CN104127209A - Endoscope holographic imaging surgical system - Google Patents
Endoscope holographic imaging surgical system Download PDFInfo
- Publication number
- CN104127209A CN104127209A CN201410393829.2A CN201410393829A CN104127209A CN 104127209 A CN104127209 A CN 104127209A CN 201410393829 A CN201410393829 A CN 201410393829A CN 104127209 A CN104127209 A CN 104127209A
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- CN
- China
- Prior art keywords
- glove
- finger
- digitorum manus
- articulations digitorum
- holographic imaging
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/3201—Scissors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/00296—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means mounted on an endoscope
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
Abstract
The invention discloses an endoscope holographic imaging surgical system which comprises a laparoscope with a rotatable end, a display device and a controllable surgical instrument. The endoscope holographic imaging surgical system is technically characterized in that the rotatable front end of the laparoscope is provided with a hard end; the display device comprises a slit grating type vertical displayer and an optoelectronic signal converter, and the slit grating type vertical displayer and the optoelectronic signal converter are arranged in a staggered mode and correspond to a left eye image and a right eye image; the controllable surgical instrument is composed of an surgical device and a control device; the control device comprises a position sensor, a glove controller and a control glove or a somatosensory catching device; the glove controller is arranged on the wrist portion of the glove, a plurality of positioning receiving ends are distributed in the position sensor, and the glove controller is provided with a positioning emitting end; the control glove is provided with a starting end, a selection end, a trigger end and a sensor. The endoscope holographic imaging surgical system fundamentally solves the problems that when an existing endoscope surgical device is used in the surgical process, the field of view is limited seriously, observation is inconvenient, and continuous pneumoperitoneum is prone to occurrence in the surgical process.
Description
Technical field
The invention belongs to medical instruments field, relate in particular to a kind of use visual or take a picture and check the chamber of human body or the surgical device of pipe, specifically a kind of chamber mirror holographic imaging surgery systems.This system can be improved the imaging technique of original cavity mirror system, is also optionally applied in robotic surgical system.
Background technology
Along with scientific and technological development, present stage most of surgery open operation as abdominal, open chest surgery etc., substituted by endoscope-assistant surgery gradually.Due to endoscope-assistant surgery Wicresoft, not only obviously shorten being in hospital the cycle of patient, and alleviated greatly the misery of patients'perioperative.But endoscope-assistant surgery still has its limitation.First, endoscope-assistant surgery requires relatively high to patient's technical merit, has therefore hindered its universal and development.Secondly, part operation need to match with special position, and as operation on gallbladder needs head height position, gynecilogical operation needs a low level etc.Again, CO
2, O
2or N
2in the full medium as most of endoscope-assistant surgery, but conventionally can produce larger impact to human body, increase as persistence gases at high pressure easily cause thromboembolism, abdominal pressure the impact that easily causes breath cycle, obese people institute is more so influenced.
Numerous drawbacks of endoscope-assistant surgery are mainly because the feature of endoscope-assistant surgery imaging causes, the operation visual area that its display presents is a kind of planar graph, this planar graph cannot clearly be expressed the relation between anatomical structure and the histoorgan of surgery Yezhong, and this just endoscope-assistant surgery with conventional open formula operation compare topmost defect.For overcoming this defect, once invented 3D endoscope-assistant surgery, if publication No. is the application for a patent for invention of CN 103767668 A, a kind of " hard multi-channel 3D ventricularendoscope system " disclosed, it comprise hard multi-channel ventricularendoscope with, light source main frame, described hard multi-channel ventricularendoscope comprises hard work end, the first end of the front end of described hard work end is provided with separate two optical lens and the CCD imaging system of simulating respectively the imaging of people's right and left eyes of correspondence with it, on described hard multi-channel ventricularendoscope, be also connected with 3D main frame, and possesses the monitor of 3D rendering display mode.This hard multi-channel 3D ventricularendoscope system obtains two cover images of same image by having the double-lens camera system of balance independently, then image transfers to 3D host process through data wire, shown by monitor, thereby obtain the brainpan image of 3D vision, the solid impression of operation is provided to doctor.Although the object that it can reach further reduction operating difficulty and improve operation safety coefficient, but, apparent, execute and in art process, execute patient and must wear 3D glasses, use procedure is still convenient not, in art, still in the high pressure pneumoperitoneum of persistence, carry out, do not overcome all drawbacks of endoscope-assistant surgery completely.
The patent of invention that and for example Granted publication number is CN100387182C discloses a kind of no-pneumoperitoneum three dimension peritoneoscope, and it is by main part, swivel neck, form without shadow light source, image pickup part, direction control section.Main part comprises shank, outlet nozzle, knee portion; Swivel neck comprises: elasticity crust, on revolve the stator of end, lower fixed end, drawhead, prerotation vane, rotating band head end, bending guide rod, 3 connecting axles; Photographic head comprises miniature CCD camera or high-quality miniature CMS stylus, lead-in wire, external power supply plug, photographic head and light source are common source plug, power supply and video line are drawn by the outlet nozzle of main part, medical adhesive sealing outlet, direction control section comprises: 2 control handles, central shaft, 2 end axles, gyrator, bending guide rod, rotating band.Execute although this peritoneoscope has overcome the problem that continues pneumoperitoneum in art process, its imaging end is only also common 2D video signal, therefore still cannot clearly express the anatomical structure of surgery Yezhong.
Summary of the invention
The object of this invention is to provide a kind of chamber mirror holographic imaging surgery systems, fundamentally solved existing endoscope-assistant surgery equipment execute in art process the visual field limited serious, observe inconvenient, execute art process and easily cause problems such as continuing pneumoperitoneum.
The object of the present invention is achieved like this: this chamber mirror holographic imaging surgery systems comprises the rotatable peritoneoscope in end, display device, controllable operation apparatus, its technical essential is: described rotatable peritoneoscope front end is provided with hard end, and hard end is provided with pair of lens, some light sources; Display device comprises the staggered slit grating formula three-dimensional display corresponding with right and left eyes image, the photoelectric signal converter between slit grating formula three-dimensional display and peritoneoscope; Controllable operation apparatus is made up of operation device and control device, and operation device comprises some mechanical arms, is arranged on mechanical hand or other operating theater instruments of mechanical arm tail end; Control device comprises position sensor and glove controller and control gloves or body sense trap setting, glove controller is arranged on glove wrist, some location receiving terminal of arranging in position sensor, on glove controller, opposite side is respectively provided with a location transmitting terminal matching with receiving terminal; Control gloves is provided with and is positioned at little finger of toe and upper start end, be positioned at mechanical arm or mechanical finger selecting side on forefinger and/or middle finger and/or fourth finger, be positioned at the trigger end in thumb finger belly, articulations digitorum manus medial and lateral of pointing above of control gloves are respectively equipped with sensor.
Described articulations digitorum manus outer sensors is single resistance, and articulations digitorum manus inner sensors is made up of the resistance of some parallel connections, and in the time that finger stretches, articulations digitorum manus outer sensors is connected, and articulations digitorum manus inner sensors disconnects; In the time that finger is bending, articulations digitorum manus outer sensors disconnects, and articulations digitorum manus inner sensors is according to pointing degree of crook by the parallel resistance place in circuit of some.
Battery and the receiving terminal coil for wireless charging are installed in described glove controller, in position sensor, are provided with the transmitting terminal coil matching.
Described rotatable peritoneoscope comprises chamber mirror main body, be socketed in the manipulation portion of chamber mirror back body, be socketed in chamber mirror body front part knee portion, be arranged on connecting rod in knee portion, be arranged on power interface and imaging interface on connecting rod, be arranged on the rotating part of knee portion front end.
Described other operating theater instruments comprise separate tissue pincers or tissue scissors or ultrasound knife.
The advantage that the present invention has and positive technique effect are:
Rotatable peritoneoscope front end is provided with hard end, hard end is provided with pair of lens, some light sources, peritoneoscope front end can rotate freely, and under the irradiation of light source, by the camera lens on hard end, Intraabdominal image is gathered, and forms the picture signal corresponding with people's right and left eyes.Display device comprises the staggered slit grating formula three-dimensional display corresponding with right and left eyes image, the photoelectric signal converter between slit grating formula three-dimensional display and peritoneoscope, convert picture signal to right and left eyes image on slit grating formula three-dimensional display by photoelectric signal converter, and form 3D rendering by slit grating formula three-dimensional display.Visual area is carried out to 3D processing and holographic projection system fully, can, by the anatomical structure of geometric ratio or amplification patient's diseased organ and peripheral organs, its holographic projection be shown, can provide anatomical structure clearly for patient, facilitate operation technique.The hologram image of executing art tissue is presented on external, can executes art process by multi-angle observation.Persistence high pressure pneumoperitoneum without traditional chamber mirror maintains the exposure of operation process to visual area.Dependency to position is less, has avoided serious breathing that some endoscope-assistant surgery special posture causes and the impact of circulation.Reduce the technical requirement of endoscope-assistant surgery to patient, made its popularization and use become possibility.By line holographic projections, can appear the anatomical structure of patient's diseased region completely.The image that line holographic projections goes out, has increased the precision manipulating in endoscope-assistant surgery process, can reduce to a large extent in art the visual field unintelligible, causes accidentally injuring tissue.
Controllable operation apparatus is made up of operation device and control device, and operation device comprises some mechanical arms, is arranged on mechanical hand or the separate tissue pincers of mechanical arm tail end, tissue scissors, other operating theater instruments such as ultrasound knife; Control device comprises position sensor and glove controller and control gloves or body sense trap setting, glove controller is arranged on glove wrist, the some location of annular arrangement receiving terminal in position sensor, on glove controller, opposite side is respectively provided with a location transmitting terminal matching with receiving terminal; In the time that hand rotates, drive the location transmitting terminal on glove controller to do corresponding rotation, two transmitting terminals transmit in real time to location receiving terminal, thereby can obtain the signal that now hand rotates, and this turn signal is reflected on mechanical arm, and then manipulate.Control gloves is provided with the start end being positioned on little finger of toe, be positioned at mechanical arm or mechanical finger selecting side on forefinger and/or middle finger and/or fourth finger, be positioned at the trigger end in thumb finger belly, articulations digitorum manus medial and lateral of pointing above of control gloves are respectively equipped with sensor.By a control gloves control manipulator motion, another control gloves control mechanical hand or other operating theater instruments, thus realize manipulation completely.Articulations digitorum manus inner sensors is for receiving the bending signal of finger, thus the bending of control mechanical arm or mechanical finger, and articulations digitorum manus outer sensors, for confirming that operation signal is now to produce by finger is bending, prevents erroneous judgement.In the time of trigger end and start end touching, operation glove start, and prevent maloperation; In the time of trigger end and mechanical arm or the touching of mechanical finger selecting side, operation signal spreads out of, and by the bending of finger, the rotation of hand, corresponding mechanical arm or mechanical finger is controlled.Also can directly catch the operating gesture of hand by body sense trap setting, and then control the bending of mechanical arm, realize identical function.
Brief description of the drawings
Fig. 1 is laparoscopically main TV structure schematic diagram;
Fig. 2 is the sectional structure schematic diagram of rotating part;
Fig. 3 is the sectional structure schematic diagram of chamber mirror main body;
Fig. 4 is the distributing position schematic diagram of each passage on hard end;
Fig. 5 is the image-forming principle schematic diagram of hologram screen;
Fig. 6 is surgery systems surface structure schematic diagram of the present invention;
Fig. 7 is the using state structural representation of position sensor;
Fig. 8 is the surface structure schematic diagram of control gloves;
Fig. 9 is the arrangement schematic diagram of location receiving terminal in position sensor;
Figure 10 is the structural representation of control gloves joint sensor;
Figure 11 is the electrical block diagram of control gloves working sensor principle;
Figure 12 is the another kind of gesture control system schematic diagram of the present invention;
Figure 13 is the structural representation of a kind of mechanical hand of mechanical arm tail end;
Figure 14 is the wireless charging theory structure schematic diagram of glove controller;
Figure 15 is the surface structure schematic diagram with the control gloves of pressure apparatus.
Description of reference numerals: 1 rotating part, 2 knee portions, 3 outlet nozzles, 4 connecting rods, 5 power interfaces, 6 imaging interfaces, 7 gyrators, 8 end axles, 9 control handles, 10 end axles, 11 chamber mirror main bodys, 12 times fixed ends, 13 lead-in wires, 14 bending section crusts, on 15, revolve end, 16 prerotation vanes, 17 pull bars, 18 rotating bands, 19 stators, 20 axles, 21 bending guide rod bodies, 22 drive links, 23 camera lens passages, 24 light source passages, 25 position sensors, 26 slit grating formula three-dimensional displays, 27 mechanical arms, 28 control gloves, 29 glove controllers, 30 location transmitting terminals, 31 start ends, 32 mechanical arms or mechanical finger selecting side, 33 trigger ends, 34 wires, 35 location receiving terminals, 36 articulations digitorum manus inner sensors, 37 articulations digitorum manus outer sensors, 38 body sense trap settings, 39 motion capture screens, 40 telescoping mechanisms, 41 pressure apparatus.
Detailed description of the invention
Describe content of the present invention in detail below in conjunction with Figure of description.Imaging system, as shown in Fig. 1 ~ 5, comprises the parts such as the rotatable peritoneoscope in end, display device.Wherein, preferably, the rotatable peritoneoscope adopting comprises chamber mirror main body 11, be socketed in the manipulation portion at mirror main body 11 rear portions, chamber, be socketed in mirror main body 11 front portions, chamber knee portion 2, be arranged on connecting rod 4 in knee portion 2, be arranged on power interface 5 and imaging interface 6 on connecting rod 4, be arranged on the rotating part 1 of knee portion 2 front ends, knee portion 2 ends are provided with outlet nozzle 3.In knee portion 2, be provided with pull bar 17, rotating band 18, pull bar 17 ends are connected with the drive link 22 in gyrator 7.Manipulation portion comprises gyrator 7, end axle 8, control handle 9, end axle 10.Rotating part 1 comprises by above revolving end 15 and is socketed in bending section crust 14 in knee portion 2, is arranged on prerotation vane 16, stator 19, the axle 20, the bending guide rod body 21 that is arranged on axle 20 bottoms that revolve in end 15, is arranged on fixed end 12 under being provided with in bending section crust 14, lead-in wire 13.
Stator 19, axle 20 are fixed on rotating band 18 ends, and bending guide rod body 21 is fixed on axle 20 ends.Rotatable peritoneoscope front end is provided with hard end, and hard end is provided with a pair of for the camera lens of picture signal collection, for providing enough visual areas illumination some light sources.Camera lens is fixed on hard end by light source passage 24 by camera lens passage 2, light source.Display device comprises the staggered slit grating formula three-dimensional display 26 corresponding with right and left eyes image, photoelectric signal converter between slit grating formula three-dimensional display 26 and peritoneoscope.The structure of the display screen of slit grating formula three-dimensional display 26 as shown in Figure 5, the anaglyph of right and left eyes is staggered on the image surface showing in plane, because a point light action for grating makes the light of anaglyph pass to respectively right and left eyes along different directions, at the overlapping rear formation 3-D view of brain.The present invention is on the basis of raster type free 3 stereo display technique, the input as imaging signal by two chamber mirror photographic head respectively, by after software processes, chamber mirror image being exported as the L of display screen place, R image respectively, make to execute patient without observing intuitively by the device such as glasses, the helmet situation of executing art position, make visual area more accurately directly perceived, operation process is more convenient.Camera lens front-end configuration laser shows wide device, can clearly mark the captured scope of different camera lenses, can avoid the overlapping or leakage causing in the process of multiple lens shootings to clap.
Controllable operation apparatus, as shown in Fig. 6 ~ 11, is made up of operation device and control device.Wherein, operation device comprise some mechanical arms 27, be arranged on the mechanical hand of mechanical arm 27 ends or separate tissue pincers, other operating theater instruments such as tissue scissors, ultrasound knife.Control device comprises position sensor 25 and glove controller 29 and control gloves 28, and glove controller 29 is connected with position sensor 25 by wire/wireless, and position sensor 25 is connected with terminal, and terminal is connected with operation device.Glove controller 29 is arranged on glove wrist, the some location receiving terminal 35 of arranging in position sensor 25, on glove controller 29, opposite side is respectively provided with a location transmitting terminal 30(who matches with receiving terminal as laser, infrared etc.).Control gloves 28 is provided with the start end 31 being positioned on little finger of toe, be positioned at mechanical arm or mechanical finger selecting side 32 on forefinger and/or middle finger and/or fourth finger, be positioned at the trigger end 33 in thumb finger belly, articulations digitorum manus medial and lateral of pointing above of control gloves 28 are respectively equipped with sensor, and the each touch-control end on control gloves 28 is all connected by wire 34 with glove controller 29 with sensor.Articulations digitorum manus outer sensors 37 is single resistance, and articulations digitorum manus inner sensors 36 is made up of the resistance of some parallel connections, and in the time that finger stretches, articulations digitorum manus outer sensors 37 is connected, and articulations digitorum manus inner sensors 36 disconnects.In the time that finger is bending, articulations digitorum manus outer sensors 37 disconnects, and articulations digitorum manus inner sensors 36 is according to pointing degree of crook by the parallel resistance place in circuit of some.
Set forth below the operation principle of said structure by control procedure.After control gloves 28 is dressed, respectively both hands are kept flat through the circulus of position sensor 25, make the location transmitting terminal 30 of glove controller 29 be positioned at the centre of circulus, the location transmitting terminal 30 of the back of the hand and palmar side is vertical state, carries out position initialization.Required various operating theater instruments and/or the mechanical hand of operation is arranged on to mechanical arm 27 ends.With left hand control mechanical arm 27, right control mechanical hand or other operating theater instruments are example.First the start end 31 of touching little finger of toe root by the trigger end 33 of left hand thumb, glove controller 29 starts.According to operation needs, the trigger end of left hand thumb 33 is touched to corresponding mechanical arm selecting side 32 on forefinger/middle finger/fourth finger, select corresponding mechanical arm 27.Rotate by hand, location transmitting terminal 30 send laser or infrared signal streak successively the location receiving terminal 35 of the interior same number of turns of position sensor 25 (in Y-axis, distance is identical), and determine according to streaked location receiving terminal 35 quantity the angle that mechanical arm 27 rotates.By bending corresponding finger, control the angle of mechanical arm 27 bendings again.Taking forefinger as example, in the time that forefinger second joint is bending, articulations digitorum manus outer sensors 37 disconnects (resistance CR1 disconnection), and inner sensors is connected.Inner sensors is made up of the resistance (R1 ~ Rn) of some parallel connections, in the time that finger bends to maximum angle, and all resistance (R1 ~ Rn) places in circuit, electric current maximum now; In the time that finger bends to minimum angles, only there is resistance R 1 to connect, now electric current minimum.Thereby the degree of crook that can point according to the size judgement of current signal, and then the degree of crook of control mechanical arm 27.The control procedure of mechanical hand is with mechanical arm 27, difference be also only can by glove controller 29 at alignment sensor the telescopic level along the move distance control telescoping mechanism 40 of Y-axis.
As the optimal technical scheme that adopts other auxiliary facilities, as shown in Figure 12 ~ 14,
As shown in figure 12, the sensor of articulations digitorum manus medial and lateral is replaced to the more simple body sense trap setting 38 of structure, in the specific region of position sensor 25 front ends, catch the operating gesture of hand, the gesture catching is as shown in motion capture screen 39, this gesture is fed back to manipulation end computer, thereby realize manipulation function.
As shown in figure 13, for wherein a kind of and the akin mechanical hand surface structure of mechanical arm structure schematic diagram, and be provided with telescoping mechanism 40 in the junction of mechanical hand and mechanical arm, in the time that glove controller 29 seesaws in position sensor 25, can produce the motion of corresponding signal controlling telescoping mechanism, thereby realize finer manipulation.
Theory diagram as shown in figure 14, can, at the interior installation battery of glove controller 29 and for the receiving terminal coil of wireless charging, be provided with the transmitting terminal coil matching in position sensor 25.The battery of glove controller 29 is connected with electric quantity detecting circuit, Real-Time Monitoring battery capacity, and set charge threshold.Once battery capacity is reduced to certain percentage, the driver of transmitting terminal coil starts, for battery charging, until electric weight is full of.
As shown in figure 15, in control glove, be also provided with pressure transducer 41, in the time carrying out corresponding operating, can feed back operator by pressure transducer 41, be convenient to the carrying out of manipulation.
Claims (5)
1. a chamber mirror holographic imaging surgery systems, comprises the rotatable peritoneoscope in end, display device, controllable operation apparatus, it is characterized in that: described rotatable peritoneoscope front end is provided with hard end, and hard end is provided with pair of lens, some light sources; Display device comprises the staggered slit grating formula three-dimensional display corresponding with right and left eyes image, the photoelectric signal converter between slit grating formula three-dimensional display and peritoneoscope; Controllable operation apparatus is made up of operation device and control device, and operation device comprises some mechanical arms, is arranged on mechanical hand or other operating theater instruments of mechanical arm tail end; Control device comprises position sensor and glove controller and control gloves or body sense trap setting, glove controller is arranged on glove wrist, some location receiving terminal of arranging in position sensor, on glove controller, opposite side is respectively provided with a location transmitting terminal matching with receiving terminal; Control gloves is provided with the start end being positioned on little finger of toe, be positioned at mechanical arm or mechanical finger selecting side on forefinger and/or middle finger and/or fourth finger, be positioned at the trigger end in thumb finger belly, articulations digitorum manus medial and lateral of pointing above of control gloves are respectively equipped with sensor.
2. mirror holographic imaging surgery systems in chamber according to claim 1, it is characterized in that: described articulations digitorum manus outer sensors is single resistance, and articulations digitorum manus inner sensors is made up of the resistance of some parallel connections, in the time that finger stretches, articulations digitorum manus outer sensors is connected, and articulations digitorum manus inner sensors disconnects; In the time that finger is bending, articulations digitorum manus outer sensors disconnects, and articulations digitorum manus inner sensors is according to pointing degree of crook by the parallel resistance place in circuit of some.
3. mirror holographic imaging surgery systems in chamber according to claim 1 and 2, is characterized in that: battery and the receiving terminal coil for wireless charging are installed in described glove controller, are provided with the transmitting terminal coil matching in position sensor.
4. mirror holographic imaging surgery systems in chamber according to claim 3, is characterized in that: described rotatable peritoneoscope comprises chamber mirror main body, be socketed in the manipulation portion of chamber mirror back body, be socketed in chamber mirror body front part knee portion, be arranged on connecting rod in knee portion, be arranged on power interface and imaging interface on connecting rod, be arranged on the rotating part of knee portion front end.
5. mirror holographic imaging surgery systems in chamber according to claim 4, is characterized in that: described other operating theater instruments comprise separate tissue pincers or tissue scissors or ultrasound knife.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410393829.2A CN104127209B (en) | 2014-08-12 | 2014-08-12 | Chamber mirror holographic imaging surgery systems |
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| CN201410393829.2A CN104127209B (en) | 2014-08-12 | 2014-08-12 | Chamber mirror holographic imaging surgery systems |
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| CN104127209B CN104127209B (en) | 2016-03-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113077662A (en) * | 2021-04-03 | 2021-07-06 | 刘铠瑞 | Laparoscopic surgery and training system based on 5G network technology application |
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