to a surgical navigation system for detecting and drilling a wound surface and a dermatogic microskin.
Background
In the treatment process of deep burns, wounds difficult to heal and granulation wounds, the traditional operation treatment methods such as skin transplantation or flap transfer are mostly adopted, certain effects are achieved, and a plurality of defects still exist.
In recent years, with the progress of socioeconomic development and aging of population, there is a tendency that the number of cases requiring wound repair due to traffic accidents, industrial injuries, and the like is continuously decreasing, and there are more and more chronic wound patients such as pressure sores (decubitus ulcers), diabetic feet, and rotten feet, which are associated with chronic diseases such as diabetes and lower limb vasculopathy. The patients are old and weak, or have various chronic diseases, the general condition is poor, the wound surface is difficult to repair, and the patients, families and society are burdened.
The inventor considers that the simple operation mode adaptive to both operators and patients is actively sought and explored, and a precise medical treatment means is combined, so that new ideas and technological progress can be brought to the treatment of deep burns, difficult-to-heal wounds and granulation wounds.
Therefore, the invention is invented by hearing expert opinions, and aims to save a great deal of treatment cost for patients who are difficult to use economically, cannot use new materials such as biological dressing, tissue engineering skin and the like and have high prices or patients with special requirements and are greatly limited by a conventional operation treatment method; meanwhile, the patient's own microsomed skin is used for replacing tissue engineering skin consumables, so that the strength is contributed to reducing national medical insurance expenditure.
Disclosure of Invention
In view of the above, the present invention provides a surgical navigation system for wound and dermatology microskin detection and drilling. The purpose is to solve the above-mentioned deficiency and offer.
In order to solve the technical problems, the invention adopts the following technical scheme:
a surgical navigation system for wound and dermatological microskin detection and drilling, comprising: the detection device comprises a camera device, a drilling device and a light shield, wherein the camera device is an optical tracker, is connected to the inner cavity wall of the light shield and is electrically connected with the PC end; the first end of the drilling device is connected to the inner cavity wall of the light shield, the second end of the drilling device is provided with a drilling probe, and the drilling probe is electrically connected with the PC end; the drilling probe rotates to pull the barrier open, and the tip of the drilling probe is provided with a sensor for detecting columnar particle skin at a point.
Preferably, the detection device further comprises a lifting rod, the lifting rod is fixedly connected with the light shield, and a hand wheel for adjusting the extension of the lifting rod is arranged on the lifting rod.
Preferably, the folding bed further comprises a folding bed, and the folding bed comprises a folding bed board, an electric lifting platform and an electric sliding seat; wherein, the PC end of the electric sliding seat is electrically connected; the electric lifting platform is connected to the top end of the electric sliding seat in a sliding manner and is electrically connected with the PC end; the folding bed board is fixedly connected with the top end of the electric lifting platform.
Preferably, the drilling device is an electric telescopic rod, the first end of the electric telescopic rod is movably connected to the inner cavity wall of the light shield through a sliding device, and the position of the drilling probe is adjusted; or the drilling device is a mechanical arm, the first end of the mechanical arm is connected with the inner cavity wall of the light shield through a first fixing rod, and the second end of the mechanical arm moves freely to adjust the position of the drilling probe.
Preferably, the camera device specifically comprises a second fixed rod, a movable rod and a camera; the first end of the second fixed rod is fixedly connected with the inner cavity wall of the light shield, and the second end of the second fixed rod is movably connected with the first end of the movable rod; the second end of the movable rod is fixedly connected with the camera; the movable rod moves around the second fixed rod to adjust the position of the camera.
Compared with the prior art, the invention has the following technical effects:
1. the skin tissue area is identified by arranging a camera device in the light shield, and the camera device is matched with a drilling detection head to rotate to aim at hairs and detect the columnar microsomes of the points by a sensor, so that the detection and drilling evaluation of the columnar microsomes are realized;
2. the electric lifting platform slides on the electric sliding seat and drives the folding bed board to move up and down through the electric lifting platform, so that the optimal detection and drilling position can be conveniently found;
3. the distance between the object to be detected and the drilled object and the camera can be finely adjusted by manually adjusting the extension and contraction of the lifting rod.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment 1 of a surgical navigation system for wound and dermatologic microskin detection and drilling according to the present invention;
FIG. 2 is a schematic diagram of the internal structure of a detection device of an embodiment 1 of the surgical navigation system for wound and dermatology microskin detection and drilling according to the present invention;
FIG. 3 is a schematic structural diagram of an embodiment 2 of a surgical navigation system for wound and dermatologic microskin detection and drilling according to the present invention;
FIG. 4 is a schematic diagram of the internal structure of a detection device of an embodiment 2 of the surgical navigation system for wound and dermatology microskin detection and drilling according to the present invention;
in the figure: 1-a detection device; 11-a camera device; 12-a drilling device; 13-a light shield; 14-a lifting rod; 2-PC end; 3-folding the bed; 31-folding bed board; 32-an electric lifting platform; 33-electric slide.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1-2, a surgical navigation system for wound and dermatological microskin detection and drilling includes: detection device 1, PC end 2 and folding bed 3, wherein, detection device 1 specifically includes camera device 11, bores and gets device 12, lens hood 13 and lifter 14, lifter 14 and lens hood 13 fixed connection, and camera device 11 sets up in the inner chamber wall of lens hood 13, and lens hood 13 covers camera device 11 completely, avoids the influence of outside light to camera device 11. And the camera device 11 is electrically connected with the PC end 2, the camera device 11 identifies the detection and drilling area and transmits the identification information to the PC end 2, and the PC end is a graphic computer workstation.
The drilling device 12 is an electric telescopic rod, and the electric telescopic rod is electrically connected with the PC end 2. The electric telescopic rod is movably connected to the inner cavity wall of the light shield 13 through a sliding device. Its slider includes slide rail, slider and haulage rope, and the slide rail is fixed to be set up in the inner chamber wall of lens hood 13, and the slider sets up inside the slide rail, and the haulage rope passes the inner chamber wall of lens hood 13 and the first end fixed connection of slider, and the second end of slider and electric telescopic handle's first end fixed connection, electric telescopic handle's second end is equipped with and bores and gets the detecting head. The traction rope drives the sliding block to slide and is matched with the electric telescopic rod to stretch, so that the position of the probe is adjusted and drilled. The drilling probe is electrically connected with the PC end 2, the drilling probe rotates to pull away the barrier, a sensor used for detecting the columnar particle skin of the point is arranged at the tip end of the drilling probe, and information such as the depth of the particle skin, the angle of the columnar particle skin, the diameter of the columnar particle skin and the number of the columnar particle skin is extracted and transmitted to the PC end 2.
The camera device 11 specifically comprises a second fixing rod, a movable rod and a camera, wherein the first end of the second fixing rod is fixedly connected with the inner cavity wall of the light shield 13, the second end of the second fixing rod is movably connected with the first end of the movable rod, the second end of the movable rod is fixedly connected with the camera, and the movable rod moves around the second fixing rod, so that the position of the camera can be adjusted according to the volume and the shape of different objects to be measured.
The camera devices 11 are arranged into two groups, and the two groups of camera devices 11 are symmetrically arranged around the drilling device 12, so that the two groups of camera devices 11 can acquire information by 360 degrees.
The folding bed 3 specifically includes folding bed board 31, electric lift platform 32 and electronic slide 33, and wherein, electronic slide 33 parcel slide and gleitbretter, gleitbretter pass through multiunit electronic roller sliding connection in the top of slide, and electronic roller is connected with PC end 2 electricity. The electric lifting platform 32 is fixedly connected to the top end of the sliding sheet, the electric lifting platform 32 is electrically connected to the PC end 2, and the folding bed board 31 is fixedly connected to the top end of the electric lifting platform 32. After a human body lies on the folding bed board 31, the head of the human body is fixed on the head of the folding bed board 31, the human body slides on the electric sliding seat 33 through the electric lifting table 32, and the folding bed board 31 is driven to move up and down through the electric lifting table 32, so that the best detection and drilling position can be conveniently found.
The lifting rod 14 is provided with a hand wheel, and the fine adjustment of the distance between the head of the human body and the camera can be realized by manually adjusting the extension of the lifting rod 14.
In this embodiment, the imaging device performs three-dimensional reconstruction on three-dimensional motion information of the shape, position, and/or motion trajectory of a two-dimensional image of a surgical site taken before a patient operation, and performs registration and fusion on two reconstructed three-dimensional images in the same coordinate system to obtain a three-dimensional navigation image.
The three-dimensional motion capture system comprises at least two cameras, the cameras are connected with the PC end 2, namely the graphic workstation, the cameras calculate the area calculation of skin tissues of the surgical position of a patient according to captured images by adopting a binocular body vision technology, and three-dimensional motion information evaluation of the diameter, the angle, the quantity and/or the motion trail of the columnar microskin on the tissues.
The drilling device 12 is fixed at a ray receiving end of the ray device through a telescopic metal rod and moves up and down along the ray device and the ray direction, the range of a doctor operating surgical instruments is arranged in the inserting and capturing range of the three-dimensional motion capturing system by adjusting the distance between the three-dimensional motion capturing system and the skin surface of a surgical part of a patient, meanwhile, a transformation matrix between a positioning coordinate system and a world coordinate system is established, wherein the world coordinate system is a coordinate system of a three-dimensional image of the patient obtained by shooting the skin tissue part of the surgical part of the patient by the ray device before surgery by taking the center of a guide rail of the ray device as the center, the positioning coordinate system takes the center of the three-dimensional motion capturing system as the origin, and the directions of three coordinate axes are respectively parallel to the directions of the coordinate axes of the world coordinate system.
In this embodiment, the requirements for the host system are as follows:
1, the speed of a CPU is more than or equal to 3.0 GHz; the internal memory is more than or equal to 8GB, and the hard disk is more than or equal to 1 TB;
2. the display is more than or equal to 27 inches, and a multi-point touch function is supported; the keyboard and the mouse are convenient to operate;
3. the host machine has the UPS function, and can continuously work for more than 10 minutes after power failure;
4. has USB function, and can transmit the image data of the navigation process to USB. The system is connected with a hospital local area network to transmit standard images.
5. The host is provided with a safety protection system, can self-define user authority, has functions of encryption, firewall and the like, and protects the data safety of the navigation host;
positioning and tracking system:
1. the optical tracking technology is configured, and the function of upgrading the optical tracking technology by the same machine is achieved;
2. the dynamic reference positioning technology ensures that the navigation precision is not influenced when the patient and the bed move together;
software system
The navigation precision of the operation area can be displayed in two-dimensional space and three-dimensional space by different colors.
Can automatically identify and calibrate the area of a wound area, the number, the diameter, the growth angle and the like of hair follicles
Displaying the position track of the operation tool tracked in real time in the operation, and simultaneously displaying the position track on the image pictures of axial position, sagittal position and coronal position;
the system has the functions of automatic screen shooting and synchronous video recording, can automatically shoot and store the navigation image picture as a JPEG format file to a workstation hard disk, can synchronously record the navigation real-time image, and can directly preview and edit in software;
the mechanical arm requires:
the highest using rotating speed is as follows: not greater than 15000 rpm. The error between the maximum rotating speed and the maximum idling rotating speed is within the range of +/-10%.
The locked torque is not less than 1.3N cm
Navigation tool (drill requirement):
the 1 drill is made of austenitic stainless steel such as X2CrNi18-9, X5CrNi18-9, X6CrNiNb18-10, X5CrNiMo17-12-2, 06Cr19Ni10, SUS304 and the like in ISO/TS15510:2003, or other austenitic stainless steel equivalent to the steel.
2 the external diameter of the drill is: phi 0.6mm, phi 0.8mm, phi 1.0mm, phi 1.2mm, phi 1.5mm, phi 1.8mm, phi 2.0mm, phi 2.3mm, phi 2.5mm, phi 3.0mm
3 the length of the drilling needle is not more than 5mm
The 4-bit hardness should not be less than 210HV 10.
5 drill corrosion resistance: the corrosion resistance test method of the stainless steel medical instrument can reach 5.4 b-level regulations in YY/T0149-2018.
6 the surface roughness Ra of the drill bit is less than or equal to 3.2 mu m.
The working principle is as follows:
the user lies on the folding bed board 31, and the head of the user is fixed on the head of the folding bed board 31; the electric rollers rotate to drive the electric lifting platform 32 and the folding bed plate 31 to slide until the head of the user moves to the position below the drilling probe; the electric lifting platform 32 moves in a telescopic way, so that the head of a user keeps a desired distance from the drilling probe;
the movable rod moves around the second fixed rod, the angle of the camera is adjusted to identify hairs on the skin tissue, the camera is covered inside the light shield 13 and is not affected by an external light source, so that the accuracy of identifying the hair follicle tissue is improved, the shot information is transmitted to the PC end 2, and an area to be drilled and detected is determined;
medical personnel haulage rope drives the slider at the slide rail internal motion, thereby adjustment electric telescopic handle's position, and control electric telescopic handle concertina movement, touch skin tissue until boring the detecting head, the restart bores and gets the hair on the detecting head rotates the alignment skin tissue, back sensor probe point column particle skin information, and with information transfer to PC end 2, wherein, PC end pair draws to the particle skin information and screens the evaluation, is favorable to improving the efficiency of surveying to point column particle skin.
Example 2
Referring to fig. 3-4, a surgical navigation system for wound and dermatological microskin detection and drilling includes: detection device 1, PC end 2 and folding bed 3, wherein, detection device 1 specifically includes camera device 11, bores and gets device 12, lens hood 13 and lifter 14, lifter 14 and lens hood 13 fixed connection, and camera device 11 sets up in the inner chamber wall of lens hood 13, and lens hood 13 covers camera device 11 completely, avoids the influence of outside light to camera device 11. And, the camera device 11 is electrically connected to the PC terminal 2, and the camera device 11 recognizes the detection and drilling area and transmits the recognition information to the PC terminal 2.
The drilling device 12 is a mechanical arm, the mechanical arm is electrically connected with the PC end 2, and the PC end 2 controls the mechanical arm to move. The first end of the mechanical arm is connected with the inner cavity wall of the light shield 13 through a first fixing rod, and the second end of the mechanical arm is provided with a drilling probe. The position of the drilling probe is adjusted through the free movement of the second end of the mechanical arm. The drilling probe is electrically connected with the PC end 2, the drilling probe rotates to pull out the barrier, then the skin tissue is stripped by rotating forwards or reversely or alternatively rotating forwards and backwards, a sensor for detecting the columnar microskin of the point is arranged at the tip end of the drilling probe, and information such as the depth of the microskin, the angle of the columnar microskin, the diameter of the columnar microskin, the number of the columnar microskin and the like is extracted and transmitted to the PC end 2.
The length of the first fixing rod is greater than the depth of the light shield 13, so that the mechanical arm is prevented from moving and colliding with the camera device 11.
The camera device 11 specifically comprises a second fixing rod, a movable rod and a camera, wherein the first end of the second fixing rod is fixedly connected with the inner cavity wall of the light shield 13, the second end of the second fixing rod is movably connected with the first end of the movable rod, the second end of the movable rod is fixedly connected with the camera, and the movable rod moves around the second fixing rod, so that the position of the camera can be adjusted according to the volume and the shape of different objects to be measured.
The camera devices 11 are arranged into two groups, and the two groups of camera devices 11 are symmetrically arranged around the drilling device 12, so that the two groups of camera devices 11 can acquire information by 360 degrees.
The folding bed 3 specifically includes folding bed board 31, electric lift platform 32 and electronic slide 33, and wherein, electronic slide 33 parcel slide and gleitbretter, gleitbretter pass through multiunit electronic roller sliding connection in the top of slide, and electronic roller is connected with PC end 2 electricity. The electric lifting platform 32 is fixedly connected to the top end of the sliding sheet, the electric lifting platform 32 is electrically connected to the PC end 2, and the folding bed board 31 is fixedly connected to the top end of the electric lifting platform 32. After a human body lies on the folding bed board 31, the head of the human body is fixed on the head of the folding bed board 31, the human body slides on the electric sliding seat 33 through the electric lifting table 32, and the folding bed board 31 is driven to move up and down through the electric lifting table 32, so that the best detection and drilling position can be conveniently found.
The lifting rod 14 is provided with a hand wheel, and the fine adjustment of the distance between the head of the human body and the camera can be realized by manually adjusting the extension of the lifting rod 14.
In this embodiment, the imaging device performs three-dimensional reconstruction on three-dimensional motion information of the shape, position, and/or motion trajectory of a two-dimensional image of a surgical site taken before a patient operation, and performs registration and fusion on two reconstructed three-dimensional images in the same coordinate system to obtain a three-dimensional navigation image.
The three-dimensional motion capture system comprises at least two cameras, the cameras are connected with the PC end 2, namely the graphic workstation, the cameras calculate the area calculation of skin tissues of the surgical position of a patient according to captured images by adopting a binocular body vision technology, and three-dimensional motion information evaluation of the diameter, the angle, the quantity and/or the motion trail of the columnar microskin on the tissues.
The drilling device 12 is fixed at a ray receiving end of the ray device through a telescopic metal rod and moves up and down along the ray device and the ray direction, the range of a doctor operating surgical instruments is arranged in the inserting and capturing range of the three-dimensional motion capturing system by adjusting the distance between the three-dimensional motion capturing system and the skin surface of a surgical part of a patient, meanwhile, a transformation matrix between a positioning coordinate system and a world coordinate system is established, wherein the world coordinate system is a coordinate system of a three-dimensional image of the patient obtained by shooting the skin tissue part of the surgical part of the patient by the ray device before surgery by taking the center of a guide rail of the ray device as the center, the positioning coordinate system takes the center of the three-dimensional motion capturing system as the origin, and the directions of three coordinate axes are respectively parallel to the directions of the coordinate axes of the world coordinate system.
In this embodiment, the requirements for the host system are as follows:
1, the speed of a CPU is more than or equal to 3.0 GHz; the internal memory is more than or equal to 8GB, and the hard disk is more than or equal to 1 TB;
2. the display is more than or equal to 27 inches, and a multi-point touch function is supported; the keyboard and the mouse are convenient to operate;
3. the host machine has the UPS function, and can continuously work for more than 10 minutes after power failure;
4. has USB function, and can transmit the image data of the navigation process to USB. The system is connected with a hospital local area network to transmit standard images.
5. The host is provided with a safety protection system, can self-define user authority, has functions of encryption, firewall and the like, and protects the data safety of the navigation host;
positioning and tracking system:
1. the optical tracking technology is configured, and the function of upgrading the optical tracking technology by the same machine is achieved;
2. the dynamic reference positioning technology ensures that the navigation precision is not influenced when the patient and the bed move together;
software system
The navigation precision of the operation area can be displayed in two-dimensional space and three-dimensional space by different colors.
Can automatically identify and calibrate the area of a wound area, the number, the diameter, the growth angle and the like of hair follicles
Displaying the position track of the surgical tool tracked in real time in the operation, and simultaneously displaying the position track on the axial position image, the sagittal position image and the coronal position image;
the system has the functions of automatic screen shooting and synchronous video recording, can automatically shoot and store the navigation image picture as a JPEG format file to a workstation hard disk, can synchronously record the navigation real-time image, and can directly preview and edit in software;
the mechanical arm requires:
the highest using rotating speed is as follows: not greater than 15000 rpm. The error between the maximum rotating speed and the maximum idling rotating speed is within the range of +/-10%.
The locked torque is not less than 1.3N cm
Navigation tool (drill requirement):
the 1 drill is made of austenitic stainless steel such as X2CrNi18-9, X5CrNi18-9, X6CrNiNb18-10, X5CrNiMo17-12-2, 06Cr19Ni10, SUS304 and the like in ISO/TS15510:2003, or other austenitic stainless steel equivalent to the steel.
2 the external diameter of the drill is: phi 0.6mm, phi 0.8mm, phi 1.0mm, phi 1.2mm, phi 1.5mm, phi 1.8mm, phi 2.0mm, phi 2.3mm, phi 2.5mm, phi 3.0mm
3 the length of the drilling needle is not more than 5mm
The 4-bit hardness should not be less than 210HV 10.
5 drill corrosion resistance: the corrosion resistance test method of the stainless steel medical instrument can reach 5.4 b-level regulations in YY/T0149-2018.
6 the surface roughness Ra of the drill bit is less than or equal to 3.2 mu m.
The working principle is as follows:
the doctor can drill hair on the head of the patient or skin tissues at hidden positions such as four limbs, auricles, armpits and the like to be used as a donor area.
Thus, the user lies on the folding bed board 31, and the head of the user is fixed on the head of the folding bed board 31; the multiple groups of electric rollers rotate to drive the electric lifting platform 32 and the folding bed plate 31 to slide until the head or the limbs of the user move to the position below the drilling detection head; the electric lifting platform 32 moves in a telescopic way, so that the head or the four limbs of the user keep a desired distance from the drilling probe;
the movable rod moves around the second fixed rod, the angle of the camera is adjusted to identify hairs on the skin tissue, the camera is covered inside the light shield 13 and is not affected by an external light source, so that the accuracy of identifying the hairs on the tissue is improved, the shot hair information is transmitted to the PC end 2, and a region to be drilled and detected is determined;
therefore, the position of the electric telescopic rod is adjusted, the electric telescopic rod is controlled to do telescopic motion until the drilling detection head touches the skin tissue, then the drilling detection head is started to rotate to aim at hairs on the skin tissue, the post sensor detects the columnar microskin information of the point and transmits the information to the PC end 2, and the PC end extracts the microskin information to be screened and evaluated, so that the efficiency of detecting the columnar microskin of the point is improved. Thereby implementing the detection function.
And a drilling probe is arranged at the second end of the mechanical arm. The position of the drilling probe is adjusted through the free movement of the second end of the mechanical arm. The drilling probe is electrically connected with the PC end 2, the drilling probe rotates to pull out the barrier, then the skin tissue is stripped by rotating forwards or reversely or alternatively rotating forwards and backwards, a sensor for detecting the columnar particle skins of the points is arranged at the tip end of the drilling probe, and information such as the depth of the particle skins, the angle of the columnar particle skins, the diameter of the columnar particle skins, the number of the columnar particle skins and the like is extracted and transmitted to the PC end 2, so that the drilling function is realized.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the technical scope of the present invention.

Claims (5)

1. A surgical navigation system for wound and dermatological microskin detection and drilling, comprising: the device comprises a detection device (1) and a PC (personal computer) end (2);
the detection device (1) specifically comprises a camera device (11), a drilling device (12) and a light shield (13), wherein the camera device (11) is connected to the inner cavity wall of the light shield (13), and the camera device (11) is electrically connected with the PC end (2); the first end of the drilling device (12) is connected to the inner cavity wall of the light shield (13), the second end of the drilling device (12) is provided with a drilling probe, and the drilling probe is electrically connected with the PC end (2); the drilling probe rotates to pull the barrier open, and the tip of the drilling probe is provided with a sensor for detecting columnar particle skin of the point.
2. The device according to claim 1, wherein the detection device (1) further comprises a lifting rod (14), the lifting rod (14) is fixedly connected with the light shield (13), and a hand wheel for adjusting the extension of the lifting rod (14) is arranged on the lifting rod (14).
3. The device according to claim 1, characterized by further comprising a folding bed (3), the folding bed (3) comprising in particular a folding bed plate (31), an electric lifting table (32) and an electric slide (33);
wherein the electric sliding seat (33) is electrically connected with the PC end (2); the electric lifting platform (32) is connected to the top end of the electric sliding seat (33) in a sliding manner, and the electric lifting platform (32) is electrically connected with the PC end (2); the folding bed board (31) is fixedly connected to the top end of the electric lifting platform (32).
4. The device according to claim 1, characterized in that the drilling device (12) is an electric telescopic rod, the first end of which is movably connected to the inner cavity wall of the light shield (13) through a sliding device to adjust the position of the drilling probe;
or the drilling device (12) is a mechanical arm, the first end of the mechanical arm is connected with the inner cavity wall of the light shield (13) through a first fixing rod, and the second end of the mechanical arm moves freely to adjust the position of the drilling probe.
5. The device according to claim 1, characterized in that said camera means (11) comprise in particular a second fixed bar, a movable bar and a camera;
the first end of the second fixed rod is fixedly connected with the inner cavity wall of the light shield (13), and the second end of the second fixed rod is movably connected with the first end of the movable rod; the second end of the movable rod is fixedly connected with the camera; the movable rod moves around the second fixed rod to adjust the position of the camera.
CN202210121570.0A 2022-02-09 2022-02-09 Operation navigation system for detecting and drilling wound surface and skin microskin Pending CN114451996A (en)

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