CN110584772B - A minimally invasive scalpel for urology and its control method - Google Patents
A minimally invasive scalpel for urology and its control method Download PDFInfo
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- CN110584772B CN110584772B CN201910879547.6A CN201910879547A CN110584772B CN 110584772 B CN110584772 B CN 110584772B CN 201910879547 A CN201910879547 A CN 201910879547A CN 110584772 B CN110584772 B CN 110584772B
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- 238000000034 method Methods 0.000 title abstract description 12
- 230000003902 lesion Effects 0.000 claims abstract description 9
- 238000004659 sterilization and disinfection Methods 0.000 claims description 7
- 230000008054 signal transmission Effects 0.000 claims description 5
- 238000001356 surgical procedure Methods 0.000 description 14
- 230000002485 urinary effect Effects 0.000 description 8
- 238000003756 stirring Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000008092 positive effect Effects 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00053—Mechanical features of the instrument of device
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00601—Cutting
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00696—Controlled or regulated parameters
- A61B2018/0072—Current
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00982—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body combined with or comprising means for visual or photographic inspections inside the body, e.g. endoscopes
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Abstract
本发明属于医疗器械技术领域，公开了一种泌尿外科用微创手术刀及其控制方法，伸缩手柄右端焊接有空心支杆，空心支杆右端焊接有支撑杆，支撑杆上端通过螺丝固定有椭圆拨动凸点，椭圆拨动凸点上嵌装有摄像头，支撑杆下端通过连接杆与圆盘刀连接；伸缩手柄设置有伸缩外筒，伸缩外筒内部套接有伸缩内杆，伸缩外筒上开有通孔，伸缩内杆上设置有凹槽，凹槽底部通过弹簧与卡块连接，卡块卡接在通孔中。本发明通过设置有伸缩手柄，可以根据医生手掌的大小，对伸缩手柄的长度进行调整，便于进行把握手柄，提高操作的稳定性；通过设置有电流传感器，在对病灶组织进行烧切的过程中，对电线上的电流大小进行检测，对烧切病灶组织提供可靠的数据参考。
The invention belongs to the technical field of medical devices, and discloses a minimally invasive surgical knife for urology and a control method thereof. Toggle bumps, cameras are embedded on the elliptical toggle bumps, and the lower end of the support rod is connected to the disc knife through a connecting rod; the telescopic handle is provided with a telescopic outer cylinder, a telescopic inner rod is sleeved inside the telescopic outer cylinder, and the telescopic outer cylinder is sleeved. A through hole is opened on the upper part, a groove is arranged on the telescopic inner rod, the bottom of the groove is connected with a clamping block through a spring, and the clamping block is clamped in the through hole. The present invention is provided with a telescopic handle, so that the length of the telescopic handle can be adjusted according to the size of the doctor's palm, which is convenient for grasping the handle and improves the stability of operation; , to detect the current on the wire, and provide a reliable data reference for the burnt lesion tissue.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a minimally invasive scalpel for urinary surgery and a control method thereof.
Background
Currently, the closest prior art:
in clinical urinary surgery, minimally invasive surgery is often performed, and advanced resectoscope minimally invasive scalpels are generally adopted to excise tumors. However, the length of the existing minimally invasive scalpel for urinary surgery is fixed, and cannot be adjusted according to the size of the palm of a doctor, so that the stability of the minimally invasive scalpel is reduced. Meanwhile, the existing minimally invasive scalpel for urinary surgery cannot acquire the position of the scalpel for detection in the operation process, so that the precision of excision of lesion tissues is reduced, and tissues around the lesion are easy to excise.
In summary, the problems of the prior art are as follows:
(1) the length of the existing minimally invasive scalpel for urinary surgery is fixed, and cannot be adjusted according to the size of the palm of a doctor, so that the stability of the minimally invasive scalpel is reduced.
(2) The existing minimally invasive scalpel for urinary surgery can not obtain the position of the scalpel for detection in the operation process, so that the precision of excision of lesion tissues is reduced, and tissues around the lesion are easy to excise.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a minimally invasive scalpel for urinary surgery and a control method thereof.
The invention is realized in such a way that a minimally invasive scalpel for urology surgery is provided with:
a telescopic handle;
the right end of the telescopic handle is welded with a hollow supporting rod, the right end of the hollow supporting rod is welded with a supporting rod, an elliptical stirring convex point is fixed at the upper end of the supporting rod through a screw, a camera is embedded in the elliptical stirring convex point, and the lower end of the supporting rod is connected with a circular cutter through a connecting rod;
the telescopic handle is provided with a telescopic outer barrel, a telescopic inner rod is sleeved inside the telescopic outer barrel, a through hole is formed in the telescopic outer barrel, a groove is formed in the telescopic inner rod, the bottom of the groove is connected with a clamping block through a spring, and the clamping block is clamped in the through hole.
Further, an electric telescopic rod is fixed at the upper end of the disc through a bolt, a fixed seat is fixed at the upper end of the electric telescopic rod through a bolt, a storage battery, a wireless signal transmitter, a controller and a disinfection box are arranged on the fixed seat, and a disinfection lamp is fixed inside the disinfection box through a screw;
the fixing base upper end is provided with the revolving stage, goes up to be connected with the display screen through the pivot on the revolving stage.
Furthermore, the bottom of the disc is fixed with a sucker through a bolt.
Furthermore, the telescopic handle is provided with anti-skid lines.
Furthermore, a positioner is arranged in the disc cutter and is connected with the controller through a data line.
Furthermore, the camera is positioned in the image acquisition module, and is used for shooting the condition of the focus to acquire the required image.
Further, the image acquisition module is connected with the central processing module;
the central processing module is connected with each module and used for coordinating the operation of each module;
the positioning module is connected with the central processing module and acquires the position of the scalpel by utilizing a positioner fixed in the circular disc cutter;
the current acquisition module is connected with the central processing module, and provides reliable data reference for the burn-off by detecting the current on the lead by using the current sensor;
the wireless signal transmission module is connected with the central processing module and transmits the detected signal to the cloud server by utilizing the wireless signal transceiver;
the cloud server is connected with the central processing module, can realize data downloading and data uploading, and realizes data sharing;
the current controller is connected with the central processing module and controls the current output by the power supply by utilizing a circuit in the current controller according to the detected current;
the display screen is connected with the central processing module and is used for displaying related data by utilizing the display;
and the voice player is connected with the central processing module and is used for playing corresponding voice prompts by utilizing the voice player fixed on the display.
Another object of the present invention is to provide a control method of the minimally invasive urological scalpel, which specifically includes the following steps:
the method comprises the following steps that firstly, a camera on a convex point is poked by utilizing an ellipse, the condition of a focus is shot, and a required image is obtained; acquiring the position of the scalpel by using a positioner fixed in the circular disc cutter; the current sensor is used for detecting the current on the wire, so that reliable data reference is provided for burning; .
Step two, adjusting the scalpel according to the condition of the focus and the scalpel position data;
controlling the current output by the power supply by utilizing a circuit in the current controller according to the detected current;
transmitting the detected signals to a cloud server by using a wireless signal transceiver according to the detected data, and realizing data downloading, data uploading and data sharing;
step five, transmitting the detected data to a cloud server for data processing, and displaying the related data by using a display screen; and a voice player fixed on the display is utilized to play the corresponding voice prompt suggestion.
In summary, the advantages and positive effects of the invention are:
according to the invention, the telescopic handle is arranged, so that the length of the telescopic handle can be adjusted according to the size of the palm of a doctor, the handle can be conveniently held, and the stability of operation is improved; by arranging the current sensor, the current on the wire is detected in the process of burning and cutting the lesion tissues, and reliable data reference is provided for the burning and cutting lesion tissues; due to the fact that the oval poking salient points are arranged, corresponding tissues can be poked, and other tissues are prevented from affecting excision of focus tissues; the camera is arranged, so that image video data can be provided for burning and cutting lesion tissues; by arranging the rotary table, the orientation of the display screen can be controlled according to the working requirement; the position of the disc cutter can be displayed by arranging the positioner in the disc cutter, so that the focal tissue can be conveniently cut off; through being provided with the disinfect box, the operation can be placed in the disinfect box with the operation after the operation is accomplished, disinfects, avoids infecting the bacterium.
The invention is provided with an image acquisition module which shoots the condition of a focus to be needed by poking a camera on a convex point by utilizing an ellipse to acquire a needed image; the positioning module acquires the position of the scalpel by utilizing a positioner fixed in the circular disc cutter; the current acquisition module detects the current on the wire by using the current sensor, and provides reliable data reference for the burn-off; the central processing module is used for coordinating the operation of each module; the wireless signal transmission module transmits the detected signal to the cloud server by using the wireless signal transceiver; the cloud server can realize data downloading and data uploading, and realize data sharing; the current controller controls the current output by the power supply by utilizing a circuit in the current controller according to the detected current; the display screen is used for displaying related data by utilizing a display; the voice player is fixed on the display and is used for playing the corresponding voice prompt.
Drawings
Fig. 1 is a schematic structural view of a minimally invasive surgical knife for urology surgery according to an embodiment of the invention.
Fig. 2 is a schematic structural view of a telescopic handle provided in an embodiment of the present invention.
Fig. 3 is a schematic structural view of a display screen and an electric telescopic rod provided by the embodiment of the invention.
Fig. 4 is a schematic structural diagram of a minimally invasive surgical scalpel control system for urology surgery according to an embodiment of the invention.
Fig. 5 is a flowchart of a control method of a minimally invasive surgical scalpel control system for urology surgery according to an embodiment of the invention.
In the figure: 1. a telescopic handle; 2. a current sensor; 3. a wire; 4. an outlet; 5. a hollow strut; 6. the convex points are stirred in an elliptic way; 7. a camera; 8. a cutter disk; 9. a telescopic outer cylinder; 10. a telescopic inner rod; 11. a groove; 12. a through hole; 13. a clamping block; 14. a display screen; 15. a turntable; 16. a storage battery; 17. a wireless signal transmitter; 18. a controller; 19. a sterilizing box; 20. an electric telescopic rod; 21. a disc; 22. an image acquisition module; 23. a positioning module; 24. a current collection module; 25. a central processing module; 26. a wireless signal transmission module; 27. a cloud server; 28. a current controller; 29. a display screen; 30. and a voice player.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to solve the above technical problems, the technical solution of the present invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1-3, the minimally invasive surgical knife for urology is provided with a telescopic handle; the welding of 1 right-hand member of telescopic handle has hollow branch 5, and the welding of 5 right-hand members of hollow branch has the bracing piece, and the bracing piece upper end is fixed with the ellipse through the screw and stirs bump 6, and the ellipse is stirred and is gone up to inlay and is equipped with camera 7 by bump 6, and the bracing piece lower extreme passes through the connecting rod and is connected with circular disc cutter 8.
The telescopic handle 1 is provided with a telescopic outer barrel 9, a telescopic inner rod 10 is sleeved inside the telescopic outer barrel 9, a through hole 12 is formed in the telescopic outer barrel 9, a groove 11 is formed in the telescopic inner rod 10, the bottom of the groove 11 is connected with a clamping block 13 through a spring, and the clamping block 13 is clamped in the through hole 12.
The upper end of the disc 21 is fixed with an electric telescopic rod 20 through a bolt, the upper end of the electric telescopic rod 20 is fixed with a fixed seat through a bolt, the fixed seat is provided with a storage battery 16, a wireless signal transmitter 17, a controller 18 and a disinfection box 19, and a disinfection lamp is fixed in the disinfection box 19 through a screw; the fixing base upper end is provided with revolving stage 15, is connected with display screen 14 through the pivot on 15 on the revolving stage.
Preferably, the suction cup is fixed to the bottom of the disc 21 by a bolt.
Preferably, the telescopic handle 1 is provided with anti-skid lines.
Preferably, a positioner is provided inside the cutter disk 8, and the positioner is connected to the controller 18 via a data line.
As shown in fig. 4, the minimally invasive surgical scalpel control system for urology surgery provided by the embodiment of the invention comprises:
and the image acquisition module 22 is connected with the central processing module 25, and shoots the condition of the required focus by shifting the camera on the salient point 6 by utilizing the ellipse to acquire the required image.
And the positioning module 23 is connected with the central processing module 25 and acquires the position of the scalpel by utilizing a positioner fixed in the circular disc cutter.
And the current acquisition module 24 is connected with the central processing module 25 and used for detecting the current on the wire by using the current sensor so as to provide reliable data reference for the burn-off.
And a central processing module 25 connected with each module for coordinating the operation of each module.
And a wireless signal transmission module 26 connected to the central processing module 25, for transmitting the detected signal to the cloud server by using the wireless signal transceiver.
The cloud server 27 is connected to the central processing module 25, and can download and upload data, thereby realizing data sharing.
The current controller 28 is connected to the central processing module 25, and controls the magnitude of the current outputted from the power supply by using a circuit in the current controller in accordance with the detected magnitude of the current.
And a display screen 29 connected with the central processing module 25 for displaying relevant data by using a display.
And the voice player 30 is connected with the central processing module 25 and is used for playing corresponding voice prompts by utilizing the voice player fixed on the display.
As shown in fig. 5, the method for controlling a minimally invasive surgical scalpel control system for urology surgery provided by the embodiment of the invention specifically includes the following steps:
s101: the situation of a focus is shot by using an ellipse to shift a camera on the salient point 6, and a required image is obtained; acquiring the position of the scalpel by using a positioner fixed in the circular disc cutter; the current sensor is used for detecting the current on the wire, and reliable data reference is provided for burning.
S102: and adjusting the scalpel according to the condition of the focus and the scalpel position data.
S103: and controlling the current output by the power supply by utilizing a circuit in the current controller according to the detected current.
S104: and transmitting the detected signals to a cloud server by using a wireless signal transceiver according to the detected data, so as to realize data downloading, data uploading and data sharing.
S105: transmitting the detected data to a cloud server for data processing, and displaying related data by using a display screen; and a voice player fixed on the display is utilized to play the corresponding voice prompt suggestion.
The working principle of the invention is as follows:
before the operation, the length of the telescopic handle 1 is adjusted, the relative position of the telescopic inner rod 10 in the telescopic outer cylinder 9 is changed, and the telescopic inner rod is clamped in the through hole 12 through the clamping block 13 to fix the relative position.
Fixing the fixed disc 21 of the display screen 14 at a proper position by using a sucking disc; the height of the display screen is changed by adjusting the electric telescopic rod 20, and the detected data can be conveniently checked.
The support is deeply inserted into a corresponding position, and the situation of a focus to be shot is shot by shifting a camera on the salient point 6 by utilizing an ellipse to obtain a required image; the position of the scalpel is obtained by using a locator fixed in the circular disc cutter. Meanwhile, according to the detected current, the current output by the power supply is controlled by a circuit in the current controller, so that the conducting wire is communicated with the disc cutter 8, and the phase-change tissue is cut off.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (3)
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| CN201910879547.6A CN110584772B (en) | 2019-09-18 | 2019-09-18 | A minimally invasive scalpel for urology and its control method |
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| CN201910879547.6A CN110584772B (en) | 2019-09-18 | 2019-09-18 | A minimally invasive scalpel for urology and its control method |
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| CN111466971B (en) * | 2020-04-15 | 2021-06-11 | 四川大学华西医院 | Stitching instrument for thoracoscopic minimally invasive surgery and control system |
| CN112568991A (en) * | 2020-12-10 | 2021-03-30 | 四川大学华西医院 | Digestive endoscope minimally invasive scalpel device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202776488U (en) * | 2012-10-09 | 2013-03-13 | 梁凯 | Minimally invasive scalpel for urinary surgery |
| CN105933588A (en) * | 2016-06-24 | 2016-09-07 | 昆山科森科技股份有限公司 | Mimetically invasive scalpel image transmission system |
| CN207707976U (en) * | 2017-06-08 | 2018-08-10 | 钟志锋 | A kind of No. 36 ceramic scalpels |
| CN108553166A (en) * | 2018-02-09 | 2018-09-21 | 芜湖市海联机械设备有限公司 | It is a kind of can automatic tool changer medical robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2308395A1 (en) * | 2001-08-08 | 2011-04-13 | Stryker Corporation | Surgical tool system including a navigation unit that receives information about the implant the system is to implant and that responds to the received information |
| CN202426644U (en) * | 2011-12-29 | 2012-09-12 | 孙国华 | Minimally invasive scalpel for urology tumor |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202776488U (en) * | 2012-10-09 | 2013-03-13 | 梁凯 | Minimally invasive scalpel for urinary surgery |
| CN105933588A (en) * | 2016-06-24 | 2016-09-07 | 昆山科森科技股份有限公司 | Mimetically invasive scalpel image transmission system |
| CN207707976U (en) * | 2017-06-08 | 2018-08-10 | 钟志锋 | A kind of No. 36 ceramic scalpels |
| CN108553166A (en) * | 2018-02-09 | 2018-09-21 | 芜湖市海联机械设备有限公司 | It is a kind of can automatic tool changer medical robot |
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Effective date of registration: 20231218 Address after: 266114 Floor 4, Building 5, Blue Biomedical Industrial Park, No. 368 Hedong Road, High tech Zone, Qingdao, Shandong Patentee after: Heartbeat Biomedical Technology (Qingdao) Co.,Ltd. Address before: 266011 Shandong province Qingdao City, Jiaozhou Road No. 1 Patentee before: QINGDAO MUNICIPAL Hospital |