CN108024806B - 套管组装套件、套管针组装套件、套筒组件、微创手术***及其方法 - Google Patents
套管组装套件、套管针组装套件、套筒组件、微创手术***及其方法 Download PDFInfo
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Abstract
本发明包括适用于微创手术的套管针用套管组装套件。所述套管组装套件包括套管和图案生成构件。所述套管具有远端和近端并且包括在其近端的凸缘部分和从所述凸缘部分延伸到其远端的细长套管轴部分、以及穿过凸缘部分和细长套管轴部分的进入孔,使得手术器械的手术工具被***穿过进入孔。所述图案生成构件包括图案光源和投射器,其被布置成使得图案光源可操作地连接到投射器以便投射光图案。图案生成构件的至少投射器被配置为至少暂时地固定到套管的套管轴部分。
Description
技术领域
本发明涉及适用于微创手术的套管针的套管组装套件、包括这种套管组装套件的套管针组装套件、包括套管组装套件的***和用于这种套管组装套件的套筒组件。
背景技术
由于与传统开放手术相比具有益处,近年来微创手术越来越多地被使用,因为它减少了对患者组织的创伤,留下较小的疤痕,将手术后疼痛减至最轻,并且使患者更快恢复。
例如,在作为微创手术典型形式的腹腔镜手术中,外科医生通过一组小切口进入体腔,例如腹腔或盆腔。腹腔镜通过切口***,并且通常连接到监视器,从而使外科医生能够看到腹腔或盆腔的内部。为了进行手术,手术器械通过其它切口被***。另外,围绕手术部位的体腔充填流体,优选气体例如二氧化碳,以便在腔内形成“空气”空间,为外科医生腾出空间以观察手术部位并移动腹腔镜器械。
侵入性手术通常通过患者皮肤上的相当小的开口进行,并且通过将照相机例如内窥镜***体腔并将图像显示在屏幕上来为外科医生可视化手术部位。
为了改善外科医生的视觉,特别是为了使外科医生更容易地确定手术部位中的各种器官、组织和其它结构的尺寸,在现有技术中已经提供了多种原位手术计量方法。已经应用不同类型的光学***来提供接近3D视觉的手术部位的改善视觉。
US2014276097描述了用于在微创手术期间在体腔内进行光学测量的***和方法。该***包括被配置为发射光束的光源、限定第一纵向轴线并被配置为投射第一生成图案的第一图案生成器以及限定第二纵向轴线并被配置为投射第二生成图案的第二图案生成器。第一和第二生成的图案具有不同的角度散度。第一图案生成器是衍射圆图案生成器,而第二图案生成器是衍射交叉图案生成器。当第一和第二生成图案在某些点处彼此重叠或重合时,第一和第二生成图案相对于彼此的调整导致***作为光学尺来进行光学测量。
EP2630915描述了用于微创手术的光器械,其中该器械包括细长管状构件和安装在该细长管状构件上的计量***。计量***包括屏框(Mask、)、变焦透镜组件和发光元件,该发光元件布置成使得发光元件传播光束经过屏框和变焦透镜组件以将屏框的图案投射到感兴趣的手术部位上以提供作为外科医生进行测量的参考的标记。
US2013/0296712描述了一种用于确定内窥镜尺寸测量值的装置,该装置包括用于将光图案投射在包括具有实际尺寸测量值和基准点的形状的手术视野上的光源和用于通过比较投射的光图案的实际尺寸测量值与手术部位来分析手术部位上的投射光图案的机构。
WO2013/163391描述了用于生成图像的***,外科医生可通过使用不可见光来标记手术区域的图案来使用该图像来测量手术区域中结构的尺寸或距离。
该***包括第一照相机、第二照相机、以人眼不可见的频率产生光的光源、投射来自不可见光源的光的预定图案的扩散单元、将不可见光的预定图案投射到目标区域上的器械、将可见光引导至所述第一照相机并将不可见光的预定图案引导至第二相机的带通滤波器;其中第二照相机对目标区域和不可见光的预定图案进行成像,并且计算三维图像。
发明内容
本发明的目的是提供一种用于在微创手术期间提供良好的体腔可视性的解决方案,特别是关于向外科医生提供关于手术器械相对于手术部位的位置的良好视觉信息。
另外,本发明的实施例的目的是提供一种用于微创手术的工具,该工具可以增加体腔的可视性,从而使外科医生更简单地确定手术器械相对于手术部位的位置,并由此增加外科医生对手术器械相对于手术部位的移动的控制。
此外,本发明的实施例的目的是提供一种为手术器械相对于手术部位的位置提供提高的可视性的工具,该工具易于使用并可以适当成本生产。
这些和其它目的已经通过如权利要求书中限定的和如下文所述的本发明或其实施例解决。
已经发现,本发明或其实施例具有许多附加优点,这对于本领域技术人员而言从以下描述中将是清楚的。
已经发现,通过使用本发明的套管组装套件,外科医生可获得手术器械相对于手术部位的非常好的或甚至极好的可视性,由此导致对器械更好的控制,这既降低了手术过程中出错的风险,同时又可缩短微创手术时间。
为了使操作者以相对温和的方式移动手术器械,标准做法是提供套管 (有时也称为套筒)以作为穿过切口的进入孔。该套管用作随后放置例如抓持器、剪刀、吻合器等手术器械的入口。通常,通过使用填塞器将套管***切口,该填塞器被暂时地***穿过套管的进入孔。包括填塞器和套管的套件被称为套管针。填塞器可以是金属或塑料的或锐利的或无刃的尖端。如果填塞器包括锐利的尖端,则操作者可以使用该尖端来形成切口。如果填塞器是无刃尖端型的,则操作者使用手术刀切穿至少皮肤顶层,之后套管针可以在那里按压通过切口。当套管针已经按压通过切口时,填塞器被移除并且套管现在形成进入孔。套管通常包括一个或多个用于防止气体泄漏并容纳器械的密封件。
本发明的套管组装套件有利地包括一个或多个密封件,例如由 mddiadmin于2009年8月1日发布于医疗设备和诊断行业 www.mddionline.com上的文章“Trends inLaparoscopy:Sealing Technology (腹腔镜检查中的趋势:密封技术)”中所描述的密封件。
术语远端和近端应该根据套管的取向来解释。
短语“在远端”表示“朝向远端布置在一个位置上”。短语“远端布置”表示布置到手术器械的远端的远侧。
本文的术语“基本上”应该被认为是指包括普通的产品差异和公差。
术语“约”通常用于确保将测量的不确定值包括在内。术语“约”在范围内使用时,本文应该认为是指将测量的不确定值也被包括在该范围内。
短语“实时”在本文用于表示其要求计算机接收和处理不断变化的数据的时间,该不断变化的数据可选地结合其它数据,例如预定数据、参考数据、可能是非实时数据的估计数据(例如恒定数据或在1分钟以上的频率改变的数据)等,以将实时信息返回给操作者。“实时”可以包括短暂的延迟,例如最多5秒,优选地在1秒内,更优选地在0.1秒内发生。
术语“操作者”用于指定外科医生或机器人外科医生,即被编程为对患者执行腹腔镜手术的机器人。
术语“手术器械”在本文中是指腹腔镜手术工具,其包括适于对手术腔内的组织进行手术的手术工具,例如,抓持器、缝线抓持器、切割器、密封器、吻合器、施夹器、解剖器、剪刀、大剪刀、抽吸器械、夹具、电极、凝血装置、刮匙、消融器、解剖刀、持针器、针驱动器、刮刀、镊子、活检和牵引器器械或它们的组合。
应该强调的是,术语“包括”在本文中使用时应被解释为开放式术语,即应当被认为是指明具体描述的(多个)特征,例如(多个)元件,(多个)单元, (多个)整体,(多个)步骤、(多个)部件及其(多种)组合,但不排除存在或附加一个或多个其它描述的特征。
在整个说明书或权利要求书中,除非上下文另有规定或要求,否则单数包含复数。
在实施例中,本发明的套管组装套件适于构成适用于微创手术的套管针的一部分。套管组装套件包括套管和图案生成构件。套管具有远端和近端并且包括从近端延伸到远端的细长套管轴部分和穿过所述细长套管轴部分的进入孔,使得手术器械的手术工具可以***穿过该进入孔。
有利地,套管组装套件包括在其近端处的凸缘部分,凸缘部分用于在套管组装套件已经***穿过切口之后将套管组装套件保持就位。
在使用中,套管轴部分的远端例如与填塞器的远端一起***穿过切口,并且可选地包括凸缘部分的近端保持在切口外部以确保套管的安全定位。该凸缘部分可以为任何形状或尺寸。套管轴部分可以具有任何截面形状,例如圆形、椭圆形或有棱角的,例如作为现有技术套管的截面形状。
在下文中,套管组装套件被描述为在其近端处具有凸缘部分,然而应当理解,这种凸缘部分可以省略,特别是,在套管组装套件是如下面所描述的机器人的一部分或适于由机器人操作的情况下。
图案生成构件包括图案光源和投射器,其中图案光源可操作地连接到投射器以投射光图案。图案生成构件的至少投射器被配置为至少暂时地固定到所述套管的套管轴部分。优选地,图案生成构件的至少投射器被配置为固定到所述套管的套管轴部分,以在所述投射器和所述套管轴部分之间形成基本上刚性的连接。
术语“进入孔”是指手术器械可以***的端口。进入孔可以包括当手术器械未被***进入孔中时完全或部分地闭锁或填满进入孔的密封件或隔离物、盖子和/或类似物。密封件、隔离物和/或密封件确保不会泄漏出不期望的气体量而放空体腔。当手术器械未***进入孔中时,密封件或隔离物有利地密封以防止不希望的气体溢出。
术语“刚性连接”是指确保在正常使用期间刚性地连接的元件之间的相对位置基本恒定的连接。
尽管本发明的组装套件主要以未组装的状态来描述,但是本发明应该解释为还包括组装好的相应(多个)形式的组装套件。
在使用中,投射器将与***穿过套管轴部分的进入孔的手术器械的至少一些移动相关地移动,并且由此将来自投射器的投射光图案的图像改变,从而给操作者提供关于手术器械相对于手术部位的位置的视觉信息。
有利地,图案生成构件的至少投射器被配置为至少暂时地固定到套管的套管轴部分,使得***穿过进入孔的手术器械的手术工具的任何横向移动导致投射器的关联移动,并且因此导致投射的光图案的反射的关联变化,投射的光图案可以通过例如观察镜(如内窥镜)的照相机成像到屏幕上。反射图案的变化在这里也被称为所记录的或可记录的图案。
短语“关联变化”或“关联移动”是指与手术器械的横向移动相对应的变化或移动,使得手术器械的给定的横向移动分别导致投射的光图案和投射器的给定和/或相应的变化或移动。在实施例中,手术器械的移动可以分别导致投射的光图案和投射器的变化或移动的联动。本文使用的投射光图案的变化是指在在套管远端布置的表面上所看到的投射光的反射的变化。
图案将到达进行微创手术的体腔的内壁,在本文中也称为手术部位。
手术部位通常包括非常弯曲和不平坦的表面,当图案反射在手术部位上时,将由图案的形状使表面可见。投射器将光图案投射在手术部位的区域上,使得手术部位的轮廓和/或形貌以及手术器械的位置可以由操作者基于光图案的间接视觉来推断出。
在实施例中,图案生成构件的至少投射器被配置为至少暂时地固定到套管的套管轴部分,使得套管的任何倾斜移动导致投射器的关联移动并且由此引起投射光图案的反射的关联变化。在实施例中,照相机接收投射光图案的反射。在实施例中,照相机可以安装到套管或形成套管的一部分。照相机可以可选地安装在套管的远端,该套管被布置用于监测反射光。通过将照相机固定到套管上或与套管集成在一起,可降低由照相机损坏组织的风险。此外,照相机不需要由操作者或操作者助理来把持。在实施例中,照相机被安装成相对于套管的轴部分枢转移动。由此,操作者可以沿任何期望的方向使照相机倾斜。
在实施例中,照相机安装在例如内窥镜的观察镜上。照相机可将所记录的信号传递到屏幕和/或将所记录的信号传递到被配置用于操纵手术器械的机器人。在实施例中,照相机形成配置用于操纵手术器械的机器人的一部分。所记录的信号优选可以实时速度传输以确保时间延迟尽可能小。
在实施例中,照相机被配置用于将记录的信号实时地传输到外科医生或微创手术的观察者可见的屏幕。
在实施例中,图案生成构件的投射器被配置为至少暂时地固定到套管的套管轴部分,使得至少一部分的光图案朝远端方向投射。
本文的远端方向是指平行于或相对于进入孔的中心轴线最大成90度的任何方向,或者在中心轴线不直的情况下,是指相对于进入孔出口处的中心轴线的切线最大成90度的任何方向。在实施例中,术语“远端方向”用于表示平行于或相对于进入孔的中心轴线最大成90度的任何方向,或者在中心轴线不直的情况下,是指相对于进入孔出口处的中心轴线的切线最大成90度的任何方向。有利地,至少一部分光图案朝这样的方向投射,该方向是平行于或相对于平行于进入孔的中心轴线的方向最大成30度的方向或者是相对于在进入孔出口处的进入孔的中心轴线的切线最大成30 度的方向,优选地,至少一部分光图案朝这样的方向投射,该方向是指平行于或相对于平行于进入孔的中心轴线的方向或相对于在进入孔出口处的进入孔的切线最大成15度的方向,例如该方向是指平行于或相对于平行于进入孔的中心轴线的方向或相对于在进入孔出口处的进入孔的切线最大成10度的方向。
进入孔出口是套管轴部分远端处的进入孔的出口。
如下面将进一步解释的,在实施例中,套管是可弯曲的和/或弯曲的,并且在这种情况下,远端方向应该相对于套管的远端确定。对于某些手术,希望套管弯曲或可弯曲到非常高的程度,例如高达180度,例如高达约90 度。远端方向被确定为平行于进入孔出口处的中心轴线的切线的方向高达±45度,例如高达±30度,例如高达±15度。在套管可弯曲和/或弯曲并且同时在包括进入孔出口的端部区段是直的情况下,进入孔出口处的进入孔的中心轴线的切线与包括进入孔出口的端部区段的中心轴线相同。
在实施例中,图案生成构件的投射器被配置为至少暂时地固定到套管的套管轴部分,使得至少一部分的光图案朝近端方向投射,例如在与远端方向相反的方向。该实施例在手术部位的目标相对于***穿过进入孔的手术器械横向定位的情况下特别有利。
在实施例中,图案生成构件的投射器被配置成至少暂时地固定在套管轴部分的远端处。
有利地,套管轴部分的远端具有远端进入孔出口并且包括在远端进入孔出口处附近的端部边缘。端部边缘可选地界定出(frame)远端进入孔出口。图案生成构件的投射器被配置成至少暂时地固定在端部边缘处,优选地与其形成刚性连接。投射器优选地被布置用于将光图案朝远端方向投射,优选地使得至少一部分光图案朝这样的方向投射,该方向是平行于或相对于平行于进入孔的中心轴线的方向最大成45度的方向。在实施例中,投射器被布置用于将光图案朝远端方向投射,该远端方向是平行于或相对于平行于进入孔的中心轴线的方向最大成30度的方向,例如平行于或相对于平行于进入孔的中心轴线的方向最大成15度的方向,例如平行于或相对于平行于进入孔的中心轴线的方向最大成10度的方向。
在实施例中,至少一部分光图案朝这样的方向投射,该方向是平行于或相对于平行于在进入孔出口处的进入孔的中心轴线的切线的方向最大成45度的方向。在实施例中,投射器被布置用于朝远端方向投射光图案,该远端方向是平行于或相对于在进入孔出口处的进入孔的中心轴线的切线最大成30度的方向,例如平行于或相对于在进入孔出口处的进入孔的中心轴线的切线最大成15度的方向,例如平行于或相对于在进入孔出口处的进入孔的中心轴线的切线最大成10度的方向。
有利地,端部边缘是在限定出进入孔的内表面与套管轴部分的远端处的套管轴部分的外表面之间延伸的边缘。在实施例中,端部边缘基本上正交于进入孔的中心轴线和/或进入孔出口处的进入孔的切线。在实施例中,端部边缘相对于中心轴线和/或在进入孔出口处的进入孔的切线成大于90 度的角度,例如相对于中心轴线和/或在进入孔出口处的进入孔的切线具有 100至125度的角度。
套管组装套件可以包括多个投射器和/或多个图案生成构件。
在实施例中,图案生成构件包括两个以上投射器,其中图案光源可操作地连接到用于投射光图案的投射器。至少图案生成构件的投射器被配置为至少暂时地固定到套管的套管轴部分,优选彼此间隔一段距离,例如在远端进入孔出口处的对角侧的端部边缘处。
图案光源可以包括分光镜和/或滤光器将光分束和/或滤光成用于所述各个投射器的两束或多束,其中所述两束或多束光束可以相同或不同,例如在功率、波长、波长分布方面。两个以上投射器可以彼此相同或不同,例如在图案形状或尺寸方面。
在实施例中,套管组装套件包括两个以上图案生成构件。两个以上图案生成构件可以彼此相同或不同,例如在功率、波长、波长分布、图案形状或尺寸方面。
在实施例中,套管轴部分包括进入段,该进入段适于***穿过手术切口,以允许手术器械***穿过进入孔,其中该进入段至少部分是刚性的,优选套管轴部分的整个进入段或整个套管轴部分基本上是刚性的。套管轴部分的刚度确保了当套管轴部分经受倾斜移动时,例如通过倾斜***进入孔的器械,投射器将以相关方式移动,从而导致投射光图案的反射的关联变化,该投射光图案可以成像到屏幕上或通过照相机(例如安装到套管或与套管集成)和/或观察镜的照相机传输到机器人。
所记录的信号可以优选地以实时速度传输以确保时间延迟尽可能小。
术语“进入段”用于表示套管轴部分的长度段,该长度段适于完全或部分地***切口中。应该注意,刚性段可以包括一个或多个层,例如,非刚性材料的密封件。
在实施例中,至少所述进入段通过包括密封件和/或隔离物而可闭合,所述密封件和/或隔离物在进入孔没有已***的器械时闭合,从而防止气体经由进入孔逸出并因此防止患者体内的腹腔或其它手术腔放气。
在实施例中,至少进入段通过可闭合材料是可闭合的,这样至少在进入段处在进入孔没有已***的器械时是至少部分闭合的。
在实施例中,套管轴部分包括进入段,该进入段适于被***穿过手术切口,以允许手术器械***穿过进入孔,其中进入段是可闭合的。有利地,套管轴部分的至少进入段是非刚性材料,例如弹性体,如橡胶。
刚度是在25℃下确定的。
原则上,套管轴部分可以是直的或弯曲的。在套管轴部分基本上是刚性的情况下,期望套管轴部分是相对直的或者是可选地以相对平缓的曲线弯曲。
当套管轴部分是直的情况下,进入孔通常也是直的。
在实施例中,图案生成构件可从套管轴部分拆离。
优选地,至少图案生成构件的投射器被配置为通过碰合锁、套筒锁合、螺旋锁合、旋转锁合、楔形锁合或它们的组合被暂时地固定到套管轴部分。
有利地,图案光源不固定到或不适于固定到套管轴部分。在实施例中,图案光源被固定到或适合于固定到套管的凸缘部分。原则上,操作连接可以是任何种类的导波元件,例如光纤、一个或多个透镜、反射镜、分光镜、准直器、放大器或任何其它合适的光学元件。图案光源和投射器之间的光学连接优选由光纤提供。
在只有投射器安装到套管轴部分的情况下,包括图案光源的图案生成构件的剩余部分可以被重新使用而不需要消毒。
在实施例中,至少投射器和图案生成构件的图案光源通过套筒暂时地固定到套管。
在实施例中,图案生成构件的所有元件被暂时地固定到套筒。图案生成构件的元件包括投射器和图案光源以及可选的电源和/或一个或多个控制元件,例如下面描述的图案光源控制单元。
在实施例中,至少图案生成构件的投射器被永久地固定到套管。
在实施例中,图案光源和可选的电池被固定到或适于固定到套管轴部分。
在实施例中,图案光源和可选的电池被布置在外部光源单元中并且例如通过光纤直接连接或通过使用自由空间光学器件光学连接到投射器。
在实施例中,图案光源适于布置在距离投射器一定距离处,图案光源优选地并入图案光源壳体中,该图案光源壳体被布置成定位在与套管相距一定距离处并且有利地经由包括光纤的连接机构连接到投射器,优选地该光纤由聚合物护套保护。
在实施例中,图案生成构件的至少投射器被集成到或安装到套筒中。套筒优选地包括带投射器的套筒端部边缘部分。套筒被配置成安装到套管轴部分。可选地,套筒构成用于最小化不希望的气体泄漏的外部和/或内部密封。套筒有利地固定到或可固定到凸缘部分。在实施例中,图案光源在套筒安装到凸缘部分的近端处结合到或安装到套筒。
套筒可以包括任何材料,包括聚合物材料和/或金属。优选地,套筒带有具亲水性且有利地具有低摩擦的外表面。在实施例中,套筒包括用于减少摩擦的涂层,例如PTFE或聚对二甲苯的涂层。在实施例中,套筒的表面已经经过等离子体处理和/或氯化。
有利地,套筒由弹性体制成,例如一种或多种热塑性弹性体、橡胶和 /或硅树脂。优选材料包括聚异戊二烯、硅树脂、丁基-乙烯丙烯(二烯)聚合物和/或苯乙烯丁二烯橡胶。
在实施例中,套管包括用于安装投射器的安装通孔,优选地,该安装通孔延伸穿过套管轴部分,使得投射器可以安装在套管轴部分的远端处或其附近。由此,在套管已经***穿过手术切口之后投射器可以通过所述安装通孔被安装。
在实施例中,套筒包括安装通孔,用于在套管已经***穿过手术切口之前或之后安装投射器。
在实施例中,图案生成构件的至少投射器被永久地固定到套管轴部分,优选地,投射器与套管集成以形成集成的套管组件。
图案光源原则上可以是能够提供期望图案的任何种类的光源。光源可以是相干光源或非相干光源。
术语“相干光”在本文用于表示激光,而“非相干光”包括任何非激光的光,而与其相干度无关。具有相对高的相干度的非相干光(有时称为部分相干光)通常是优选的,因为相干光提供高度明亮的图案,而非相干光源通常可以以比相干光低得多的成本获得。
在实施例中,图案光源是相干光源,如半导体光源,如激光二极管和 /或VCSEL(垂直腔面发射激光器)光源。
在实施例中,图案光源是非相干光源,优选地,该光源是半导体光源,如发光二极管(LED)。
有利地,光图案由至少一个激光器和/或LED生成。激光器和LED(发光二极管)是有利的,因为它们可以生成明确限定的光图案,并且可以选择波长并进而选择颜色,使得图案在远距视觉中得到增强,例如使得光图案在监视器上清晰可见并被增强和/或容易检测的,便于计算机识别、解码和 /或视觉处理。
图案光源有利地具有相对窄的带宽,从而提供在窄带宽内的亮光,同时发射相对较低的光能。这既有利于避免对手术目标部位的不希望的加热,又同时具有较低的致盲风险和/或导致可能使相机的记录失真的不希望的侧面或错误反射。
在实施例中,图案光源具有高达约50纳米(nm),如从1纳米(nm)至约40纳米(nm)的带宽(半峰全宽-FWHM)。优选地,图案光源的窄带宽为约25纳米(nm)或更小,例如约10纳米(nm)或更小。
在实施例中,图案光源是宽带光源,例如超连续谱光源,如在从400 纳米(nm)到2600纳米(nm)的带宽范围内的至少一个倍频程。在石英光纤中传输的2600纳米(nm)以上的光将被强烈衰减。
在实施例中,图案光源被配置用于发射在约10纳米(nm)至约400纳米(nm),如约200至约400纳米(nm)的UV范围内的至少一个电磁波长。
在实施例中,图案光源被配置用于发射在从约400纳米(nm)至约700 纳米(nm),如从约500纳米(nm)至约600纳米(nm)的可见光范围内的至少一个电磁波长。
在实施例中,图案光源被配置用于发射在约700纳米(nm)至约1毫米 (mm),如约800至约2500纳米(nm)的IR范围内的至少一个电磁波长。
在实施例中,图案光源被配置用于发射两个以上识别波长或波长带宽,并且有利地,图案光源被配置用于在所述识别波长或波长带宽之间切换。
较低波长如600纳米(nm)以下的光需要相对高的功率,以便在视觉上区别于照射光,该照射光被发射以照亮手术区域,该照射光通常从观察镜例如内窥镜发射出。
在实施例中,图案光源包括在可见范围内的至少一个波长。
在实施例中,图案光源包括在不可见范围例如UV或IR范围内的至少一个波长。在图案光源包括不可见范围内的波长的情况下,这样的波长有利地由照相机***检测并且被转换成(例如通过数字处理)向操作者显示的可见波长。
在实施例中,图案生成构件包括具有相同或不同带宽的两个以上图案光源,其中两个以上图案光源优选地可操作地连接到投射器。
两个以上图案光源可以彼此独立地操作,即它们可以独立地被打开和关闭,例如使用非手持单元或通过并入凸缘部分的单元。
在实施例中,两个以上图案光源可以连接到单独的投射器。
通常,希望使用图案光源控制单元来开启和关闭图案光源(或多个图案光源)并且可选地对波长和/或强度进行改变。在实施例中,图案光源控制单元是非手持单元,如踏板或声控激活控制单元,由此操作者可以简单的方式控制光图案。在实施例中,图案光源控制单元被结合到凸缘部分中。
在实施例中,图案光源(或多个图案光源)由机器人控制,例如通过成为机器人的一部分。图案光源控制单元可以有利地由计算机控制。
有利地,图案光源被布置成提供图案输出功率,该图案输出功率足以生成可见图案,但不会高到可能产生不希望的热量。优选地,图案光源被布置为提供高达约100毫瓦(mW),例如至少约0.1毫瓦(mW),如从约1 毫瓦(mW)至约100毫瓦(mW),如从约3毫瓦(mW)至约50毫瓦(mW)的图案输出功率。优选地,图案输出功率是可调整的。将图案输出功率作为投射器的输出功率来确定。
有利地,图案光源的波长和/或功率是可调谐的,并且套管组装套件包括用于调谐图案光源的调节器,优选地使得***穿过进入孔的手术器械的移动触发所述调节器对所述图案生成构件的协调调谐。有利地进行调谐,使得***穿过进入孔的手术器械沿远侧朝向近侧方向的移动(或反之)触发调节器对图案生成构件的协调调谐。在实施例中,调节器是布置在套管轴部分的内壁处的可调谐按钮,使得手术器械沿远侧朝向近侧方向的移动(或反之)上下调谐图案光源的光强度和/或改变图案光源的波长。在图案光源 (或多个图案光源)由机器人控制的实施例中,机器人可以有利地控制或包括***穿过进入孔的手术器械,并且用于调谐图案光源的调节器有利地也可以是机器人的一部分或至少由机器人控制。
有利地,图案生成构件的投射器包括相位光学元件、空间光调制器、多级衍射透镜、全息透镜、反射镜装置、计算机控制的光学元件和/或计算机控制的机械光学元件,例如微机电(微电子机械)元件。
相位光学元件可有利地为衍射光学元件(DOE)。
在实施例中,相位光学元件能够产生具有周期性强度分布的图像。
衍射光学元件在本领域中是公知的,并且例如可以利用具有复杂微结构的表面用于其光学功能。微结构表面起伏轮廓具有两个以上表面水平。表面结构或者是蚀刻在熔融石英玻璃或其它玻璃类型,或者压印在各种聚合物材料中。此外,衍射光学器件可以实现与折射光学器件(例如透镜、棱镜或非球面镜)几乎相同的光学功能,但是它们更小更轻。DOE不限于激光应用,来自LED或其它光源的部分相干光也可被调制。
在实施例中,DOE如US2013/0038836中所述,例如如图1所示,和/ 或如US2013/0038836的[0015]段中所述。
在实施例中,衍射光学元件包括“多级衍射”透镜,例如利用单个衍射级的常规衍射光学透镜,其中透镜的光功率与光的波长成正比。
该投射器可以包括用于提供期望图案的任何类型的光束操纵元件,例如透镜和/或反射镜和/或分光镜和/或滤光器和/或准直器。
在实施例中,投射器包括空间光调制器。空间光调制器被配置为例如通过调制图案罩盖的透明度例如通过计算机调制来调制光图案。在实施例中,空间光调制器被布置用于调制来自图案光源的光的强度和/或相位,从而调制发射的光图案。
为了确保套管可以***穿过期望的小切口,通常期望在***切口之前待安装到套管轴部分的图案生成构件的部分相对较小。
有利地,当图案生成构件固定到套管轴部分时,图案生成构件的投射器具有垂直于进入孔的中心轴线的最大延伸面积,该最大延伸面积高达约 8平方厘米(cm2),例如高达约4cm2,例如高达约2cm2,例如从约0.01cm2至大约1cm2,例如从约0.1cm2至大约0.5cm2。优选地,图案生成构件的投射器被配置为至少暂时地固定在远端的进入孔出口附近的端部边缘处,并且投射器优选地成形为使得投射器不会横向延伸超出端部边缘或至多横向延伸超过端部边缘5毫米(mm)。
在实施例中,图案生成构件的投射器具有待发射光的投射器面,并且投射器可枢转,因此其可以从第一收折位置枢转地展开至第二位置,在第一收折位置投射器面不朝向远端方向,在第二位置投射器面朝向远端方向。由此,当投射器处于第一收折位置时,套管可以***切口中,并且之后投射器可以展开至第二位置。可选地,展开可以通过触发套管轴部分的内壁处的释放按钮来提供,例如通过手术器械,例如通过手术器械的倾斜,在套管已经***穿过切口之后,使得投射器展开到其第二位置,例如通过弹簧机构。
该图案可以具有任何期望的形状。
在实施例中,投射器被固定到或适于被固定到套管轴部分,使得当手术器械依手术器械的纵向轴线仅经历周向移动时,图案保持基本静止。
在实施例中,当投射器固定到插管轴部分时被配置为发射图案,当被投射到与进入孔的中心轴线正交的表面时,该图案具有至多10重旋转对称性,优选地该图案具有至多8重旋转对称性。
这种不完全旋转对称但具有高达10重旋转对称性的图案给予使用者关于手术器械相对于手术部位的位置的更好的视觉信息。
在实施例中,图案生成构件的投射器被配置为发射包括拱形、环形或半环形线、多个成角度的线和/或编码结构化光构型的图案。在实施例中,该图案包括网格线,例如当被发射到平坦表面时可选地包括基本上平行的线的交叉阴影线图案。
由于手术器械的横向移动而导致的网格线中的变化可以例如用于推断体腔的轮廓,例如手术区域的投射表面和/或轮廓和/或形貌形状。手术器械移动期间的交叉的和/或平行的网格线之间的角度和距离的变化例如可以用于确定手术器械的取向。
短语“手术区域”、“手术部位”和“手术目标部位”在本文中可互换使用。
在实施例中,光图案包括多个光点。当手术器械移动时,点的位置和 /或它们间的距离将变化,这甚至进一步增强了操作者推断手术器械的位置和手术区域的面积轮廓的能力。
在实施例中,图案生成构件被配置为发射包括编码结构化光构型的图案,该编码结构化光构型包括以预选构型排布的具有不同形状和/或尺寸的多个光点。包括编码结构化光构型的图案特别适合于确定目标表面的形貌形状。
包括编码结构化光构型的图案例如在Pattern Recognition(第37卷,第 4期,2004年4月,第827-849页)由Salvi等人的“Pattern codification strategies instructured light systems(结构化光***中的图案编码策略)”有所描述。
在实施例中,固定到套管轴部分的投射器被配置为发射图案,当将图案投射到与手术器械的主体部分的纵向轴线垂直的表面时,该图案包括多条斜线。有利地,该图案包括网格线,例如包括一组或多组平行线的网格。
在将带有斜线的图案投射到与进入孔的中心轴线正交的表面时,***到进入孔中的手术器械的倾斜例如可以通过斜线的变化、例如通过一条或多条线的变形、线条角度变化和/或线条之间距离的变化被观察到。
图案有利地大到足以确保手术器械及其移动的良好视觉感知。
同时,由于投射器固定在套管轴部分上,手术过程中投射器和组织之间直接接触的风险相对较小,并且已经发现对于大多数手术,投射器在微创手术期间比内窥镜需要较少的清洁。
在实施例中,图案生成构件的投射器被配置成发射图案,当从套管轴部分的远端在距表面大约80mm处并且垂直于套管轴部分的中心轴线朝向平面表面发射时,该图案具有高达约225cm2、例如高达约100cm2、例如高达约9cm2的网格面积。
凸缘部分包括手柄部,该凸缘部分包括用于暂时固定到填塞器的机构。
在实施例中,套管包括穿过凸缘部分和套管轴部分的两个以上进入孔。由此几个手术器械可以同时***。
在实施例中,套管包括两个以上套管轴部分以及穿过凸缘部分和套管轴部分的进入孔,所述进入孔适于将手术器械***穿过每个相应的进入孔。
在实施例中,套管组装套件包括用于清洁投射器的清洁元件。在实施例中,清洁元件呈布置用于擦拭和/或清洗投射器的擦拭元件的形式。在实施例中,清洁元件为喷雾元件的形式,其被布置为用例如气体或液体的流体喷射和/或吹拂投射器。合适的清洁元件的例子如US8,397,335中所述的清洁装置。
在实施例中,套管适合于由外科医生操作,即被安装在患者的切口中以提供到手术部位的进入孔。
在实施例中,套管适于由机器人操纵,即利用机器人将其安装在患者的切口中以提供到手术部位的进入孔。
在实施例中,套管是机器人的一部分。
本发明还包括用于微创手术的套管针组装套件。套管针组装套件包括如上所述的套管组件和填塞器。原则上,填塞器可以是配置为与套管一起使用的任何种类的填塞器。
填塞器具有远端和近端,并且包括在其近端处的头部部分、在其远端处的尖端部分以及在头部部分和尖端部分之间延伸的刚性填塞器轴部分,其中套管和填塞器彼此相关使得填塞器的尖端部分可以***穿过套管的进入孔,并且填塞器的头部部分可以暂时地固定到套管的凸缘部分,优选地使得密封件形成在套管和填塞器之间的进入开口中。
有利地,填塞器包括投射器保护装置,投射器保护装置与套管组装套件的投射器相关联,以在套管组装套件和填塞器处于组装状态时至少部分地覆盖投射器。由此,在将套管针组件***穿过切口期间,投射器可以被投射器保护装置保护。投射器保护装置有利地布置成在从所述套管进入孔抽出填塞器时至少部分地进入填塞器的空腔。
当填塞器的尖端部分基本上完全***穿过套管轴部分的进入孔时,套管组装套件和填塞器处于组装状态,而在从所述套管进入孔抽出填塞器时,套管组装套件和填塞器被分解。
在实施例中,投射器保护装置被布置成从第一位置枢转地收折到第二位置,在第一位置处投射器保护装置至少部分地覆盖投射器,在第二位置处投射器保护装置至少部分地进入填塞器的空腔。从第二位置收折到第一位置可以例如在已经将填塞器的尖端部分基本上完全***穿过套管轴部分的进入孔之后手动地进行,并且从第一位置收折到第二位置可以用例如通过从进入孔抽出填塞器和/或通过释放暂时地将投射器保护装置保持在第一位置的保持机构来简单地进行。
在实施例中,投射器保护装置被布置成从第一位置径向地移位到第二位置,在第一位置处投射器保护装置至少部分地覆盖投射器,在第二位置处投射器保护装置至少部分地进入填塞器的空腔。径向移位可以例如由将投射器保护装置暂时地保持在第一位置和第二位置之一中的弹簧装置和/ 或保持机构来实现。
本发明还包括适用于如上所述的套管组装套件的套筒组件。套筒组件包括套筒和图案生成构件。图案生成构件包括图案光源和投射器,其中图案光源可操作地连接到投射器以投射光图案。至少图案生成构件的投射器被配置成至少暂时且刚性地固定到套筒,该套筒优选地包括带投射器的套筒端部边缘部分。
套筒可以有利地如上所述。
在实施例中,套筒被配置成基本上完全覆盖套管的至少套管轴部分。在实施例中,套筒被配置成覆盖套管的套管凸缘部分的至少一部分。
本发明还涉及微创手术***,其包括如上所述的套管组装套件、手术器械、照相机和计算机***。
照相机可以是单色相机或立体相机。在实施例中,微创手术***包括适于记录图像数据的两个以上照相机。微创手术***可以被配置为组合或复用所述图像数据。
在实施例中,照相机例如如上所述被安装到或集成到套管。
照相机可以有利地包括电荷耦合器件(CDD)图像传感器或互补金属氧化物半导体(CMOS)图像传感器。
在实施例中,照相机被安装在观察镜上。本文所用观察镜是指任何合适的观察镜,例如内窥镜、腹腔镜、关节镜、胸腔镜、胃镜、结肠镜、喉镜、气管镜、膀胱镜或其组合。在实施例中,该观察镜是内窥镜。在实施例中,该观察镜是腹腔镜。
在实施例中,微创手术***包括两个以上照相机,例如安装到或集成到套管的至少一个照相机以及安装到或集成到观察镜的至少一个照相机。
微创手术***可以进一步包括一个或多个照明元件,例如安装到或集成到观察镜的照明元件。
微创手术***可额外包括一个或多个传感器,其可用于产生微创手术数据和/或进行微创手术。这种一个或多个传感器可以包括基于发光的传感器、机械传感器、电传感器等。在实施例中,一个或多个传感器包括(多个) 位置跟踪传感器、(多个)加速度计、(多个)陀螺仪和/或其它运动-传感装置。
有利地,套管组装套件的投射光图案包括未包括在可选的其它照明光源和/或传感器光源中的至少一个波长。
微创手术***的手术器械有利地选自抓持器、缝线抓持器、切割器、密封器、吻合器、施夹器、解剖器、剪刀、大剪刀、抽吸器械、夹具、电极、凝血装置、刮匙、消融器、解剖刀、持针器、针驱动器、刮刀、镊子、活检和牵引器器械或它们的组合。
计算机***可以包括用于收集微创手术数据和/或用于进行微创手术的硬件和软件。
计算机***可以包括一个或多个待进行数据通信或适用于进行数据通信的硬件元件。
在实施例中,计算机***与照相机进行数据通信以从照相机接收图像数据。计算机***被编程为确定手术器械的实时位置数据,以确定反射由套管组装套件发射的光图案的表面的实时形貌数据和/或确定反射由套管组装套件发射的光图案的表面的实时轮廓。
在实施例中,计算机***被配置为将所确定的数据传输到机器人、数据库和/或供显示的监视器。
在实施例中,手术器械形成机器人的一部分或适于由机器人操纵。计算机***优选地被配置为将所确定的数据传输到机器人。在实施例中,计算机***或计算机***的至少一部分形成机器人的一部分。
在实施例中,套管组装套件适于由计算机控制或形成计算机的一部分。
本发明还涉及一种在患者皮肤区域下方的体内结构中对目标手术部位进行微创手术的方法。在实施例中,该方法包括:
·为手术目标部位提供进入孔,包括提供穿过皮肤区域的切口,如上所述***套管组装套件,
·将手术器械***穿过进入孔,
·将照相机元件***穿过进入孔或***穿过附加的至手术目标部位的进入孔,
·假定投射器,如果套管组装套件发射光图案,
·由照相机记录从手术目标部位反射的光图案的图像数据,以及
·移动手术器械进行微创手术,同时根据记录的图像数据接收反馈。在实施例中,该方法包括:
·为手术目标部位提供进入孔,包括提供穿过皮肤区域的切口,如上所述***具有照相机的套管组装套件,
·手术器械***穿过进入孔,
·假定投射器,如果套管组装套件发射光图案,
·由照相机记录从手术目标部位反射的光图案的图像数据,以及
·移动手术器械进行微创手术,同时根据记录的图像数据接收反馈。
在实施例中,该方法包括通过使用如上所述的微创手术***来进行微创手术。
进行微创手术的方法可由操作者即外科医生和/或机器人进行。
例如,在实施例中,外科医生进行切口并且***套管组装套件而机器人进行剩余的方法步骤。
在实施例中,进行微创手术的整个方法由机器人进行。记录的图像数据可以同时传输到监视器以便移位,这样例如是监督者、外科医生和/或实习生的观察者可以观察由机器人执行的微创手术。
包括多个范围和优选范围的本发明的所有特征可以在本发明的范围内以各种方式组合,除非有特定的理由不能组合这些特征。
附图说明
本发明的优选实施例将参阅附图来进一步描述。
图1a是套管组装套件的实施例的示意图。
图1b是适于与图1a的套管组装套件一起使用的填塞器的实施例的示意图。
图1c和图1d是包括图1的套管组装套件和图2的处于部分或完全组装状态的填塞器的套管针组装套件的示意图。
图2是套管组装套件的实施例的示意图,其中套管的轴部分包括安装通孔,投射器穿过该安装通孔已经被安装。
图3是包括套筒的套管组装套件的实施例的示意图。
图4是具有用于包括图案光源的相对较大凸缘部分的套管组装套件的实施例的示意图。
图5是组装好的套管针组装套件的远端部分的示意图,其中填塞器包括投射器保护装置。
图6是在从体腔外部看到的手术过程使用期间的套管组装套件的实施例的示意图。
图7是在穿过体腔的截面视图中看到的手术过程使用期间的套管组装套件的实施例的示意图。
图8是配置用于发射靶心形图案的套管组装套件的实施例的示意图。
图9是具有弯曲的套管轴部分的套管组装套件的实施例的示意图。
图10是套管组装套件的实施例的示意图,其中套管包括两个套管轴部分和一个套管凸缘部分。
图11是另一套管组装套件的示意图,其中套管包括两个套管轴部分和一个套管凸缘部分。
图12是套管组装套件的实施例的示意图,其中套管包括两个套管凸缘部分和一个套管轴部分。
图13是本发明的微创手术***的实施例的示意图,其中投射光图案包括包含具有不同尺寸的多个光点的编码结构化光构型。
图14是本发明的微创手术***的实施例的示意图,其中投射光图案包括编码结构化光构型,其包括具有不同形状和尺寸的多个光点。
图15是本发明的微创手术***的实施例的示意图,其中投射光图案包括交叉阴影线图案。
图16是本发明的微创手术***的实施例的示意图,其中投射光图案包括多条平行线。
附图是示意性的,并且未按比例绘制,为了清楚起见可以简化。在整个附图中,相同的附图标记用于表示相同或相应的部件。
具体实施方式
图1a示出了本发明的套管组装套件的实施例。套管组装套件包括套管1和图案生成构件,其中仅示出了投射器2。套管具有远端D和近端P 并且包括在其近端的凸缘部分4和从凸缘部分4延伸到其远端D的细长套管轴部分3以及穿过凸缘部分4进入孔和细长套管轴部分3的进入孔A,使得手术器械的手术工具可以***通过进入孔。图案生成构件包括未示出的图案光源和至少暂时地固定到套管的套管轴部分3的投射器2。套管的凸缘部分4包括用于使体腔胀大的膨胀口5。
图1的填塞器和套管组装套件彼此相关联。图1b中所示的填塞器9 具有远端D和近端P,并且包括在其近端处的头部部分6、在其远端处的尖端部分8以及在所述头部部分6和所述尖端部分8之间延伸的刚性填塞器轴部分7。尖端部分可以是带刃的或无刃的。
图1b的填塞器和图1的套管组装套件彼此相关联,使得填塞器可以***套管1的进入孔A。在图1c中,填塞器9部分地***套管1的进入孔A。在图1d中,填塞器9完全***套管1的进入孔A,从而组装成套管针组装套件。
图2所示的套管组装套件包括套管和图案生成构件,其中仅示出了投射器12。套管包括凸缘部分14和从凸缘部分14延伸到其远端的细长套管轴部分13和进入孔A。在其远端处,套管轴部分13具有进入孔出口13a 并且包括在远端的进入孔出口13a附近的端部边缘13b。
套管轴部分13包括图中用虚线表示的安装通孔12a。投射器12已经经由安装通孔12a被安装,并且未示出的光纤延伸通过安装通孔12a以将光传输到投射器12。
图3所示的套管组装套件包括套管和图案生成构件,其中仅示出了投射器22。套管包括凸缘部分24和从凸缘部分24延伸到其远端的细长套管轴部分23和进入孔A。
轴部分23和凸缘部分24被安装到套管的套筒26覆盖。投射器22安装或集成到套筒26中,并且套筒还包括光纤包覆线22a,光纤包覆线22a 包括布置用于将光传输到投射器22的未示出的光纤。
图4所示的套管组装套件包括凸缘部分34和从凸缘部分34延伸至其远端的细长套管轴部分33和进入孔A。套管组装套件还包括未示出的图案生成构件。光线R表示未示出的投射器被定位在套管轴部分33的远端。套管的凸缘部分34相对较大,使得未示出的光源和/或电池可以结合到套管的凸缘部分34中。
图5所示的组装好的套管针组装套件的远端部分包括相关的套管组装套件和填塞器的远端部分。套管组装套件包括套管轴部分43和布置用于投射光图案的投射器42。该填塞器包括刚性填塞器轴部分47和尖端部分 48。填塞器还包括与套管组装套件的投射器42相关的、至少部分地覆盖投射器42的投射器保护装置47a,使得投射器在手术期间的***期间至少部分地投射。在未示出的改良实施例中,投射器保护装置成形为与填塞器的尖端部分的形状一致,使得组装好的套管针组装套件的直径从填塞器的尖端部分逐渐增大到套管组装套件的套管轴部分。
当填塞器从套管组装套件的进入孔抽出时,投射器保护装置47a将至少部分地进入填塞器的腔中,使得投射器保护装置47a不被阻挡以便抽出。投射器保护装置47a例如可以通过朝向尖端部分48收折而枢转地合拢到填塞器的空腔中。
图6和图7示出了在手术过程中使用的套管组装套件。附图示出了手术中患者的身体部分,其中穿过患者的皮肤50形成切口I,套管组装套件包括轴部分53和凸缘部分54,并且轴部分53***通过该切口I。套管组装套件包括图案生成构件,该图案生成构件包括投射器,从该投射器发射呈光线R形式的光图案P。
包括手柄部分56、主体部分57和手术工具58的手术器械被***通过套管组装套件的进入孔,并且图案P被投射到手术部位60上。
可以看出,当手术器械的手术工具58受到横向移动和/或倾斜移动时,图案将以相关的方式移动,由此向操作者提供信息。
该图案可以例如由图像记录仪记录在观察镜上,该观察镜经由穿过皮肤的相同或另一个切口***。
图8所示的套管组装套件61包括未示出的投射器,该投射器可操作地连接到光源并且被配置用于发射布置成形成靶心形图案P的光线R。靶心形图案P的多个环例如可以具有不同的波长分布。
图9所示的套管组装套件包括套管和图案生成构件,其中仅示出了投射器72。套管包括凸缘部分74和从凸缘部分74延伸到其远端的细长套管轴部分73以及进入孔A。套管轴部分73弯曲成柔和曲线,从而使操作者更容易通过患者的切口***套管轴部分73。套管轴部分73例如预弯曲到所示的弯曲曲线,并且是可进一步弯曲的或是柔性的,即在空载状态下套管轴部分73是弯曲的。在另一个实施例中,套管轴部分73在弯曲位置中是基本刚性的。
套管轴部分73在其远端处包括端部边缘73b,并且投射器72安装在端部边缘73b处,并且未示出的光纤被布置为沿着套管轴部分73的壁中的通道72a引导光。
图10中所示的套管组装套件包括套管和至少一个图案生成构件,其中仅示出了两个投射器82。两个投射器82可以是同一图案生成构件,或者它们可以是单独的图案生成构件。
套管包括凸缘部分84和双套管轴部分83、83a、83b。双套管轴部分 83、83a、83b包括公共轴部段83和两个分支轴部段83a和83b,每个分支轴部段包括远端进入孔段A,使得套管具有穿过凸缘部分84并穿过共用轴部段83的共用进入孔段以及穿过所述相应的分支轴部段83a和83b 的两个单独的远端进入孔段。
图11中所示的套管组装套件包括套管和至少一个图案生成构件,其中仅示出了两个投射器92。两个投射器92可以是同一图案生成构件,或者它们可以是单独的图案生成构件。
套管包括凸缘部分94和两个套管轴部分93a、93b,两个套管轴部分 93a、93b提供穿过套管的凸缘部分94的两个进入孔。
图12所示的套管组装套件包括套管和至少一个图案生成构件,其中仅示出了投射器102。
套管包括两个凸缘部分104a、104b和双套管轴部分104、104a、104b。双套管轴部分104、104a、104b包括共用轴部段104和两个分支轴部段104a 和104b。相应的分支轴部段104a和104b连接到相应的凸缘部分104a、 104b并且在套管的远端区段中合并在共用轴部段104中。
示出在相应的图13、14、15和16中的微创手术***包括套管组装套件110、手术器械115、照相机116和计算机***118。
套管组装套件110包括凸缘部分114、细长套管轴部分117和用于在其远端处投射光图案的投射器112。进入孔经由套管轴部分117提供。
手术器械115在其远端包括其实际操作工具115a。包括操作工具115a 的远端通过套管组装套件110的进入孔被***。
投射器112朝向远端布置的表面111投射光图案,并且由照相机116 记录反射光图案113。在使用中,该远端布置的表面111将是手术部位,其可以如上所述是非常不平坦的。
随着手术器械115移动,套管组装套件将相应地移动,并且因此至少当手术器械115经受倾斜移动时,投射器112将被移动并且反射图案113 将相应地改变。
相机记录反射光并生成记录的图像数据。记录的图像数据被传输到计算机***118。
在所示实施例中,计算机***包括用于校准照相机的校准单元、带有用于3D数据集生成的算法和解码所记录和所校准的图像数据的处理单元、用于实时确定形貌数据的处理单元以及用于存储和/或显示所确定的形貌数据的PC。计算机***118的各个单元可以集成在公用硬件盒中。
如上所述,手术器械115可以有利地形成用于进行微创手术的机器人的一部分,并且计算机***可以向机器人提供反馈和/或计算机***的至少一部分可以是机器人的集成部分。
在图13 中,投射的光图案包括包含为不同尺寸的多个光点的编码结构化光构型。
在图14中,投射的光图案包括编码结构化光构型,其包括为不同形状和尺寸的多个光点。
在图15中,投射的光图案包括交叉阴影线图案
在图16中,投射的光图案包括多条平行线。
Claims (24)
1.一种适用于微创手术的套管针用套管组装套件,所述套管组装套件包括套管和图案生成构件,所述套管具有远端和近端以及从所述近端延伸至所述远端的细长的套管轴部分及贯通所述细长的套管轴部分的进入孔,使得手术器械的手术工具经该进入孔***,其中所述图案生成构件包括图案光源和投射器,其中所述图案光源可操作地连接到所述投射器以投射光图案,所述图案生成构件的至少所述投射器被配置为至少暂时被固定到所述套管的所述套管轴部分。
2.如权利要求1所述的套管组装套件,其中,所述图案生成构件的所述投射器被配置为被固定到所述套管的所述套管轴部分,使得至少一部分所述光图案被投射向远端方向。
3.如权利要求1所述的套管组装套件,其中,所述图案生成构件的所述投射器被配置为被固定在所述套管轴部分的远端处。
4.如权利要求1所述的套管组装套件,其中,所述套管轴部分的所述远端具有远端进入孔出口并且包括在所述远端进入孔出口附近的端部边缘,所述图案生成构件的所述投射器被配置为被固定在所述端部边缘处,被布置用于朝远端方向投射所述光图案。
5.如权利要求1所述的套管组装套件,其中,所述图案生成构件包括两个以上的投射器。
6.如权利要求1所述的套管组装套件,其中,所述套管轴部分包括进入段,所述进入段适于经手术切口***以允许手术器械穿过所述进入孔,其中,至少所述进入段基本是刚性的。
7.如权利要求1所述的套管组装套件,其中,所述图案生成构件能够从所述套管轴部分拆卸,所述图案生成构件的至少所述投射器被配置为通过碰合锁、套筒锁合、螺旋锁合、旋转锁合、楔形锁合或它们的组合被暂时固定到所述套管轴部分。
8.如权利要求1所述的套管组装套件,其中,所述图案生成构件的至少所述投射器被结合或安装到套筒中。
9.如权利要求8所述的套管组装套件,其中,所述套筒构成所述套管的外密封和/或内密封。
10.如权利要求1所述的套管组装套件,其中,所述套管包括用于安装所述投射器的安装通孔,使得所述投射器能安装在所述套管轴部分的远端。
11.如权利要求1所述的套管组装套件,其中,所述图案生成构件的所述投射器包括相位光学元件、空间光调制器、多级衍射透镜、全息透镜、菲涅尔透镜、反射镜装置和/或计算机控制的光学元件。
12.如权利要求1所述的套管组装套件,其中,所述图案生成构件的所述投射器包括微机电元件。
13.如权利要求1所述的套管组装套件,其中,所述图案生成构件的所述投射器被配置成用于发射包括拱形、环形或半环形线、多条斜线和/或编码的结构化光构型的图案。
14.如权利要求1所述的套管组装套件,其中,所述图案生成构件的所述投射器被配置成用于发射包括在结构化光构型的图案中的线和点的组合。
15.如权利要求1所述的套管组装套件,其中,所述套管包括两个以上的穿过所述近端处的凸缘部分和所述套管轴部分的进入孔。
16.如权利要求1所述的套管组装套件,其中,所述图案光源适于利用图案光源控制单元来开启和关闭。
17.一种用于微创手术中的套管针组装套件,所述套管针组装套件包括套管组装套件和填塞器,所述套管组装套件包括套管和图案生成构件,所述套管具有远端和带凸缘部分的近端以及从所述近端延伸至所述远端的细长的套管轴部分及贯通所述细长的套管轴部分的进入孔,其中所述图案生成构件包括图案光源和投射器,其中所述图案光源可操作地连接到所述投射器以投射光图案,所述图案生成构件的至少所述投射器被配置为至少暂时或永久地被固定到所述套管的所述套管轴部分,所述填塞器具有远端和近端,并且包括在其近端处的头部部分、在其远端处的尖端部分以及在所述头部部分和所述尖端部分之间延伸的刚性填塞器轴部分,其中,所述套管和所述填塞器是彼此相关的,使得所述尖端部分可以***穿过进入孔,并且所述头部部分可以暂时地固定到凸缘部分。
18.根据权利要求17所述的套管针组装套件,其中,所述填塞器包括与所述套管组装套件的投射器相关联的、在所述套管组装套件和所述填塞器处于组装状态时至少部分覆盖所述投射器的投射器保护装置。
19.根据权利要求18所述的套管针组装套件,其中,所述投射器保护装置被布置成从第一位置枢转收折到第二位置,在第一位置处该投射器保护装置至少部分覆盖该投射器,在第二位置处该投射器保护装置至少部分进入填塞器的空腔。
20.根据权利要求18所述的套管针组装套件,其中,所述投射器保护装置布置成从第一位置径向移位到第二位置,在第一位置处该投射器保护装置至少部分覆盖该投射器,在第二位置处该投射器保护装置至少部分进入填塞器的空腔。
21.一种微创手术***,其包括套管组装套件、手术器械、照相机和计算机***,所述套管组装套件包括套管和图案生成构件,所述套管具有远端和带凸缘部分的近端以及从所述近端延伸至所述远端的细长的套管轴部分及贯通所述细长的套管轴部分的进入孔,其中所述图案生成构件包括图案光源和投射器,其中所述图案光源可操作地连接到所述投射器以投射光图案,所述图案生成构件的至少所述投射器被配置为至少暂时或永久地被固定到所述套管的所述套管轴部分。
22.如权利要求21所述的微创手术***,其中,所述套管包括所述照相机和/或所述***包括观察镜,该观察镜包括附加的照相机,所述观察镜选自内窥镜、腹腔镜、关节镜、胸腔镜、胃镜、结肠镜、喉镜、气管镜、膀胱镜或其组合。
23.如权利要求21所述的微创手术***,其中,所述计算机***与所述照相机进行数据通信以从所述照相机接收图像数据,所述计算机***被编程为确定反射由套管组装套件发射的光图案的表面的实时形貌数据和/或确定反射由套管组装套件发射的光图案的表面的实时轮廓。
24.如权利要求21所述的微创手术***,其中,所述手术器械形成机器人的一部分或适于由机器人操纵,所述计算机***被配置为将所确定的数据传输至所述机器人。
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EP3145419B1 (en) | 2019-11-27 |
WO2017012624A1 (en) | 2017-01-26 |
US11331120B2 (en) | 2022-05-17 |
JP6776327B2 (ja) | 2020-10-28 |
EP3145419A4 (en) | 2017-06-21 |
US20170238962A1 (en) | 2017-08-24 |
JP2018520797A (ja) | 2018-08-02 |
CN108024806A (zh) | 2018-05-11 |
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