技术领域technical field
本发明涉及医疗器械技术领域，尤其涉及一种用于肝胆外科的手术系统。The invention relates to the technical field of medical instruments, in particular to an operating system for hepatobiliary surgery.
背景技术Background technique
肝胆外科主要涉及如肝细胞癌、肝胆管结石、肝炎后肝硬化和重型肝炎所致的急性肝功能衰竭等的肝胆疾病，据统计资料显示，肝胆疾病已逐渐成为严重威胁国人健康的一类疾病。Hepatobiliary surgery mainly involves hepatobiliary diseases such as hepatocellular carcinoma, hepatolithiasis, post-hepatitic cirrhosis and acute liver failure caused by severe hepatitis. According to statistics, hepatobiliary diseases have gradually become a serious threat to the health of Chinese people. .
应理解，大部分肝胆疾病的治疗手段是通过外科手术解决的。然而，在进行外科手术时，由于肝、胆组织周围的血管密集程度较高，即使很小的操作失误，也容易造成大量出血的情况，手术风险非常高。因此，如何提高肝胆外科手术的精度，降低手术风险，是目前亟需解决的问题。It should be understood that the majority of treatment options for hepatobiliary disorders are surgical. However, during surgical operations, due to the high density of blood vessels around the liver and gallbladder tissue, even a small operation error can easily cause massive bleeding, and the surgical risk is very high. Therefore, how to improve the accuracy of hepatobiliary surgery and reduce the risk of surgery is an urgent problem to be solved.
发明内容Contents of the invention
本发明实施例中的一种用于肝胆外科的手术系统，通过提供一套用途全面，且可靠性和稳定性高的手术设备，来提高肝胆外科手术的精度，从而降低手术风险。A surgical system for hepatobiliary surgery in an embodiment of the present invention improves the accuracy of hepatobiliary surgery by providing a set of surgical equipment with comprehensive uses and high reliability and stability, thereby reducing surgical risks.
本发明实施例提供了一种用于肝胆外科的手术系统，所述手术系统包括导航设备组、手术设备组、传动设备组、供电设备组、手术台、扫描台和控制台，所述扫描台的台头铆接在手术台的台尾上，所述控制台独立于扫描台和手术台设置，所述传动设备组的轨道铺接在扫描台和手术台的台面，所述导航设备组的各个设备分别设置在扫描台、手术台和控制台上，所述手术设备组的各个设备分别设置在手术台和控制台上，所述供电设备组的三个电力输出接口分别与导航设备组、手术设备组和传动设备组的电力输入接口插接，其中：An embodiment of the present invention provides a surgical system for hepatobiliary surgery. The surgical system includes a navigation device group, a surgical device group, a transmission device group, a power supply device group, an operating table, a scanning table, and a console. The scanning table The head of the table is riveted on the tail of the operating table. The console is set independently of the scanning table and the operating table. The track of the transmission equipment group is laid on the table top of the scanning table and the operating table. They are respectively arranged on the scanning table, the operating table and the console, and the various devices of the surgical equipment group are respectively arranged on the operating table and the console, and the three power output interfaces of the power supply The power input interface of the group and the transmission equipment group is plugged in, where:
所述导航设备组包括设置于扫描台的CT扫描仪、MR扫描仪、雷达成像仪和3D图像生成器；所述CT扫描仪用于拍摄若干个前半周期的肝组织和/或胆组织的断层图像，所述MR扫描仪用于拍摄若干个后半周期的肝组织和/或胆组织的断层图像，雷达成像仪用于描绘人体立体图像，所述3D图像生成器用于根据CT扫描仪拍摄的若干个前半周期的图像和MR扫描仪拍摄的若干个后半周期图像生成若干个完整周期的肝组织和/或胆组织的立体图像，并结合雷达成像仪描绘的人体立体图像来生成带肝组织和/或胆组织的3D人体图像；The navigation equipment group includes a CT scanner, an MR scanner, a radar imager, and a 3D image generator arranged on a scanning table; the CT scanner is used to take slices of liver tissue and/or gallbladder tissue in several first half cycles image, the MR scanner is used to take several tomographic images of the liver tissue and/or gallbladder tissue in the second half cycle, the radar imager is used to describe the stereoscopic image of the human body, and the 3D image generator is used to capture images according to the CT scanner. Several images of the first half period and several images of the second half period taken by the MR scanner generate several stereoscopic images of liver tissue and/or gallbladder tissue in a complete period, and combine with the stereoscopic image of the human body depicted by the radar imager to generate liver tissue and/or 3D human body images of biliary tissue;
所述导航设备组还包括设置于手术台的3D摄像仪、偏离警报器、光学跟踪定位系统、定位传感器和追踪传感器；所述3D摄像仪用于拍摄手术台上人体的3D轮廊，并通过将3D轮廊与3D人体图像的轮廊进行匹配比较来确定人体是否偏离最佳手术位置，所述偏离警报器用于在人体偏离最佳手术位置时发出声光警报，所述光学跟踪定位系统用于通过向定位传感器和追踪传感器发出红外光来确定追踪传感器相对于定位传感器的空间位置，所述定位传感器通过黏胶贴置在肝组织和/或胆组织周边的人体表皮，所述追踪传感器通过磁力吸附在手术工具上，所述手术工具包括钻头、磨刀、刨刀、射频消融电极、超声碎石器和内窥镜摄像头；The navigation equipment group also includes a 3D camera set on the operating table, a deviation alarm, an optical tracking and positioning system, a positioning sensor and a tracking sensor; The 3D outline is matched and compared with the outline of the 3D human body image to determine whether the human body deviates from the optimal surgical position, and the deviation alarm is used to send out an audible and visual alarm when the human body deviates from the optimal surgical position. To determine the spatial position of the tracking sensor relative to the positioning sensor by emitting infrared light to the positioning sensor and the tracking sensor, the positioning sensor is placed on the human epidermis around the liver tissue and/or biliary tissue through glue, and the tracking sensor passes Magnetically attached to surgical tools, including drills, sharpeners, planers, radiofrequency ablation electrodes, ultrasonic lithotripters, and endoscopic cameras;
所述导航设备组还包括设置于控制台的3D全息投影显示器、触摸显示屏、话筒、耳麦、摇杆控制器和脚踏控制器；所述3D全息投影显示器用于在控制台上投影显示出3D人体图像，以及在3D人体图像中显示出定位传感器和追踪传感器的位置，所述触摸显示屏用于人机交互，所述人机交互包括显示操作列表、显示虚拟键盘以及获取向虚拟键盘输入的指令，所述话筒用于接收至少包括停止和启动的语音指令，所述耳麦用于接收偏离警报器发出的声警报；The navigation device group also includes a 3D holographic projection display, a touch display screen, a microphone, a headset, a joystick controller and a foot controller arranged on the console; the 3D holographic projection display is used to project and display on the console A 3D human body image, and the position of the positioning sensor and the tracking sensor are displayed in the 3D human body image, and the touch display screen is used for human-computer interaction, and the human-computer interaction includes displaying an operation list, displaying a virtual keyboard, and obtaining input to the virtual keyboard instructions, the microphone is used to receive voice instructions including at least stop and start, and the headset is used to receive the audible alarm from the departure alarm;
所述手术设备组包括多个关节型夹持臂、软管夹持臂、硬管夹持臂和刚度可调式夹持臂；所述摇杆控制器用于调节关节型夹持臂、软管夹持臂、硬管夹持臂和刚度可调式夹持臂相对于手术台台沿的位置，所述关节型夹持臂包括多个机械臂、机械关节和机械夹爪，所述软管夹持臂包括软性导管和机械夹爪，所述硬管夹持臂包括硬性导管和机械夹爪，所述刚度可调式夹持臂包括刚度可调式导管和机械夹爪；The surgical equipment group includes a plurality of articulated clamping arms, hose clamping arms, hard tube clamping arms and rigidity adjustable clamping arms; the rocker controller is used to adjust the joint type clamping arms, hose clamps The position of the holding arm, the hard tube clamping arm and the adjustable rigidity clamping arm relative to the edge of the operating table. The joint type clamping arm includes a plurality of mechanical arms, mechanical joints and mechanical jaws. The arm includes a flexible conduit and a mechanical gripper, the hard tube clamping arm includes a rigid conduit and a mechanical gripper, and the rigidity-adjustable clamping arm includes a rigidity-adjustable conduit and a mechanical gripper;
所述手术设备组还包括设置于关节型夹持臂的钻头、磨刀和刨刀；所述脚踏控制器用于根据输入的不同等级的踩踏力度向钻头、磨刀和刨刀输出对应等级的旋转动力，所述钻头用于开钻微创手术口，所述磨刀用于修磨微创手术口的边角，所述刨刀用于刨削皮下脂肪组织以及肝组织和/或胆组织周边的病灶组织；The surgical equipment group also includes drills, sharpeners and planers arranged on the joint-type clamping arm; the pedal controller is used to output corresponding levels of rotational power to the drills, sharpeners and planers according to different levels of pedaling force input , the drill bit is used to drill the minimally invasive surgical port, the sharpener is used to grind the corners of the minimally invasive surgical port, and the planer is used to plan subcutaneous adipose tissue and surrounding lesions of liver tissue and/or biliary tissue organize;
所述手术设备组还包括设置于关节型夹持臂的射频消融电极和超声碎石器；所述脚踏控制器用于根据输入的不同等级的踩踏力度向射频消融电极和超声碎石器分别输出对应等级的射频能量和超声能量，所述射频消融电极用于消融肝组织和/或胆组织上的病灶组织以及凝血，所述超声碎石器用于击碎胆结石；The surgical equipment group also includes a radiofrequency ablation electrode and an ultrasonic lithotripper arranged on the joint-type clamping arm; Corresponding levels of radiofrequency energy and ultrasonic energy, the radiofrequency ablation electrode is used to ablate the lesion tissue on the liver tissue and/or gallbladder tissue and coagulation, and the ultrasonic lithotripper is used to crush gallstones;
所述手术设备组还包括设置于软管夹持臂、硬管夹持臂和刚度可调式夹持臂的内窥镜摄像头；所述脚踏控制器用于根据输入的不同等级的踩踏力度向内窥镜摄像头输出对应等级的光照强度，所述内窥镜摄像头用于发射冷光并拍摄肝组织和/或胆组织的实时影像；The surgical equipment group also includes an endoscopic camera arranged on the flexible pipe clamping arm, the hard tube clamping arm and the rigidity adjustable clamping arm; The endoscope camera outputs a corresponding level of light intensity, and the endoscope camera is used to emit cold light and take real-time images of liver tissue and/or gallbladder tissue;
所述手术设备组还包括设置于控制台的旋转动力输出器、射频能量输出器、超声能量输出器和内窥镜冷光源；所述旋转动力输出器用于通过微电机向钻头、磨刀和刨刀输出旋转动力，所述射频能量输出器用于向射频消融电极输出射频能量，所述超声能量输出器用于向超声碎石器输出超声能量，所述内窥镜冷光源用于向内窥镜摄像头输出照明冷光；The surgical equipment group also includes a rotary power output device, a radio frequency energy output device, an ultrasonic energy output device and an endoscope cold light source arranged on the console; output rotational power, the radio frequency energy output device is used to output radio frequency energy to the radio frequency ablation electrode, the ultrasonic energy output device is used to output ultrasonic energy to the ultrasonic lithotripter, and the endoscope cold light source is used to output the endoscopic camera lighting cold light;
所述传动设备组包括设置于轨道上的传动皮带和护栏条；所述传动皮带用于将人体从扫描台传送到手术台，所述传动皮带上设置有用于安放人体的人形凹躺区域，所述凹躺区域上设置有整体呈V字纹的防滑突起，所述护栏条设置在所述传动皮带的边沿；The transmission equipment group includes a transmission belt and a guardrail arranged on the track; the transmission belt is used to transmit the human body from the scanning table to the operating table, and the transmission belt is provided with a human-shaped concave lying area for placing the human body, so An anti-slip protrusion with a V-shaped pattern is provided on the concave lying area, and the guardrail is provided on the edge of the transmission belt;
所述供电设备组包括设置于壳体内的交流发电机、蓄电池、供电电路、水冷散热器和中性极板，所述交流发电机用于燃烧油气发电，所述蓄电池用于存储电能，所述供电电路用于将蓄电池和/或市电分别向导航设备组、手术设备组和传动设备组输出稳定电力，所述水冷散热器用于通过循环水冷却所述供电电路，所述中性极板一端贴附人体腿部，另一端连接地线，用于泄放堆积在人体的电能。The power supply equipment group includes an alternator, a storage battery, a power supply circuit, a water-cooled radiator and a neutral plate arranged in the housing, the alternator is used to burn oil and gas to generate electricity, the storage battery is used to store electric energy, and the The power supply circuit is used to output stable power to the navigation equipment group, the operation equipment group and the transmission equipment group respectively from the storage battery and/or mains power, the water-cooled radiator is used to cool the power supply circuit through circulating water, and one end of the neutral plate is It is attached to the legs of the human body, and the other end is connected to the ground wire, which is used to discharge the electric energy accumulated in the human body.
可选的，所述刚度可调式导管包括橡胶条、内置于所述橡胶条中的电磁圈以及套设在所述橡胶条外的柔性外壳，所述电磁圈的各个子圈在通电之后产生磁力并相互吸引以使所述橡胶条的刚度变化，其中，所述电磁圈所通电流越大，所述橡胶条的刚度越大。Optionally, the catheter with adjustable stiffness includes a rubber strip, an electromagnetic coil embedded in the rubber strip, and a flexible shell sleeved outside the rubber strip, and each sub-coil of the electromagnetic coil generates a magnetic force after being energized and attract each other to change the stiffness of the rubber strips, wherein the greater the current passed through the electromagnetic coil, the greater the stiffness of the rubber strips.
又可选的，所述机械夹爪包括钳口、设置于所述钳口的两个夹爪以及分别设置于所述夹爪末端的两个防滑板，所述钳口用于控制两个夹爪的开闭，所述两个防滑板的一端与夹爪末端栓接，并通过弹性件与夹爪连接，使得在不受外力时两个防滑板贴合，在受外力时两个防滑板分离，所述夹爪用于通过防滑板从径向夹持手术工具的柄部。Optionally, the mechanical jaws include jaws, two jaws disposed on the jaws, and two anti-skid plates respectively disposed at the ends of the jaws, and the jaws are used to control the two jaws. The opening and closing of the claws, one end of the two anti-skid plates is bolted to the end of the jaws, and connected to the jaws through an elastic member, so that the two anti-skid plates fit together when no external force is applied, and the two anti-skid plates Separated, the jaws are used to radially clamp the handle of the surgical tool through the anti-skid plate.
又可选的，所述刨刀包括外刀管、夹层刀管和内刀管，所述外刀管、夹层刀管和内刀管均开设有窗口，所述窗口边缘形成刀刃，所述内刀管相对于夹层刀管的旋转速度大于所述夹层刀管相对于外刀管的旋转速度，所述内刀管的管内形成抽吸通道，用于抽吸组织及组织液。Optionally, the planer includes an outer cutter tube, a sandwich cutter tube and an inner cutter tube, and the outer cutter tube, the sandwich cutter tube and the inner cutter tube are all provided with windows, and the edge of the window forms a blade, and the inner cutter The rotation speed of the tube relative to the interlayer knife tube is greater than the rotation speed of the interlayer knife tube relative to the outer knife tube, and a suction channel is formed in the tube of the inner knife tube for sucking tissue and interstitial fluid.
又可选的，所述供电电路包括变压器、整流器、稳压器、放大器、三极管、电压比较器、第一电容、第二电容、第三电容、第一电阻、第二电阻、第三电阻、第四电阻、第一二极管、第二二极管、第三二极管、电感和继电器，其中：Optionally, the power supply circuit includes a transformer, a rectifier, a voltage regulator, an amplifier, a transistor, a voltage comparator, a first capacitor, a second capacitor, a third capacitor, a first resistor, a second resistor, a third resistor, A fourth resistor, a first diode, a second diode, a third diode, an inductor and a relay, wherein:
所述电压比较器的负极与整流器的正极输出相连接，所述第一电容的正极与放大器的正极相连接，所述第二电阻的一端与放大器的正极相连接，所述第二电阻的另一端与放大器的输出相连接，所述第二电容的负极与放大器的正极相连接，所述第二电容的正极通过第一电阻与放大器的输出端相连接，所述第一二极管的正极与放大器的负极相连接，所述第一二极管的负极通过第三电阻与放大器的输出端相连接，所述电感的一端与继电器的常闭触点相连接，所述整流器的一个输入端与变压器的副边电感线圈的非同名端相连接，所述整流器的另一个输入端与变压器的副边电感线圈的同名端相连接，所述变压器的原边电感线圈的两端共同组成第一电源输入端以接入市电，所述三极管的集电极与稳压器的输入管脚相连接，所述三极管的基极与稳压器的输出管脚相连接，所述电压比较器的正极与整流器的负极输出端的两端共同组成第二电源输入端以接入蓄电池，所述电压比较器的正极与继电器的常开触点相连接，所继电器的开关公共端与整流器的负极共同组成电源输出端。The negative pole of the voltage comparator is connected to the positive pole output of the rectifier, the positive pole of the first capacitor is connected to the positive pole of the amplifier, one end of the second resistor is connected to the positive pole of the amplifier, and the other end of the second resistor is connected to the positive pole of the amplifier. One end is connected with the output of the amplifier, the negative pole of the second capacitor is connected with the positive pole of the amplifier, the positive pole of the second capacitor is connected with the output terminal of the amplifier through the first resistor, and the positive pole of the first diode Connected to the negative pole of the amplifier, the negative pole of the first diode is connected to the output terminal of the amplifier through the third resistor, one end of the inductor is connected to the normally closed contact of the relay, and one input terminal of the rectifier It is connected to the non-identical end of the secondary inductance coil of the transformer, the other input end of the rectifier is connected to the same-named end of the secondary inductance coil of the transformer, and the two ends of the primary inductance coil of the transformer together form the first The input terminal of the power supply is connected to the mains, the collector of the triode is connected to the input pin of the voltage regulator, the base of the triode is connected to the output pin of the voltage regulator, and the positive pole of the voltage comparator The two ends of the negative output terminal of the rectifier together form the second power supply input terminal to connect to the battery, the positive pole of the voltage comparator is connected to the normally open contact of the relay, and the switch common terminal of the relay and the negative pole of the rectifier jointly form a power supply output.
由上可见，本发明实施例中的手术系统包括导航设备组、手术设备组、传动设备组、供电设备组，其中，导航设备组可通过手术导航方式指导手术者进行手术，手术设备组配置有种类丰富的手术工具，传动设备组可将扫描和手术两个过程连为一体，供电设备组的供电方式安全、可靠，从而提高了肝胆外科手术的精度，降低了手术风险。It can be seen from the above that the surgical system in the embodiment of the present invention includes a navigation device group, a surgical device group, a transmission device group, and a power supply device group. A wide variety of surgical tools, the transmission equipment group can integrate the two processes of scanning and surgery, and the power supply equipment group provides safe and reliable power supply, thereby improving the accuracy of hepatobiliary surgery and reducing the risk of surgery.
附图说明Description of drawings
为了更清楚地说明本发明实施例，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the embodiments of the present invention more clearly, the following will briefly introduce the accompanying drawings that are required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.
图1是本发明实施例提供的一种用于肝胆外科的手术系统的结构示意图；Fig. 1 is a schematic structural view of a surgical system for hepatobiliary surgery provided by an embodiment of the present invention;
图2是本发明实施例提供的一种刚度可调式导管的结构示意图；Fig. 2 is a schematic structural diagram of a stiffness-adjustable catheter provided by an embodiment of the present invention;
图3是本发明实施例提供的一种机械夹爪的结构示意图；Fig. 3 is a schematic structural view of a mechanical gripper provided by an embodiment of the present invention;
图4是本发明实施例提供的一种供电电路的结构示意图。Fig. 4 is a schematic structural diagram of a power supply circuit provided by an embodiment of the present invention.
具体实施方式detailed description
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
图1是本发明实施例中的用于肝胆外科的手术系统的结构示意图。如图所示本实施例中的手术系统的可以包括导航设备组1、手术设备组2、传动设备组3、供电设备组4、手术台5、扫描台6和控制台7，所述扫描台6的台头铆接在手术台5的台尾上，所述控制台7独立于扫描台6和手术台5设置，所述传动设备组3的轨道31铺接在扫描台6和手术台5的台面，所述导航设备组1的各个设备分别设置在扫描台6、手术台5和控制台7上，所述手术设备组2的各个设备分别设置在手术台5和控制台7上，所述供电设备组4的三个电力输出接口分别与导航设备组1、手术设备组2和传动设备组3的电力输入接口插接，其中：Fig. 1 is a schematic structural view of a surgical system for hepatobiliary surgery in an embodiment of the present invention. As shown in the figure, the surgical system in this embodiment may include a navigation device group 1, a surgical device group 2, a transmission device group 3, a power supply device group 4, an operating table 5, a scanning table 6, and a console 7. The scanning table The head of the table 6 is riveted on the tail of the operating table 5, the console 7 is set independently from the scanning table 6 and the operating table 5, and the track 31 of the transmission equipment group 3 is laid on the table tops of the scanning table 6 and the operating table 5 , each device of the navigation device group 1 is respectively arranged on the scanning table 6, the operating table 5 and the console 7, each device of the operation device group 2 is respectively arranged on the operating table 5 and the console 7, and the power supply The three power output interfaces of equipment group 4 are respectively plugged into the power input interfaces of navigation equipment group 1, surgical equipment group 2 and transmission equipment group 3, wherein:
所述导航设备组1包括设置于扫描台的CT(Computed Tomography，电子计算机断层扫描)扫描仪11、MR((Magnetic Resonance，核磁共振)扫描仪12、雷达成像仪13和3D图像生成器14；所述CT扫描仪11用于拍摄若干个前半周期的肝组织和/或胆组织的断层图像，所述MR扫描仪12用于拍摄若干个后半周期的肝组织和/或胆组织的断层图像，雷达成像仪13用于描绘人体立体图像，所述3D图像生成器14用于根据CT扫描仪11拍摄的若干个前半周期的图像和MR扫描仪12拍摄的若干个后半周期图像生成若干个完整周期的肝组织和/或胆组织的立体图像，并结合雷达成像仪13描绘的人体立体图像来生成带肝组织和/或胆组织的3D人体图像。应理解的，CT扫描是一种断层扫描(间隔扫描)方式，对于没扫描到图像的时缝，往往是靠算法推测出，准确性不高，本发明实施例，可以通过MR扫描弥补该时缝的图像，准确性更高。具体实现过程中，人体在一次性传送通过CT扫描仪11和MR扫描仪12的过程，3D图像生成器14便可根据该过程的全部断层图像生成一个完整的肝组织和/或胆组织的立体图像，再结合雷达成像仪13描绘的人体立体图像，便可得到带肝组织和/或胆组织的3D人体图像。The navigation device group 1 includes a CT (Computed Tomography, computerized tomography) scanner 11, an MR (Magnetic Resonance, nuclear magnetic resonance) scanner 12, a radar imager 13 and a 3D image generator 14 arranged on a scanning table; The CT scanner 11 is used to take several tomographic images of the liver tissue and/or gallbladder tissue in the first half cycle, and the MR scanner 12 is used to take several tomographic images of the liver tissue and/or gallbladder tissue in the second half cycle , the radar imager 13 is used to describe the stereoscopic image of the human body, and the 3D image generator 14 is used to generate several images of the first half period according to the images taken by the CT scanner 11 and the images taken by the MR scanner 12. Stereoscopic images of liver tissue and/or gallbladder tissue in a complete cycle, combined with the stereoscopic image of the human body depicted by the radar imager 13 to generate a 3D human body image with liver tissue and/or gallbladder tissue. It should be understood that a CT scan is a tomographic Scanning (scanning at intervals) mode, for the time slots that do not scan images, it is often inferred by algorithms, and the accuracy is not high. In the embodiment of the present invention, the images of the time slots can be made up by MR scanning, and the accuracy is higher. Specifically In the implementation process, when the human body is transmitted through the CT scanner 11 and the MR scanner 12 at one time, the 3D image generator 14 can generate a complete three-dimensional image of the liver tissue and/or gallbladder tissue according to all the tomographic images of the process , combined with the stereoscopic image of the human body depicted by the radar imager 13, a 3D human body image with liver tissue and/or gallbladder tissue can be obtained.
所述导航设备组1还包括设置于手术台的3D摄像仪15、偏离警报器16、光学跟踪定位系统17、定位传感器18和追踪传感器19；所述3D摄像仪15用于拍摄手术台5上人体的3D轮廊，并通过将3D轮廊与3D人体图像的轮廊进行匹配比较来确定人体是否偏离最佳手术位置，所述偏离警报器16用于在人体偏离最佳手术位置时发出声光警报，所述光学跟踪定位系统17用于通过向定位传感器18和追踪传感器19发出红外光来确定追踪传感器19相对于定位传感器18的空间位置，所述定位传感器18通过黏胶贴置在肝组织和/或胆组织周边的人体表皮，所述追踪传感器19通过磁力吸附在手术工具上，所述手术工具包括钻头26、磨刀27、刨刀28、射频消融电极、超声碎石器和内窥镜摄像头。应理解的，虽然患者一般是经过全麻后才进行手术，但人体姿势在传送过程中难免会发生变化，为了确保用于给手术者观看以进行手术导航的3D人体图像的实时准确性，本发明实施例还对人体是否偏离最佳手术位置进行校验，减小位移误差带来的风险。需要指出的是，定位传感器18实质上标定了手术区域(肝或胆组织)，追踪传感器19实质上标定了手术工具的位置，两者相结合并向手术者显示出，手术者能准确知悉手术刀具的实时位置，实现手术导航。The navigation device group 1 also includes a 3D camera 15 arranged on the operating table, a deviation alarm 16, an optical tracking and positioning system 17, a positioning sensor 18 and a tracking sensor 19; The 3D contour of the human body, and determine whether the human body deviates from the optimal surgical position by matching and comparing the 3D contour with the contour of the 3D human body image, and the deviation alarm 16 is used to make a sound when the human body deviates from the optimal surgical position Light alarm, the optical tracking and positioning system 17 is used to determine the spatial position of the tracking sensor 19 relative to the positioning sensor 18 by sending infrared light to the positioning sensor 18 and the tracking sensor 19, and the positioning sensor 18 is placed on the liver through adhesive The human epidermis around the tissue and/or biliary tissue, the tracking sensor 19 is magnetically adsorbed on the surgical tool, and the surgical tool includes a drill 26, a sharpener 27, a planer 28, a radiofrequency ablation electrode, an ultrasonic lithotripter and an endoscope mirror camera. It should be understood that although patients generally undergo surgery after general anesthesia, the posture of the human body will inevitably change during the transmission process. The embodiment of the invention also checks whether the human body deviates from the optimal surgical position, so as to reduce the risk caused by the displacement error. It should be pointed out that the positioning sensor 18 essentially marks the operation area (liver or gallbladder tissue), and the tracking sensor 19 essentially marks the position of the surgical tool. The real-time position of the tool enables surgical navigation.
所述导航设备组1还包括设置于控制台7的3D全息投影显示器110、触摸显示屏111、话筒112、耳麦113、摇杆控制器114和脚踏控制器115；所述3D全息投影显示器110用于在控制台上投影显示出3D人体图像，以及在3D人体图像中显示出定位传感器18和追踪传感器19的位置，所述触摸显示屏用于人机交互，所述人机交互包括显示操作列表、显示虚拟键盘以及获取向虚拟键盘输入的指令，所述话筒用于接收至少包括停止和启动的语音指令，所述耳麦用于接收偏离警报器发出的声警报。本发明实施例中，显示3D人体图像的方式为全息投影显示，可观察性非常好。The navigation device set 1 also includes a 3D holographic projection display 110, a touch screen 111, a microphone 112, a headset 113, a joystick controller 114 and a foot controller 115 arranged on the console 7; the 3D holographic projection display 110 It is used for projecting and displaying 3D human body images on the console, and displaying the positions of positioning sensors 18 and tracking sensors 19 in the 3D human body images. The touch display screen is used for human-computer interaction, and the human-computer interaction includes display operations Listing and displaying the virtual keyboard and obtaining instructions input to the virtual keyboard, the microphone is used to receive voice instructions including at least stop and start, and the headset is used to receive the sound alarm from the deviation alarm. In the embodiment of the present invention, the way of displaying the 3D human body image is holographic projection display, and the observability is very good.
需要说明的是，本发明实施例中，导航设备组1可以生成3D人体图像(相当于导航所需的地图)并通过校准确保其与真实人体保持一致，还可以在3D人体图像中定位手术工具的实时位置(相当于导航物在地图上的位置)，从而可以实现手术导航功能，提高手术精度。最难能可贵的是，相对于现有手术系统，导航设备组1首创性的引入了全息投影显示，比平面显示的更形象、具体、清楚。另外，导航设备组1的用户交互功能也非常齐全，足以应对手术者的大多数手术操作需求。It should be noted that in the embodiment of the present invention, the navigation device group 1 can generate a 3D human body image (equivalent to a map required for navigation) and ensure that it is consistent with the real human body through calibration, and can also locate surgical tools in the 3D human body image The real-time position of the navigation object (equivalent to the position of the navigation object on the map), so that the surgical navigation function can be realized and the surgical accuracy can be improved. The most commendable thing is that, compared with the existing surgical system, the navigation equipment group 1 introduces the holographic projection display for the first time, which is more vivid, specific and clear than the plane display. In addition, the user interaction functions of the navigation device set 1 are also very complete, which is sufficient to meet most surgical operation needs of the surgeon.
所述手术设备组2包括多个关节型夹持臂21、软管夹持臂22、硬管夹持臂23和刚度可调式夹持臂24；所述摇杆控制器114用于调节关节型夹持臂21、软管夹持臂22、硬管夹持臂23和刚度可调式夹持臂24相对于手术台5台沿的位置，所述关节型夹持臂包括多个机械臂21a、机械关节21b和机械夹爪25，所述软管夹持臂22包括软性导管22a和机械夹爪25，所述硬管夹持臂23包括硬性导管23a和机械夹爪25，所述刚度可调式夹持臂24包括刚度可调式导管24a和机械夹爪25。需要指出的是，软管夹持臂22、硬管夹持臂23和刚度可调式夹持臂24可从手术台5内抽出，故图1中只画出了其露出部分。另外，由于关节型夹持臂21、软管夹持臂22、硬管夹持臂23和刚度可调式夹持臂24的机械夹爪25结构相同(尺寸可不相同)，故图1中只标出了一个机械夹爪25以作说明，相对应的，故图1中只标出来一个设置于手术工具上的追踪传感器19。The surgical equipment group 2 includes a plurality of articulated clamping arms 21, hose clamping arms 22, hard tube clamping arms 23 and stiffness-adjustable clamping arms 24; the rocker controller 114 is used to adjust the joint type The positions of the clamping arm 21, the hose clamping arm 22, the hard tube clamping arm 23 and the adjustable stiffness clamping arm 24 relative to the edge of the operating table 5. The joint clamping arm includes a plurality of mechanical arms 21a, Mechanical joint 21b and mechanical jaw 25, described hose clamping arm 22 comprises soft conduit 22a and mechanical clamping jaw 25, and described hard tube clamping arm 23 comprises rigid conduit 23a and mechanical clamping jaw 25, and described rigidity can be The adjustable clamping arm 24 includes a stiffness-adjustable guide tube 24 a and a mechanical jaw 25 . It should be pointed out that the flexible tube clamping arm 22, the hard tube clamping arm 23 and the adjustable rigidity clamping arm 24 can be drawn out from the operating table 5, so only their exposed parts are drawn in FIG. 1 . In addition, since the mechanical jaws 25 of the articulated clamping arm 21, the hose clamping arm 22, the hard tube clamping arm 23 and the rigidity-adjustable clamping arm 24 have the same structure (the size may be different), only the A mechanical gripper 25 is shown for illustration. Correspondingly, only one tracking sensor 19 arranged on the surgical tool is marked in FIG. 1 .
所述手术设备组2还包括设置于关节型夹持臂21的钻头26、磨刀27和刨刀28；所述脚踏控制器115用于根据输入的不同等级的踩踏力度向钻头26、磨刀27和刨刀28输出对应等级的旋转动力，所述钻头26用于开钻微创手术口，所述磨刀27用于修磨微创手术口的边角，所述刨刀28用于刨削皮下脂肪组织以及肝组织和/或胆组织周边的病灶组织。可选的，刨刀28包括外刀管(未图示出)、夹层刀管(未图示出)和内刀管(未图示出)，所述外刀管、夹层刀管和内刀管均开设有窗口，所述窗口边缘形成刀刃，所述内刀管相对于夹层刀管的旋转速度大于所述夹层刀管相对于外刀管的旋转速度，所述内刀管的管内形成抽吸通道，用于抽吸组织及组织液。需要指出的是，现有医用刨刀一般是两层刀管，而本发明实施例中的刨刀28采用三层结构，在不改变刨削面积的基础上(窗口面积不变)，增大了刨削深度，更适用于肝或胆外科手术的刨削用途。The surgical equipment group 2 also includes a drill bit 26, a sharpening knife 27 and a planer 28 arranged on the articulated clamping arm 21; 27 and the planer 28 output corresponding grades of rotary power, the drill bit 26 is used to drill the minimally invasive surgery port, the grinder 27 is used to grind the corners of the minimally invasive surgery port, and the planer 28 is used to plan the subcutaneous Adipose tissue and surrounding lesion tissue of liver tissue and/or biliary tissue. Optionally, the planer 28 includes an outer cutter tube (not shown), an interlayer cutter tube (not shown) and an inner cutter tube (not shown), and the outer cutter tube, interlayer cutter tube and inner cutter tube All have windows, the edge of the window forms a blade, the rotation speed of the inner knife tube relative to the sandwich knife tube is greater than the rotation speed of the sandwich knife tube relative to the outer knife tube, and a suction is formed in the tube of the inner knife tube. Channel for aspiration of tissue and interstitial fluid. It should be pointed out that the existing medical planer generally has a two-layer cutter tube, while the planer 28 in the embodiment of the present invention adopts a three-layer structure, which increases the planer thickness without changing the planing area (the window area remains unchanged). The cutting depth is more suitable for planing purposes in liver or biliary surgery.
所述手术设备组2还包括设置于关节型夹持臂21的射频消融电极29和超声碎石器210；所述脚踏控制器115用于根据输入的不同等级的踩踏力度向射频消融电极29和超声碎石器210分别输出对应等级的射频能量和超声能量，所述射频消融电极29用于消融肝组织和/或胆组织上的病灶组织以及凝血，所述超声碎石器210用于击碎胆结石。The surgical equipment group 2 also includes a radiofrequency ablation electrode 29 and an ultrasonic lithotripter 210 arranged on the joint-type clamping arm 21; The radiofrequency ablation electrode 29 is used to ablate the lesion tissue and blood coagulation on the liver tissue and/or gallbladder tissue, and the ultrasonic lithotripper 210 is used to ablate Broken gallstones.
所述手术设备组2还包括设置于软管夹持臂22、硬管夹持臂23和刚度可调式夹持臂24的内窥镜摄像头211；所述脚踏控制器115用于根据输入的不同等级的踩踏力度向内窥镜摄像头211输出对应等级的光照强度，所述内窥镜摄像头211用于发射冷光并拍摄肝组织和/或胆组织的实时影像。The surgical equipment group 2 also includes an endoscopic camera 211 arranged on the flexible pipe clamping arm 22, the hard tube clamping arm 23 and the rigidity adjustable clamping arm 24; Different levels of stepping force output corresponding levels of light intensity to the endoscope camera 211, and the endoscope camera 211 is used to emit cold light and capture real-time images of liver tissue and/or gallbladder tissue.
所述手术设备组2还包括设置于控制台7的旋转动力输出器212、射频能量输出器213、超声能量输出器214和内窥镜冷光源215；所述旋转动力输出器212用于通过微电机向钻头26、磨刀27和刨刀28输出旋转动力，所述射频能量输出器213用于向射频消融电极29输出射频能量，所述超声能量输出器214用于向超声碎石器210输出超声能量，所述内窥镜冷光源215用于向内窥镜摄像头211输出照明冷光。The surgical equipment group 2 also includes a rotary power output device 212, a radio frequency energy output device 213, an ultrasonic energy output device 214 and an endoscope cold light source 215 arranged on the console 7; The motor outputs rotational power to the drill bit 26, the grinder 27 and the planer 28, the radio frequency energy output device 213 is used to output radio frequency energy to the radio frequency ablation electrode 29, and the ultrasonic energy output device 214 is used to output ultrasonic waves to the ultrasonic lithotriptor 210 energy, the endoscope cold light source 215 is used to output illuminating cold light to the endoscope camera head 211.
需要说明的是，所述手术设备组2的手术工具包括钻头26、磨刀27、刨刀28、射频消融电极29、超声碎石器210和内窥镜摄像头211，基本上满足了肝胆外科手术的所有需求，足以应对手术过程中的所有突发状况，提高了手术安全性。It should be noted that the surgical tools of the surgical equipment group 2 include a drill bit 26, a sharpener 27, a planer 28, a radio frequency ablation electrode 29, an ultrasonic lithotripter 210 and an endoscopic camera 211, which basically meet the requirements of hepatobiliary surgery. All requirements are sufficient to deal with all emergencies during the operation, which improves the safety of the operation.
所述传动设备组3包括设置于轨道31上的传动皮带32和护栏条(未图示出)；所述传动皮带32用于将人体从扫描台6传送到手术台5，所述传动皮带32上设置有用于安放人体的人形凹躺区域(未图示出)，所述凹躺区域上设置有整体呈V字纹的防滑突起(未图示出)，所述护栏条设置在所述传动皮带32的边沿。本发明实施例中，通过设置人形凹躺区域，可以防止人体姿势变化；通过设置V字纹的防滑突起，可以增大V字开口方向带动人体时的摩擦力，避免打滑，从而提高手术导航的准确性。The transmission device group 3 includes a transmission belt 32 and a guardrail (not shown) arranged on the track 31; the transmission belt 32 is used to transmit the human body from the scanning table 6 to the operating table 5, and the transmission belt 32 There is a human-shaped concave lying area (not shown) for placing the human body on the top, and an anti-skid protrusion (not shown) with a V-shaped pattern is provided on the concave lying area. The guardrail is set on the transmission The edge of the belt 32. In the embodiment of the present invention, by setting the human-shaped concave lying area, the posture change of the human body can be prevented; by setting the anti-skid protrusion of the V-shaped pattern, the friction force when the V-shaped opening direction drives the human body can be increased to avoid slipping, thereby improving the surgical navigation. accuracy.
所述供电设备组(未图示出)包括设置于壳体内的交流发电机、蓄电池、供电电路、水冷散热器和中性极板，所述交流发电机用于燃烧油气发电，所述蓄电池用于存储电能，所述供电电路用于将蓄电池和/或市电分别向导航设备组、手术设备组和传动设备组输出稳定电力，所述水冷散热器用于通过循环水冷却所述供电电路，所述中性极板一端贴附人体腿部，另一端连接地线，用于泄放堆积在人体的电能。本发明实施例，通过采用交流发电机和蓄电池，使得手术系统除了可用市电供电外，还可以自发电，因而可以避免市电因电力故障或停止造成的手术中断；通过采用中性极板，可以避免手术系统传递给人体的电压过高，造成触电。The power supply equipment group (not shown in the figure) includes an alternator, a storage battery, a power supply circuit, a water-cooled radiator and a neutral plate arranged in the housing, the alternator is used for burning oil and gas to generate electricity, and the storage battery For storing electric energy, the power supply circuit is used to output stable power to the navigation equipment group, the operation equipment group and the transmission equipment group respectively from the storage battery and/or mains power, and the water-cooled radiator is used to cool the power supply circuit through circulating water, so One end of the neutral plate is attached to the leg of the human body, and the other end is connected to the ground wire, which is used to discharge the electric energy accumulated in the human body. In the embodiment of the present invention, by using an alternator and a storage battery, the surgical system can generate electricity by itself in addition to being powered by the mains, thereby avoiding operation interruption caused by a power failure or stop of the mains; by using a neutral plate, It can avoid the excessive voltage transmitted to the human body by the surgical system, which may cause electric shock.
图2是本发明实施例中的刚度可调式导管的结构示意图。如图所示本实施例中的刚度可调式导管24a包括橡胶条24a1、内置于所述橡胶条中的电磁圈24a2以及套设在所述橡胶条外的柔性外壳24a3，所述电磁圈24a2的各个子圈在通电之后产生磁力并相互吸引以使所述橡胶条24a1的刚度变化，其中，所述电磁圈24a2所通电流越大，所述橡胶条24a1的刚度越大。Fig. 2 is a schematic structural diagram of a catheter with adjustable stiffness in an embodiment of the present invention. As shown in the figure, the stiffness-adjustable catheter 24a in this embodiment includes a rubber strip 24a1, an electromagnetic coil 24a2 built in the rubber strip, and a flexible shell 24a3 sleeved outside the rubber strip. The electromagnetic coil 24a2 Each sub-coil generates magnetic force and attracts each other to change the stiffness of the rubber strip 24a1 after electrification, wherein the greater the current passed through the electromagnetic coil 24a2, the greater the stiffness of the rubber strip 24a1.
图3是本发明实施例中的机械夹爪的结构示意图。如图所示本实施例中的机械夹爪25包括钳口25a、设置于所述钳口的两个夹爪25b以及分别设置于所述夹爪末端的两个防滑板26c，所述钳口25a用于控制两个夹爪25b的开闭，所述两个防滑板26c的一端与夹爪25b末端栓接，并通过弹性件与夹爪25b连接，使得在不受外力时两个防滑板26c贴合，在受外力时两个防滑板26c分离，所述夹爪25b用于通过防滑板26c从径向夹持手术工具的柄部。Fig. 3 is a schematic structural view of the mechanical gripper in the embodiment of the present invention. As shown in the figure, the mechanical jaw 25 in this embodiment includes a jaw 25a, two jaws 25b disposed on the jaw, and two anti-skid plates 26c respectively disposed at the ends of the jaw. 25a is used to control the opening and closing of the two jaws 25b. One end of the two anti-skid plates 26c is bolted to the end of the jaws 25b, and connected to the jaws 25b through an elastic member, so that the two anti-skid plates 26c, and the two anti-skid plates 26c are separated when external force is applied, and the jaws 25b are used to radially clamp the handle of the surgical tool through the anti-skid plates 26c.
图4是本发明实施例中的供电电路的结构示意图。如图所示本实施例中的供电电路包括变压器T、整流器U、稳压器IC、放大器P、三极管VT、电压比较器LM、第一电容C1、第二电容C2、第三电容C3、第一电阻R1、第二电阻R2、第三电阻R3、第四电阻R4、第一二极管D1、第二二极管D2、第三二极管D3、电感L和继电器K，其中：Fig. 4 is a schematic structural diagram of a power supply circuit in an embodiment of the present invention. As shown in the figure, the power supply circuit in this embodiment includes a transformer T, a rectifier U, a voltage regulator IC, an amplifier P, a transistor VT, a voltage comparator LM, a first capacitor C1, a second capacitor C2, a third capacitor C3, a A resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a first diode D1, a second diode D2, a third diode D3, an inductor L and a relay K, wherein:
所述电压比较器LM的负极与整流器U的正极输出相连接，所述第一电容C1的正极与放大器P的正极相连接，所述第二电阻R2的一端与放大器P的正极相连接，所述第二电阻R2的另一端与放大器P的输出相连接，所述第二电容C2的负极与放大器的正极相连接，所述第二电容C2的正极通过第一电阻R1与放大器P的输出端相连接，所述第一二极管D1的正极与放大器P的负极相连接，所述第一二极管D1的负极通过第三电阻R3与放大器P的输出端相连接，所述电感L的一端与继电器K的常闭触点K-2相连接，所述整流器U的一个输入端与变压器T的副边电感线圈的非同名端相连接，所述整流器U的另一个输入端与变压器T的副边电感线圈的同名端相连接，所述变压器T的原边电感线圈的两端共同组成第一电源输入端以接入市电，所述三极管VT的集电极与稳压器IC的输入管脚相连接，所述三极管VT的基极与稳压器IC的输出管脚相连接，所述电压比较器LM的正极与整流器U的负极输出端的两端共同组成第二电源输入端以接入蓄电池，所述电压比较器LM的正极与继电器K的常开触点K-1相连接，所继电器K的开关公共端与整流器U的负极共同组成电源输出端。The negative pole of the voltage comparator LM is connected to the positive pole output of the rectifier U, the positive pole of the first capacitor C1 is connected to the positive pole of the amplifier P, and one end of the second resistor R2 is connected to the positive pole of the amplifier P, so The other end of the second resistor R2 is connected to the output of the amplifier P, the negative pole of the second capacitor C2 is connected to the positive pole of the amplifier, and the positive pole of the second capacitor C2 is connected to the output terminal of the amplifier P through the first resistor R1 The anode of the first diode D1 is connected to the cathode of the amplifier P, the cathode of the first diode D1 is connected to the output terminal of the amplifier P through the third resistor R3, and the inductance L One end is connected to the normally closed contact K-2 of the relay K, one input end of the rectifier U is connected to the non-identical end of the secondary inductance coil of the transformer T, and the other input end of the rectifier U is connected to the transformer T The two ends of the primary inductance coil of the transformer T together form the first power supply input terminal to access the mains, the collector of the triode VT is connected to the input of the voltage regulator IC Pins are connected, the base of the triode VT is connected to the output pin of the voltage regulator IC, the positive pole of the voltage comparator LM and the two ends of the negative output terminal of the rectifier U together form the second power supply input terminal to connect The positive pole of the voltage comparator LM is connected to the normally open contact K-1 of the relay K, and the switch common terminal of the relay K and the negative pole of the rectifier U together form the output terminal of the power supply.
由上可见，本发明实施例中的手术系统包括导航设备组、手术设备组、传动设备组、供电设备组，其中，导航设备组可通过手术导航方式指导手术者进行手术，手术设备组配置有种类丰富的手术工具，传动设备组可将扫描和手术两个过程连为一体，供电设备组的供电方式安全、可靠，从而提高了肝胆外科手术的精度，降低了手术风险。It can be seen from the above that the surgical system in the embodiment of the present invention includes a navigation device group, a surgical device group, a transmission device group, and a power supply device group. A wide variety of surgical tools, the transmission equipment group can integrate the two processes of scanning and surgery, and the power supply equipment group provides safe and reliable power supply, thereby improving the accuracy of hepatobiliary surgery and reducing the risk of surgery.
本领域普通技术人员可以理解实现上述实施例中的方法可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。Those of ordinary skill in the art can understand that the methods in the above embodiments can be implemented through computer programs to instruct related hardware. The program can be stored in a computer-readable storage medium. When the program is executed, it can include: Such as the flow of the embodiments of the above-mentioned methods. Wherein, the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM) and the like.
本发明实施例方法中的步骤可以根据实际需要进行顺序调整、合并和删减。The steps in the methods of the embodiments of the present invention can be adjusted, combined and deleted according to actual needs.
本发明实施例装置中的部件，可以根据实际需要进行合并、划分和删减。The components in the device of the embodiment of the present invention can be combined, divided and deleted according to actual needs.
本发明实施例中的电子设备，可以通过通用集成电路，例如CPU(CentralProcessing Unit，中央处理器)，或通过ASIC(Application Specific IntegratedCircuit，专用集成电路)来实现。The electronic device in the embodiment of the present invention may be implemented by a general integrated circuit, such as a CPU (Central Processing Unit, central processing unit), or an ASIC (Application Specific Integrated Circuit, application specific integrated circuit).
以上所揭露的仅为本发明较佳实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。The above disclosures are only preferred embodiments of the present invention, and certainly cannot limit the scope of rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710607169.7ACN107320180B (en) | 2017-07-24 | 2017-07-24 | A kind of surgery systems for liver and gall surgical department |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710607169.7ACN107320180B (en) | 2017-07-24 | 2017-07-24 | A kind of surgery systems for liver and gall surgical department |
| Publication Number | Publication Date |
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| CN107320180Atrue CN107320180A (en) | 2017-11-07 |
| CN107320180B CN107320180B (en) | 2018-07-06 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710607169.7AExpired - Fee RelatedCN107320180B (en) | 2017-07-24 | 2017-07-24 | A kind of surgery systems for liver and gall surgical department |
| Country | Link |
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| CN (1) | CN107320180B (en) |
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