CN103479355B - Minimally invasive surgery tool with non-invasive force and impedance parameter integrated monitoring - Google Patents
Minimally invasive surgery tool with non-invasive force and impedance parameter integrated monitoring Download PDFInfo
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- CN103479355B CN103479355B CN201310470920.5A CN201310470920A CN103479355B CN 103479355 B CN103479355 B CN 103479355B CN 201310470920 A CN201310470920 A CN 201310470920A CN 103479355 B CN103479355 B CN 103479355B
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Abstract
A minimally invasive surgery tool with non-invasive force and impedance parameter integrated monitoring solves the problem that hands of a doctor lose the touch sense under a laparoscope, and tissue can not be recognized, and comprises a stainless steel cylinder, wherein an electrode supporting column is arranged in the stainless steel cylinder and fixed in the cylinder through a plastic plug, and the electrode supporting column is provided with two leading-out wires for being connected with an impedance analysis instrument. The lower end of the electrode supporting column is provided with two rotation shafts which are used for installing semispherical electrodes, the semispherical electrodes are fixed on the supporting column through threads on the rotation shafts which are respectively provided with a semispherical electrode capable of rotating around the rotation shaft, and the semispherical electrodes are connected with the leading-out wires. The minimally invasive surgery tool has the advantages of being noninvasive, low in cost, safe, hazard free, simple in operation, abundant in information, and the like.
Description
Technical field
The invention belongs to technical field of medical instruments, be specifically related to the Minimally Invasive Surgery instrument of a kind of non-invasive force and electrical impedance parameter combined monitoring, object is in peritoneoscope micro-wound surgical operation, realize the real-time measurement to the anti-parameter of tissue resistance, helps doctor to complete the identification of tissue.
Background technology
In order to overcome the shortcoming that doctor's hand feeling is lost under peritoneoscope, the force transducer of particular design is often used to part and replaces doctor's hand feeling function.But this method is only the classification and the pathological state that are judged tissue by the mechanical characteristic of material, because the very few judging nicety rate that causes of quantity of information is lower.So the method finding specific force more responsive replaces the feeling function even surmounting doctor's hands to be the important channel solved the problem.
Bio-electrical impedance technology utilizes various tissue, organ has different electrical parameters, extracts relevant biomedical information, thus identifies different tissues and organ.This technology has the features such as noinvasive, cheapness, safety, nonhazardous, simple to operate and abundant information, is with a wide range of applications.Also bio-electrical impedance technology is not used for identifying different soft tissue in micro-wound surgical operation at present.
Summary of the invention
Under the present invention seeks to solve peritoneoscope, doctor's hand feeling loses the problem cannot carrying out tissue identification, the Minimally Invasive Surgery instrument of a kind of non-invasive force and electrical impedance parameter combined monitoring is provided, to realize the real-time measurement to the anti-parameter of tissue resistance in peritoneoscope micro-wound surgical operation, doctor is helped to complete the identification of tissue.Judge that tissue class is compared with the traditional method of pathological state with the mechanical characteristic only by material, this method has higher recognition accuracy.
The Minimally Invasive Surgery instrument of non-invasive force provided by the invention and electrical impedance parameter combined monitoring, comprise a rustless steel cylinder, an electrode supporting post is installed in rustless steel cylinder, support column is fixed in cylinder by plastic plug, electrode supporting post is provided with two for connecting the extraction wire of impedance analysis instrument, electrode supporting post lower end is provided with two for installing the rotating shaft of dome electrode, fixing on the support columns by the screw thread in rotating shaft, rotating shaft is separately installed with a dome electrode that can rotate around the axis, dome electrode is connected with extraction wire.The spacing of two dome electrode is 4mm.
advantage of the present invention and good effect:
The present invention has the features such as noinvasive, cheapness, safety, nonhazardous, simple to operate and abundant information.
Accompanying drawing explanation
Fig. 1 is the Minimally Invasive Surgery tool construction sketch of non-invasive force and electrical impedance parameter combined monitoring.
In figure, 1 draws wire, 2 rustless steel cylinders, 3 three-dimensional force sensors, 4 electrode supporting posts, the rotating shaft of 5 dome electrode, 6 dome electrode, 7 plastic plugs.
Detailed description of the invention
embodiment 1:
As shown in Figure 1, the Minimally Invasive Surgery instrument of non-invasive force provided by the invention and electrical impedance parameter combined monitoring, in figure, 1 is two of impedance measurement and draws wires, for connecting impedance analysis instrument; 2 is rustless steel cylinders of diameter 12mm; 3 is three-dimensional force sensors, and sensor as shown in patent 201110123095.2, and is fixed on cylinder according to the method shown in patent 201110123095.2 by the method for designing of sensor; 4 is electrode supporting posts, and support column is fixed on cylinder inner wall by plastic plug 7, is connected with extraction wire 1; 5 is rotating shafts of dome electrode, is fixed on electrode supporting post 4 by screw thread; 6 is dome electrode, is arranged in rotating shaft 5, can 5 rotate around the shaft, two electrode spacing 4mm.
When operative doctor needs to detect tissue, by operation tool along in the aperture insertosome on abdominal cavity of patients, and apply certain power two dome electrode is contacted with tissue surface to be monitored, complete the measurement of electrical impedance and power, the frequency range of impedance bioelectrical measurement between 200 kHz to 5MHz, final display measurement result.Two dome electrode can make this operation tool be free to slide and to organ not damaged at tissue surface.
Be located at and organize the impedance value that A records to be
r a, the force value that sensor records is
f a; Organizing the impedance value that B records be
r b, the force value that sensor records is
f b.If organize A and organize B to be same tissue, then
r awith
r brelation be:
If organize A and organize B not to be same tissue, then the ratio of the two electrical impedance is also relevant with the electrical conductivity of tissue, does not meet above-mentioned relation.Therefore, the present invention defines the index similarity S of tissue and is
If S is close to 0, then can thinks and organize A and organize B to be same tissue.S distance 0 is far away, organizes A and organizes B not to be same tissue.
Claims (2)
1. the Minimally Invasive Surgery instrument of a non-invasive force and electrical impedance parameter combined monitoring, it is characterized in that, this instrument comprises a rustless steel cylinder, an electrode supporting post is installed in rustless steel cylinder, support column is fixed in cylinder by plastic plug, electrode supporting post is provided with two for connecting the extraction wire of impedance analysis instrument, electrode supporting post lower end is provided with two for installing the rotating shaft of dome electrode, fixing on the support columns by the screw thread in rotating shaft, rotating shaft is separately installed with a dome electrode that can rotate around the axis, dome electrode is connected with extraction wire, rustless steel cylinder internal upper part is provided with a three-dimensional force sensor, produced power is contacted with tissue surface to be monitored for measuring dome electrode.
2. the Minimally Invasive Surgery instrument of non-invasive force according to claim 1 and electrical impedance parameter combined monitoring, is characterized in that the spacing of two described dome electrode is 4mm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310470920.5A CN103479355B (en) | 2013-10-11 | 2013-10-11 | Minimally invasive surgery tool with non-invasive force and impedance parameter integrated monitoring |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310470920.5A CN103479355B (en) | 2013-10-11 | 2013-10-11 | Minimally invasive surgery tool with non-invasive force and impedance parameter integrated monitoring |
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| Publication Number | Publication Date |
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| CN103479355A CN103479355A (en) | 2014-01-01 |
| CN103479355B true CN103479355B (en) | 2015-04-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310470920.5A Active CN103479355B (en) | 2013-10-11 | 2013-10-11 | Minimally invasive surgery tool with non-invasive force and impedance parameter integrated monitoring |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104055514B (en) * | 2014-07-04 | 2016-07-27 | 重庆邮电大学 | The brace type rectum electrical impedance characteristics detecting device of Wicresoft |
| CN108089060A (en) * | 2018-02-23 | 2018-05-29 | 中国人民解放军第四军医大学 | Noninvasive biological tissue's device for measuring dielectric characteristics |
| CN115500769A (en) * | 2022-09-26 | 2022-12-23 | 武汉中科科理光电技术有限公司 | Electrode endoscope system and using method thereof |
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| US6491647B1 (en) * | 1998-09-23 | 2002-12-10 | Active Signal Technologies, Inc. | Physiological sensing device |
| US6650931B1 (en) * | 2001-11-14 | 2003-11-18 | Pacesetter, Inc. | System and method of automatically determining the onsets and ends of cardiac events and far-field signals |
| US7181261B2 (en) * | 2000-05-15 | 2007-02-20 | Silver James H | Implantable, retrievable, thrombus minimizing sensors |
| CN101677812A (en) * | 2007-03-23 | 2010-03-24 | 显著外科技术公司 | Surgical device and using method thereof |
| CN102151179A (en) * | 2011-05-13 | 2011-08-17 | 南开大学 | Three-dimensional force sensor for minimally invasive surgery robot |
| EP2402830A1 (en) * | 2010-07-02 | 2012-01-04 | Technische Universität Darmstadt | Invention comprising measurement and control system for a number of converters |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7769420B2 (en) * | 2000-05-15 | 2010-08-03 | Silver James H | Sensors for detecting substances indicative of stroke, ischemia, or myocardial infarction |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6491647B1 (en) * | 1998-09-23 | 2002-12-10 | Active Signal Technologies, Inc. | Physiological sensing device |
| US7181261B2 (en) * | 2000-05-15 | 2007-02-20 | Silver James H | Implantable, retrievable, thrombus minimizing sensors |
| US6650931B1 (en) * | 2001-11-14 | 2003-11-18 | Pacesetter, Inc. | System and method of automatically determining the onsets and ends of cardiac events and far-field signals |
| CN101677812A (en) * | 2007-03-23 | 2010-03-24 | 显著外科技术公司 | Surgical device and using method thereof |
| EP2402830A1 (en) * | 2010-07-02 | 2012-01-04 | Technische Universität Darmstadt | Invention comprising measurement and control system for a number of converters |
| CN102151179A (en) * | 2011-05-13 | 2011-08-17 | 南开大学 | Three-dimensional force sensor for minimally invasive surgery robot |
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