Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a handheld minimally invasive tissue Young modulus measuring device and a using method thereof, and aims at the situation in operation, accurately and quickly measuring the Young modulus of a surgical tissue part in real time and timely feeding back to a doctor.
In order to achieve the above purpose, the technical scheme is that the handheld minimally invasive tissue Young modulus measuring device comprises a measuring module, a display module and an auxiliary module, wherein the measuring module comprises a tube body, a probe, a transmitting module, a recycling module, an induction module and a main control module, the transmitting module, the induction module and the recycling module are sequentially arranged in the tube body, the transmitting module is arranged at the front end of the tube body, the probe is slidably arranged in the tube body and is matched with the transmitting module, the induction module and the recycling module, the main control module is respectively connected with the transmitting module, the induction module and the recycling module, the main control module is arranged at the rear end of the tube body, the display module is connected with the main control module, and the auxiliary module is auxiliary equipment in the operation process and is matched with the measuring module.
In some embodiments, a binocular camera mechanism is arranged at the front end of the pipe body, and the binocular camera mechanism is connected with the main control module through a data line.
In some of these embodiments, a spacing foam is filled between the inner wall of the tube and the outer wall of each module.
In some of these embodiments, the probe comprises a magnetic needle and a PMMA plastic probe coated outside the magnetic needle.
In some embodiments, the transmitting module is a transmitting coil, the recovering module is a sucking-back coil, the sensing module is an sensing coil, the transmitting coil, the sucking-back coil and the sensing coil are all connected with the main control module through wires respectively, the probe is arranged in the transmitting coil, the sensing coil and the sucking-back coil in a penetrating mode, and the mass center of the probe is located at the rear end of the transmitting coil in an initial state.
In some embodiments, the main control module comprises a main control board and a gyroscope, and an output end of the gyroscope is connected with the main control board.
In some of these embodiments, the auxiliary module includes, but is not limited to, a single or multiple combinations of puncturer, laparoscope, inflation catheter, pneumoperitoneum machine.
In order to achieve the purpose, the invention provides the following technical scheme that the using method of the handheld minimally invasive tissue Young modulus measuring device comprises the following steps of:
(1) Firstly, a doctor needs to cut a small opening above the skin of a patient, put a puncture outfit into the patient, then intervene in a pneumoperitoneum machine, and an inflation tube is connected with a pneumoperitoneum machine interface in the puncture outfit to charge the abdominal cavity with the airThe space is enlarged, which is convenient for operation;
(2) Then, a small opening is respectively formed on the left side and the right side of the abdomen, wherein one of the small openings is an operation auxiliary operation hole, the puncture outfit is arranged after the small opening is cut, and the devices such as separating forceps and the like are generally used for realizing auxiliary functions such as separating the next tissues;
(3) When a doctor is in operation and needs to judge the Young modulus of tissue at an operation part in real time, the Young modulus measuring device directly penetrates into the abdominal cavity from a main operation hole of the minimally invasive operation, images in the abdominal cavity are observed in real time through a binocular camera in the device, the position of the device is adjusted while being seen, the device is aligned to the operation tissue for measurement, and the purpose of measuring the Young modulus at different positions of the tissue is realized by adjusting angles;
In some of these embodiments, according to step (3), the specific measurement is:
① In an initial state, the main control module controls the suck-back coil to give an adsorption force to the probe;
② After aligning the measuring position, the main control module controls the transmitting coil to be electrified, and the probe achieves the effect of transmitting through the magnetic attraction effect after the barycenter of the probe is positioned at the transmitting coil;
③ The probe moves forward, the speed of the probe is measured through the induction coil, a speed-time curve of the probe is obtained, a point with the time of 0 is a probe emission starting point, and a point with the downward mutation of the probe speed is an impact point;
④ When the probe impacts the tissue to be detected, a rebound force is generated to rebound the probe into the tube body, and the sucking coil can give an adsorption force again to enable the probe to be stably recovered and fixed;
⑤ When the probe impacts different human tissues, according to analysis of a Hertz contact theory mechanical model, the harder tissue can enable the acceleration of the probe to be larger when the probe rebounds, the softer tissue is smaller when the probe rebounds, and the Young modulus value is obtained through calculation of the acceleration of the speed zero point at the moment.
In order to achieve the purpose, the invention provides a using method of a handheld minimally invasive tissue Young modulus measuring device, which is provided with a vertical measuring mode according to the measuring device, and comprises the following steps:
(1) Detecting the actual angle of the measuring device through a gyroscope, and sending the measured angle to a main control board;
(2) The main control board adjusts the adsorption force of the sucking coil to the probe based on the angle information;
(3) The larger the angle is, the larger the adsorption force of the main control board driving the sucking-back coil is, so as to prevent the probe from falling off;
(4) After the probe is emitted, the measurement is finished, and the main control board drives the sucking-back coil again to suck back the probe stably based on the real-time measurement angle data of the gyroscope.
Compared with the prior art, the invention has the beneficial effects that the purpose of measuring the Young modulus of the tissue in operation is realized by applying a simple and small tool, and the invention has the characteristics of instantaneity, innovation, accuracy, multi-angle measurement and the like.
The endoscope is used for designing a module of the binocular camera for inspiration, a visual function is added, the position to be measured can be accurately measured accurately and repeatedly, the situation that a measurement result is misaligned with the measurement position is avoided, the high-definition visualization and the multi-angle measurement are perfectly combined, the operation precision is greatly improved, and meanwhile the completeness and the functionality of the integrated equipment are also improved.
The traditional method is simplified, a method without large equipment is provided, time and equipment space are saved, and the measurement efficiency and the integrity and fluency of the operation are greatly improved.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the other features, objects, and advantages of the application, and to provide a thorough description and understanding of the application in terms of the embodiments of the application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1 to 9, the invention provides a technical scheme that the handheld minimally invasive tissue Young modulus measuring device comprises a measuring module, a display module and an auxiliary module, wherein the measuring module comprises a tube body, a probe, a transmitting module, a recovering module, an induction module and a main control module, the transmitting module, the induction module and the recovering module are sequentially arranged in the tube body, the transmitting module is arranged at the front end of the tube body, the probe is slidably arranged in the tube body and is matched with the transmitting module, the induction module and the recovering module, the main control module is respectively connected with the transmitting module, the induction module and the recovering module, the main control module is arranged at the rear end of the tube body, the display module is connected with the main control module, and the auxiliary module is auxiliary equipment in the operation process and is matched with the measuring module.
The function of the probe is that the probe is the part that directly contacts the object to be tested, and the design needs to be able to withstand the impact forces and maintain structural integrity without damaging the object to be tested.
The transmitting module is used for transmitting the probe at a specific speed and direction so as to realize the impact on the measured object. The firing module needs to be able to precisely control the firing force and speed to ensure that the probe is able to strike the object under test with predetermined parameters. The firing module may include coils, copper tubing, pneumatic or electric devices to provide the necessary power.
The sensing module has the function of monitoring the speed change of the probe in real time in the process that the probe impacts the measured object. The module may include accelerometers, hall sensors, and/or other types of sensors that can accurately capture the probe's velocity change before and after impact, providing critical data for subsequent data analysis.
The main control module has the functions of controlling the whole measuring process, including the emission of the probe, the data acquisition of the speed sensing module and the final data processing. The main control module needs to be capable of automatically adjusting the working state of the transmitting module according to preset parameters so as to ensure that the probe impacts the measured object at a correct speed. Meanwhile, the main control module is also responsible for processing the data collected by the speed sensing module, calculating the Young modulus of the measured object through a built-in algorithm, and outputting the result.
The invention provides a minimally invasive intraoperative tissue Young modulus measurement, which is realized in the environment of minimally invasive surgery in the fields of abdomen, blood vessel, urinary, nerve and the like by utilizing a rebound technique to carry out a test.
Example 2
On the basis of embodiment 1, in order to facilitate the doctor to select the tissue site to be tested inside the patient, as shown in fig. 2, a binocular camera mechanism is arranged on the front end of the tube body, and the binocular camera mechanism is connected with the main control module through a data line.
The working principle of the binocular camera is mainly based on the parallax principle and the triangulation principle, and three-dimensional information of a scene is obtained in a mode of simulating human binocular perception depth. Binocular camera modules, as the name implies, consist of two cameras, similar to the human eyes, which are spaced apart horizontally (referred to as the base line). When the binocular camera module shoots the abdominal cavity, the two cameras can acquire two-dimensional images of the same scene from different visual angles at the same time. Because the positions of the two cameras are different, a certain difference exists in the shot images, and the difference is the basis of parallax.
Example 3
To avoid movement of the individual modules within the tube, based on example 1, a spacing foam 110 is filled between the inner wall of the tube and the outer wall of the individual modules, as shown in fig. 3 and 4.
The body adopts the copper pipe, increases a tubular foam structure between whole measurement module and outside body, and curve part is the foam in fig. 3, increases a tubular foam structure purpose in order to make its inseparable, firm, the soft laminating of shell inner wall for the whole support of measurement module, prevents to measure the module and slides in the body, also can not influence measurement module and copper pipe life-span because of the direct friction of metal parts simultaneously. Based on this, the invention proposes a typical material geometry selection embodiment, wherein the wall thickness of the tubular foam structure is 4mm, the diameter of the copper tube is 7mm, and the inner diameter of the outer tube body part is 11mm. In order to protect the wires connected between each module and the main control board conveniently, a plastic pipe 107 is arranged between the copper pipe and the main control board, the connection mode of the copper pipe and the plastic pipe 107 is dispensing, the plastic pipe is a section of plastic body which has lighter weight, and the measuring module, the tubular foam structure and the external pipe are almost in seamless joint, so that the plastic pipe 107 has no shaking space, and the dispensing mode can completely achieve the stable effect.
Example 4
On the basis of embodiment 1, as shown in fig. 2, the probe comprises a magnetic needle and a PMMA plastic probe coated outside the magnetic needle, the transmitting module is a transmitting coil, the recovering module is a sucking coil, the sensing module is an sensing coil, the transmitting coil, the sucking coil and the sensing coil are respectively connected with the main control module through wires, the probe is arranged in the transmitting coil, the sensing coil and the sucking coil in a penetrating manner, and the mass center of the probe is positioned at the rear end of the transmitting coil in an initial state.
A magnetic needle is inserted into a section of PMMA plastic probe, the magnetic needle can be a permanent magnet, soft magnetic material or weak magnetic material, the PMMA plastic probe and the magnetic needle form a complete probe, 102 is a transmitting coil, the 101 probe can be transmitted under the control of a main control board, 104 is a suck-back coil opposite to the transmitting coil, when the measuring angle of the equipment is changed, the probe can be adsorbed together with a gyroscope before the equipment is not tested to ensure that the probe cannot fall under the action of gravity, and an adsorption force is given to the probe after the probe is transmitted to an object to be measured to ensure that the probe can stably return into a copper tube, and 103 is an induction coil, wherein the effect is that a speed-time curve of the probe motion can be obtained because the probe cuts the induction coil of the magnetic induction line in the whole test process of the probe transmission to suck-back, and the algorithm provides data.
Example 5
On the basis of embodiment 1, in order to ensure the adsorption stability of the probe in the tube body, the main control module comprises a main control board and a gyroscope, and the output end of the gyroscope is connected with the main control board.
In view of the operating environment during surgery, the patient is generally in a nearly lying state, and the device is used for measuring Young's modulus and is also used for measuring at a nearly vertical angle, so that a new mode of vertical measurement is introduced in the invention. The gyroscope is added in the main control board 109, the larger the angle is, the larger the gyroscope is read in the measurement of equipment, the larger the adsorption force of the induction suck-back coil is driven by the main control board based on the measurement angle data of the gyroscope so as to prevent the probe from falling, after the probe is emitted, the main control board is subjected to measurement and is then driven to suck back the probe stably based on the measurement angle data of the real-time gyroscope again after the measurement is finished, so that the requirement of measuring the Young modulus of a tissue in an operation stably can be met.
Based on the above embodiment, the display module is configured to propose two schemes for measuring the young's modulus:
(1) The young's modulus of human internal organs tissue, which is used in medicine, is generally classified into five levels, namely, very soft tissue such as brain tissue and fat tissue, softer tissue such as liver, kidney, spleen and other parenchymal organs, medium young's modulus tissue such as muscle in a relaxed state, harder tissue such as tendon and scar tissue and very hard tissue such as bone. The young's modulus values of these five degrees were first data collected and then partitioned according to size, yellow for very soft, orange for softer tissue, red for medium young's modulus tissue, purple for harder tissue, and black for very hard tissue, as shown in figure 7,
The LCD display screen 201 is provided with a yellow highlight area 202, an orange highlight area 203, a red highlight area 204, a purple highlight area 205, a black highlight area 206 and a soft highlight area 206, wherein the yellow highlight area is used for measuring results corresponding to very soft tissues, the orange highlight area 203 is used for measuring results corresponding to the soft tissues, the other colors are not displayed, the red highlight area 204 is used for measuring results corresponding to the tissues with medium Young modulus, the other colors are not displayed, the purple highlight area 205 is used for measuring results corresponding to the hard tissues, the other colors are not displayed, and the black highlight area 206 is used for judging the softness and the hardness degree through the colors in a relatively rough judging mode. The method can perform data pre-sampling and then training on different tissues in the product training stage, so that accurate results can be obtained during measurement.
(2) An accurate Young modulus value is calculated through an algorithm to represent the Young modulus of the measured tissue. Since it is concluded through experiments that the Young's modulus of a tissue or a soft tissue with elasticity has a positive correlation with the Young's modulus of the tissue, the Young's modulus of a human tissue is difficult to define and is converted into calculation of Young's modulus of the tissue, the larger the Young's modulus value is, the harder the Young's modulus value is represented, the smaller the Young's modulus value is, the softer the Young's modulus value is represented, and the simple comparison of the numerical value and the magnitude relation is carried out, and a display screen is shown in FIG. 8. 201 is still an LCD display screen, displaying the calculated young's modulus in the middle of the screen, representing that no measurement is made, and the measured young's modulus is replaced by a number. The result of Young's modulus is fitted by a large amount of experimental data to obtain an accurate value, and the influence of parameters is calculated and considered no matter how the angle changes, and the result is still accurate after the fitting of a large amount of experimental data.
Based on the above embodiment, the auxiliary module for matching with the measuring device is shown in fig. 9.
The auxiliary module comprises a puncture outfit, a laparoscope, an inflatable catheter and a pneumoperitoneum machine, which are matched and used in a single or multiple combination.
The main components in the auxiliary module comprise a puncture outfit 301 and a laparoscope 302, wherein the puncture outfit 301 is needed in the visual observation hole, the main function of the puncture outfit is to provide a laparoscope insertion channel 302 for representing the abdominal image, and the puncture outfit can be connected with a pneumoperitoneum machine for fillingThe application of the operation auxiliary operation hole is relatively simple, and the operation tools such as the same puncture outfit 301, the separation forceps and the like can be inserted, wherein the inflation catheter 303 is connected with the interface of the puncture outfit 301 at one end and the pneumoperitoneum machine 304 at the other end, and is inflated before formal operationSo that the space is expanded and the operation is convenient.
According to the technical scheme, the application method of the handheld minimally invasive tissue Young modulus measuring device is realized, and the method comprises the following steps of:
(1) Firstly, a doctor needs to cut a small opening above the skin of a patient, put a puncture outfit into the patient, then intervene in a pneumoperitoneum machine, and an inflation tube is connected with a pneumoperitoneum machine interface in the puncture outfit to charge the abdominal cavity with the airThe space is enlarged, which is convenient for operation;
(2) Then, a small opening is respectively formed on the left side and the right side of the abdomen, wherein one of the small openings is an operation auxiliary operation hole, the puncture outfit is arranged after the small opening is cut, and the devices such as separating forceps and the like are generally used for realizing auxiliary functions such as separating the next tissues;
(3) When a doctor is in operation and needs to judge the Young modulus of tissue at an operation part in real time, the Young modulus measuring device directly penetrates into the abdominal cavity from a main operation hole of the minimally invasive operation, images in the abdominal cavity are observed in real time through a binocular camera in the device, the position of the device is adjusted while being seen, the device is aligned to the operation tissue for measurement, and the purpose of measuring the Young modulus at different positions of the tissue is realized by adjusting angles;
According to the step (3), the specific measurement mode is as follows:
① In an initial state, the main control module controls the suck-back coil to give an adsorption force to the probe;
② After aligning the measuring position, the main control module controls the transmitting coil to be electrified, and the probe achieves the effect of transmitting through the magnetic attraction effect after the barycenter of the probe is positioned at the transmitting coil;
③ The probe moves forward, the speed of the probe is measured through the induction coil, a speed-time curve of the probe is obtained, a point with the time of 0 is a probe emission starting point, and a point with the downward mutation of the probe speed is an impact point;
④ When the probe impacts the tissue to be detected, a rebound force is generated to rebound the probe into the tube body, and the sucking coil can give an adsorption force again to enable the probe to be stably recovered and fixed;
⑤ When the probe impacts different human tissues, according to analysis of a Hertz contact theory mechanical model, the harder tissue can enable the acceleration of the probe to be larger when the probe rebounds, the softer tissue is smaller when the probe rebounds, and the Young modulus value is obtained through calculation of the acceleration of the speed zero point at the moment.
The above steps are adopted, and on the basis of the fifth embodiment, a vertical measurement mode is set, and the steps are as follows:
(1) Detecting the actual angle of the measuring device through a gyroscope, and sending the measured angle to a main control board;
(2) The main control board adjusts the adsorption force of the sucking coil to the probe based on the angle information;
(3) The larger the angle is, the larger the adsorption force of the main control board driving the sucking-back coil is, so as to prevent the probe from falling off;
(4) After the probe is emitted, the measurement is finished, and the main control board drives the sucking-back coil again to suck back the probe stably based on the real-time measurement angle data of the gyroscope.
The invention can achieve the precision of free and accurate measurement within the range from 0 degree to 90 degrees.
Based on the technical scheme of the application, in practical application, a novel minimally invasive Young modulus measuring system structure is designed, the whole structure is integrated, tissue Young modulus measurement at any angle from horizontal to vertical ninety degrees can be completed under the condition of visualization of a binocular camera after minimally invasive a small opening without any appliance, and as shown in fig. 10, the system structure mainly comprises a rebound measuring system, a vertical measuring system, a main control system and a minimally invasive hardware structure (comprising keys and a display screen).
Wherein 401 is medical grade stainless steel pipe body and puncture ware function similar can pass operation main operation hole and stretch into the abdominal cavity, 402 is binocular camera module, 403 is whole measurement module, 404 is the algorithm function that the main control system is used for handling data etc., 405 is equipment shell, 406 is equipment display screen, 407 is the measurement button, 408 is the switch button, 409 is hand-held type handle part. The whole equipment is integrated and handheld, so that the portable equipment is high in portability and easy to operate by doctors.
The working principle of the 402 binocular camera is mainly based on the parallax principle and the triangulation principle, and three-dimensional information of a scene is acquired in a mode of simulating human binocular perception depth. Binocular camera modules, as the name implies, consist of two cameras, similar to the human eyes, which are spaced apart horizontally (referred to as the base line). When the binocular camera module shoots the abdominal cavity, the two cameras can acquire two-dimensional images of the same scene from different visual angles at the same time. Because the positions of the two cameras are different, a certain difference exists in the shot images, and the difference is the basis of parallax.
The reason for adopting the binocular camera module in the invention is mainly because the binocular camera module has the following four obvious advantages:
1. The distance is measured accurately.
2. Recognizing the object morphology, the shape, size and spatial position of the object can be perceived more accurately, even in complex environments.
3. And providing a multi-angle view, wherein the two cameras shoot the same scene at the same time from different angles, and the acquired two images contain more details and information.
4. And the shielding misjudgment is reduced, namely, for the object which is partially shielded, the binocular camera can comprehensively judge by utilizing the information of the two visual angles, so that the overall view and the position of the object are more accurately identified, and misjudgment or missed judgment caused by shielding is avoided.
Through the advantages and the characteristics, the operation in the operation of a doctor can be better completed, and errors are reduced, so that the measurement is more quickly and accurately performed.
The present application gives here a typical implementation step of the measurement:
1. Pressing a round key to start the handheld Young modulus measuring device, observing a display screen to prompt the installation of a probe, and randomly opening a new probe to be placed in a copper pipe transmitting port;
2. inserting a handheld Young modulus measuring device into the abdominal cavity on a minimally invasive small opening before a formal operation;
3. Aiming the emission port at a tissue part to be measured through the visual function of the 402 binocular camera, pressing a triangle key to measure, and displaying the result on a display screen of the handheld Young modulus measuring device;
4. Multiple times and multiple angles of measurement can be performed;
and (5) extracting the equipment tube body from the micro wound, and ending the measurement.
The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.