CN102688100A - Medical magnetic navigation device - Google Patents

Abstract

The invention relates to medical equipment, in particular to a medical magnetic navigation device. The device comprises a control component on the body surface and a magnet component in the body, wherein the magnet component comprises an outer shell and an extension arm; the outer shell comprises an outer shell body, an outer shell left end and an outer shell right end; a magnetic material layer penetrates through and covers the outer surface of the outer shell body; a digital pick-up lens is arranged at a free end of the extension arm and is connected with a video processing circuit through a wire; the control component comprises a handle and a base connected with the handle; a base magnet is arranged on the lower surface of the base; and the outer surface of the outer shell body is in adsorption coupling with the lower surface of the base through magnetic force. When in operation, the medical magnetic navigation device provided by the invention can get rid of the limitation of the cut position, and the vision can be separated from the main operation shaft so that the dissection area can be observed from multiple angles in the cavity; and the device provided by the invention provides a high-quality visual field of thoracoscopic surgery and has great social benefits.

Description

The medical magnetic navigation device

Technical field

The present invention relates to the medical apparatus and instruments field, particularly a kind of medical magnetic navigation device that is applicable to thoracoscopic operation.

Background technology

Under the prerequisite that guarantees surgical result, reducing the wound of bringing to the patient of performing the operation is one of target that the surgeon pursued forever.Along with the development of medical science progress with science and technology, all kinds of chambeies mirror and endoscopic technic extensively carried out with Application and implementation the dream that the surgeon pursues Wicresoft, make and humanly marching toward new epoch aspect the operative treatment of disease.

But people are endless for the pursuit of Wicresoft, and take all measures to come further to reduce the invasive of endoscope-assistant surgery.In order to realize this goal, " seamless operation " that surgeon have proposed single otch endoscopic surgery (LESS) and eliminated otch fully (NOTES).The safety and the feasibility of LESS operation that a series of early stage researchs are verified.Through reducing sleeve pipe/otch, can obtain following advantage: 1, reduce otch quantity to improve cosmetic result;Thereby 2, reduce neurocutaneous damage and reduce postoperative pain; The danger of stomach wall angiorrbagia when 3, reducing the sleeve pipe puncture; 4, reduce the risk of incisional hernia and formation adhesion.But because the restriction of traditional operation apparatus and surgical technic, operating theater instruments with observe camera lens by getting into a kerf, the observation visual angle that causes performing the operation is single, and the operation visual angle all the time with operating theater instruments be in same axially, easy phase mutual interference, collision.NOTES is as surgical pathway with natural tract (through trachea, stomach, colon, vagina etc.); And the endoscopic surgery that carries out without traditional human body skin otch; Having abdominal part does not have cicatrix, farthest reduces potential advantages such as postoperative pain, shortening hospital stays and minimizing medical expenses, is called as the revolution second time of Minimally Invasive Surgery.This technology is owing to need through arriving the focus zone behind the long natural tract, and associative operation apparatus great majority exist observation visual angle and operating axis to eclipsed problem according to the principle exploitation of soft endoscope equally.Because be confined to animal experiment stage more than the restriction of operating apparatus, camera lens, the NOTES operation at present of thoracic surgery, the human research is less, and its operation safety, effectiveness and ethics etc. are waited further assessment and authentication.

Generally speaking, existing peritoneoscope, scope and related equipment are used for single hole operation meeting restriction operation, influence safety, are mainly reflected in: 1. can't carry out effective triangle and dissect; 2. comparatively limit in the visual field that provides through conventional chamber mirror or scope, can't be from a plurality of view focuses zone; 3. traditional chamber mirror operating apparatus is in inside or external impact.Therefore, chamber lens head and associative operation apparatus be need most at present developed with satisfy LESS and NOTES the operation demand two aspects.Especially camera lens will make LESS operation and NOTES operation further expand indication and also substitute traditional thoracoscopic operation, and camera lens is observed in operation must reach following 2 requirements: 1. having can be from the high-fidelity visual field of different view anatomic regions and structure; 2. the visual angle must break away from the main operation axle.

For this reason, people have carried out continuous exploration and improvement, still, in the congenital thoracoscopic operation field that possesses stable skeletal thorax, do not see the improvement and the application of correlation technique as yet.

Summary of the invention

The present invention is directed to above-mentioned technical problem; A kind of medical magnetic navigation device is provided; Make the camera lens part of thoracoscopic operation no longer stick to the restriction of original operation observation port; Can be from a plurality of viewed anatomic regions of intracavity, and the visual angle broken away from the main operation axle, thus make that utilizing existing operating theater instruments and technology to carry out chest LESS performs the operation and become possibility.For this reason, the present invention adopts following technical scheme:

The medical magnetic navigation device comprises the Control Component that places body surface, places intravital magnet assembly, described magnet assembly to comprise shell and exhibition arm; Shell comprises outer cover body, the left and right termination of shell, and described outer cover body is the little arch of semicolumn, is the mellow and full shuttle shape structure in two ends on the whole; Extend downwards and form the left and right termination of hemispheric shell in outer cover body outer surface two ends, the outer surface infiltration of outer cover body covers magnetic material layer, and the exhibition arm comprises exhibition arm link and exhibition arm free end; Exhibition arm link and shell left end head hinged inside, exhibition arm free end is provided with draught line, and said draught line passes outer cover body; Described exhibition arm is a hollow, in establish lead, exhibition arm free end is provided with the digital vedio recording camera lens; The digital vedio recording camera lens links to each other with video processing circuits through lead; Described Control Component comprises handle and the base that links to each other with handle, and base lower surface is provided with base magnets, and the outer surface of outer cover body and base lower surface are carried out adsorbing coupled through magnetic force.Under the effect of magnetic force, control moving of magnet assembly through moving handle, thereby realize magnetic navigation easily.Through the folding setting of shell with the exhibition arm, at exhibition arm free end photographic head is set, then in operation, can break away from the restriction of incision site, vision can be separated with the main operation axle, thereby can be from a plurality of viewed anatomic regions of intracavity.Enclosure designs becomes the little domes of round end shuttle shape, and whole no sharp corners can not cause damage to thoracic wall.Thereby draught line can be in the angle of the external control exhibition arm folding angle of controlled observation easily.

As preferably, the magnetic material layer that the infiltration of the outer surface of outer cover body covers is a nanometer magnetic force silicone rubber.Nanometer magnetic force silastic material is a current material, by silicone rubber and nanometer Fe₃O₄Granule solidify to form adding under the action of a magnetic field.Because nanometer Fe₃O₄There is the hydroxyl of some on the surface, can react through these hydroxyls and silane coupler, thereby with nanometer Fe₃O₄Carry out surface treatment with silane coupler KH-560.In order to regulate and control nanometer Fe₃O₄Surface organosilicon radical number can pass through nanometer Fe₃O₄Toast, adjustment baking temperature and time, control hydroxy number.After baking finishes, nanometer Fe₃O₄React regulation and control response time, temperature, solution concentration etc., control surface degree of treatment with silane coupler solution.Nanometer magnetic force silicone rubber has the advantage that good biocompatibility, magnetic control performance are good, mechanical mechanics property is satisfied, and has pliability preferably, can avoid in the art thorax inner wall layer pleura being caused damage.

As preferably, be enclosed with permanent magnet in the nanometer magnetic force silicone rubber.The setting of permanent magnet can be avoided because patient's thoracic wall is blocked up, and nanometer magnetic force silicone rubber produces the situation that the magnetic force deficiency causes effectively realizing magnetic navigation.

As preferably, described base magnets is an electric magnet, and electric magnet connects current control circuit, and current control circuit connects the magnetoelectricity flow control switch.Pass through current of electromagnet through regulating magnetoelectricity flow control switch may command, thereby in time adjust the absorption affinity of electric magnet according to the operation needs.

As preferably, described base magnets is a nanometer magnetic force silicone rubber, is enclosed with permanent magnet in the nanometer magnetic force silicone rubber.

As preferably; Described video processing circuits comprises that cpu chip, video amplifier, video processing module, camera lens move control module and video output module, and said cpu chip links to each other with the input that outfan, video processing module and the camera lens of digital vedio recording camera lens move control module respectively.Video amplifier amplifies denoising to the video signal that obtains, through video processing module by predetermined rule treatments after, export by the video output module, camera lens moves control module and can move the rotation of camera lens on demand and control.

As preferably, described exhibition arm free end is provided with the LED lighting unit.The LED lighting unit can satisfy the daylighting requirement of video.

As preferably, the long 4-6cm of described shell, external diameter 1.5-3cm.Big I like this makes magnet assembly get into the thoracic cavity through handle hole smoothly.

As preferably, described shell left end head inboard is provided with position limiting structure restriction exhibition arm and excessively rotates the projection of described position limiting structure for stretching out along the outer cover body axial direction.Because the space is limited in the thoracic cavity, the excessive rotation of exhibition arm possibly cause damage to thoracic cavity inner tissue or organ, and position limiting structure can prevent the generation of this type of infringement.

As preferably, described digital vedio recording camera lens is miniature CCD or CMOS color video camera.Can satisfy that endoscope's overall dimensions is little, clear picture, resolution is high, colour reproduction property is good, Flame Image Process is meticulous requirement.

Medical magnetic navigation device of the present invention adopts electromagnet, and the magnetic force controlled amount can be according to the needs dynamic adjustments magnetic force size of patient's thoracic wall thickness, and angle lens is adjustable, the better observing effect of the traditional thoracoscope of available ratio; Simultaneously, the magnetic force silastic material that adopts good biocompatibility is as magnetic force assembly in the body, and the enclosure designs of magnetic force assembly is a round end shuttle shape microarch type structure, and whole no sharp corners has been avoided the damage thoracic wall.

This medical magnetic navigation device; Can in operation, break away from the restriction of incision site, the operation visual angle similar with traditional thoracoscopic operation is provided, and under the specific operation situation of operation; Because its viewing angle is more changeable; Make observing effect be superior to the traditional chamber mirror, will greatly promote the development of thoracic surgery LESS and NOTES operation, have great social benefit.Simultaneously; Because the thoracic surgery educational circles of thoracoscope surgery in the whole nation extensively carries out at present; Level hospital is to provincial capital's level large hospital from counties and cities; Thoracoscopic operation has progressively replaced the first-selected art formula of traditional operation as a lot of diseases, and it is good that the research and development of thoracoscope camera lens and related equipment thereof have the vast market background, can bring good economic benefit.

Description of drawings

Fig. 1 is the structural representation of first embodiment of the invention magnet assembly.

Fig. 2 is the structural representation of second embodiment of the invention magnet assembly.

Fig. 3 is the structural representation of first embodiment of the invention Control Component.

Fig. 4 is the structural representation of second embodiment of the invention Control Component

Fig. 5 is a video processing circuits structural representation of the present invention.

Fig. 6 is a user mode sketch map of the present invention.

The specific embodiment

Below in conjunction with the accompanying drawing and the specific embodiment structure of the present invention and characteristics are done further detailed description, part identical with prior art among the present invention will be with reference to prior art.

Embodiment 1:

Like Fig. 1,3, shown in 5; The medical magnetic navigation device comprises theControl Component 1 that places body surface, placesintravital magnet assembly 2,magnet assembly 2 to compriseshell 3 andexhibition arm 4;Shell 3 comprisesouter cover body 5, the left andright termination 6,7 of shell; Describedouter cover body 5 is the little arch of semicolumn, extends downwards and form the left andright termination 6,7 of hemispheric shell inouter cover body 5 outer surface two ends, and the outer surface infiltration ofouter cover body 5 coversmagnetic material layer 8; Describedmagnetic material layer 8 is a nanometer magnetic force silicone rubber, by silicone rubber and nanometer Fe₃O₄Granule; Solidify to form adding under the action of a magnetic field;Exhibition arm 4 comprisesexhibition arm link 9 and exhibition armfree end 10,exhibition arm link 9 and shellleft end head 6 hinged inside, and shellleft end head 6 inboards are provided withposition limiting structure 28restriction exhibition arms 4 and excessively rotate; The projection of describedposition limiting structure 28 for stretching out along the outer cover body axial direction,exhibition arm 4 is 30 degree with the maximum angle of outer cover body relative motion.Describedshell 3 is about 4cm, external diameter 2cm.

Exhibition armfree end 10 is provided withdraught line 11, anddraught line 11 passesouter cover body 5,exhibition arm 4 be hollow; In establish lead, exhibition armfree end 10 is provided with digital vediorecording camera lens 18 andLED lighting unit 19, digital vediorecording camera lens 18 links to each other withvideo processing circuits 20 through lead; DescribedControl Component 1 compriseshandle 12 and thebase 13 that links to each other withhandle 12;Base 13 lower surfaces are provided with electric magnet 14, and electric magnet is set to horseshoe electromagnet, interior bag soft iron material; Electric magnet 14 connects current control circuit 15, and current control circuit 15 connects magnetoelectricity flow control switch 16.The outer surface ofouter cover body 5 andbase 13 lower surfaces carry out adsorbing coupled through magnetic force.

Described digital vediorecording camera lens 18 is a miniature CCD.Describedvideo processing circuits 20 comprises thatcpu chip 21,video amplifier 22,video processing module 23, camera lensmove control module 24 andvideo output module 25, and saidcpu chip 21 links to each other with outfan,video processing module 23 and the input that camera lens movescontrol module 24 of digital vediorecording camera lens 18 respectively.

As shown in Figure 6, be user mode sketch map of the present invention.In the thoracoscopic operation, onthoracic wall 30, do about about 3 centimetreslong otch 32 between tworib bones 31 as the operation technique hole; Open the externally fed circuit ofmagnet assembly 2 and the magnetoelectricity flow control switch 16 on theControl Component 1, regulate the magnetic force size, under the action of a magnetic field;Magnet assembly 2 is inserted in the thoracic cavity through thisotch 32; The magnetic force that produces with electric magnet in theControl Component 2 14 acts on mutually, andintravital magnet assembly 2 is adsorbed byexternal Control Component 1, and digital vediorecording camera lens 18 is opened; Collect the real time video signals in the surgical field of view; Handle throughvideo processing module 23, send to the external video terminal presentation facility, for the operation technique person provides high-quality surgical field of view video information throughvideo output module 25; In the operation process, moveintravital magnet assembly 2 throughexternal control assembly 1 as required; Operation technique finishes, andmagnet assembly 2 is moved near the operation technique hole, and digital vediorecording camera lens 18 is closed, and takes out bodyinner magnet assembly 2.

Embodiment 2:

Like Fig. 2,4,5, shown in 6, the difference of present embodiment andembodiment 1 is: all be enclosed withpermanent magnet 17 in the nanometer magnetic force silicone rubber ofControl Component 1 andmagnet assembly 2, the patient that suitable thoracic wall is thicker uses.Describedshell 3 is about 5cm, external diameter 3cm.Described digital vediorecording camera lens 18 is a miniature CCD.

Claims (10)

1. medical magnetic navigation device; Comprise the Control Component (1) that places body surface, place intravital magnet assembly (2), it is characterized in that: described magnet assembly (2) comprises shell (3) and exhibition arm (4), and shell (3) comprises outer cover body (5), the left and right termination of shell (6,7); Described outer cover body (5) is the little arch of semicolumn; Extend downwards and form the left and right termination of hemispheric shell (6,7) in outer cover body (5) outer surface two ends, the outer surface infiltration of outer cover body (5) covers magnetic material layer (8), and exhibition arm (4) comprises exhibition arm link (9) and exhibition arm free end (10); Exhibition arm link (9) and shell left end head (6) hinged inside; Exhibition arm free end (10) is provided with draught line (11), and said draught line (11) passes outer cover body (5), and described exhibition arm (4) is a hollow; In establish lead; Exhibition arm free end (10) is provided with digital vedio recording camera lens (18), and digital vedio recording camera lens (18) links to each other with video processing circuits (20) through lead, and described Control Component (1) comprises handle (12) and the base (13) that links to each other with handle (12); Base (13) lower surface is provided with base magnets (14), and the outer surface of outer cover body (5) and base (13) lower surface carry out adsorbing coupled through magnetic force.

2. medical magnetic navigation device according to claim 1 is characterized in that: the magnetic material layer (8) that the outer surface infiltration of outer cover body (5) covers is a nanometer magnetic force silicone rubber.

3. medical magnetic navigation device according to claim 2 is characterized in that: be enclosed with permanent magnet (17) in the nanometer magnetic force silicone rubber.

4. medical magnetic navigation device according to claim 1 is characterized in that: described base magnets (14) is an electric magnet, and electric magnet connects current control circuit (15), and current control circuit (15) connects magnetoelectricity flow control switch (16).

5. medical magnetic navigation device according to claim 1 is characterized in that: described base magnets (14) is a nanometer magnetic force silicone rubber, is enclosed with permanent magnet (17) in the nanometer magnetic force silicone rubber.

6. medical magnetic navigation device according to claim 1; It is characterized in that: described video processing circuits (20) comprises that cpu chip (21), video amplifier (22), video processing module (23), camera lens move control module (24) and video output module (25), and said cpu chip (21) links to each other with outfan, video processing module (23) and the input that camera lens moves control module (24) of digital vedio recording camera lens (18) respectively.

7. medical magnetic navigation device according to claim 1 is characterized in that: described exhibition arm free end (10) is provided with LED lighting unit (19).

8. medical magnetic navigation device according to claim 1 is characterized in that: the long 4-6cm of described shell (3), external diameter 1.5-3cm.

9. medical magnetic navigation device according to claim 1; It is characterized in that: described shell left end head (6) inboard is provided with excessively rotation of position limiting structure (28) restriction exhibition arm (4), the projection of described position limiting structure (28) for stretching out along the outer cover body axial direction.

10. medical magnetic navigation device according to claim 1 is characterized in that: described digital vedio recording camera lens (18) is miniature CCD or CMOS color video camera.

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