WO2023197941A1 - 外科手术植入成像方法及成像系统 - Google Patents

外科手术植入成像方法及成像系统 Download PDF

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Publication number
WO2023197941A1
WO2023197941A1 PCT/CN2023/086819 CN2023086819W WO2023197941A1 WO 2023197941 A1 WO2023197941 A1 WO 2023197941A1 CN 2023086819 W CN2023086819 W CN 2023086819W WO 2023197941 A1 WO2023197941 A1 WO 2023197941A1
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WIPO (PCT)
Prior art keywords
imaging
imaging device
surgical
observation object
light
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/086819
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English (en)
French (fr)
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WO2023197941A4 (zh
Inventor
杨晓东
肖里亚·古普塔
陈朝良
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Agloe Medical Technology Co Ltd
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Agloe Medical Technology Co Ltd
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Application filed by Agloe Medical Technology Co Ltd filed Critical Agloe Medical Technology Co Ltd
Priority to CA3246067A priority Critical patent/CA3246067A1/en
Priority to AU2023252176A priority patent/AU2023252176B2/en
Priority to JP2024552682A priority patent/JP7731176B2/ja
Priority to EP23787586.9A priority patent/EP4473930A4/en
Priority to KR1020247030204A priority patent/KR20240142561A/ko
Publication of WO2023197941A1 publication Critical patent/WO2023197941A1/zh
Publication of WO2023197941A4 publication Critical patent/WO2023197941A4/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/02—Surgical instruments, devices or methods for holding wounds open, e.g. retractors; Tractors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/20—Surgical microscopes characterised by non-optical aspects
    • A61B90/25—Supports therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B90/35—Supports therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B2090/309—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using white LEDs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis

Definitions

  • the present application relates to the field of surgical imaging, and in particular to a surgical implant imaging method and imaging system.
  • this application provides a surgical implant imaging method and imaging system, which enables the imaging device to perform imaging away from the working area, which is more conducive to the visualization of the surgical cavity by the surgical team and facilitates the operation.
  • this application provides an imaging system for surgical implantation.
  • an imaging system for surgical implantation including:
  • a mechanical arm, the first end of the mechanical arm is rotatably connected to the bracket;
  • the imaging device is connected to the second end of the robotic arm.
  • the imaging device rotates freely under the driving of the robotic arm and is used to obtain the light signal reflected by the observation object and perform imaging, in which the reflection of the observation object
  • the emitted light signal is transmitted from the surgical incision to the imaging device through the channel established by the retractor, where the lens of the imaging device can be a combination of an optical zoom and a digital zoom camera to achieve greater magnification.
  • a light source providing device One end of the light source providing device is arranged on the bracket. Some or all of the light signals provided by the light source providing device are transmitted to the observation object through the surgical incision and reflected to the imaging device through the observation object to assist the imaging device in imaging;
  • the controller is electrically connected to the robotic arm, the light source providing device and the imaging device.
  • the controller obtains the position and direction of the surgical incision to adjust the posture, and adjusts the aerial posture of the robotic arm according to the position and direction of the surgical tool so that the imaging device The reflected light signal can be accurately obtained.
  • the imaging device is controlled by a robotic arm, and a light source is provided remotely to the imaging device through a light source providing device, so that the imaging device can clearly obtain an image of an observation object at a relatively long distance.
  • this application sets the light source closer to the surgical position, which greatly improves the lighting efficiency. It can achieve a working distance of more than 1 meter between the microscope lens and the surgical working area, and still be able to see clearly.
  • the image of the observation object is obtained to facilitate the operation.
  • the imaging system further includes: a retractor, the retractor is used to be placed within the surgical incision to establish a transmission channel inside and outside the surgical incision, and the controller obtains the position of the retractor and Adjust the attitude in the direction, and adjust the aerial attitude of the robotic arm according to the position and direction of the retractor, so that the imaging device can accurately obtain the reflected light signal from the channel established by the retractor.
  • a retractor the retractor is used to be placed within the surgical incision to establish a transmission channel inside and outside the surgical incision
  • the controller obtains the position of the retractor and Adjust the attitude in the direction, and adjust the aerial attitude of the robotic arm according to the position and direction of the retractor, so that the imaging device can accurately obtain the reflected light signal from the channel established by the retractor.
  • the imaging device includes: an optical filter used to separate optical signals of preset wavelengths; and an imaging camera that acquires wavelengths within a preset range and uses them for imaging.
  • the filter in this application can separate infrared and visible light, realize imaging in different wavebands, and infrared navigation functions.
  • the robotic arm has at least six joints to achieve at least six degrees of freedom of rotation.
  • This structure can realize the free rotation of the robotic arm in space, avoid the surgical area during adjustment, avoid blocking the surgical operator's line of sight, and drive the imaging device to better obtain images of the observation object.
  • the bracket includes: a fixed bracket; a supporting bracket; The first end of the support frame is connected to the fixed frame, and the second end extends outward toward the side away from the fixed frame. The second end of the support frame is connected to the mechanical arm to increase the space range that the mechanical arm can reach.
  • the bracket further includes: a connecting piece fixed on the second end of the supporting frame and used to connect the first supporting arm and the supporting frame.
  • the light source providing device includes: a light-emitting diode (LED).
  • the LED is installed on the fixed frame.
  • the light-emitting surface of the LED is located on the same side of the fixed frame as the mechanical arm, and is used to establish light through the retractor. channel is transmitted to the observation object.
  • the light source providing device further includes: a light pipe, one end of the light pipe is arranged opposite to the LED, and the other end is used to connect to the retractor to transmit the light signal emitted by the LED to the retractor. , so that the optical signal reaches the observation object through the channel.
  • This structure facilitates the introduction of light into the surgical incision and improves the lighting brightness in the surgical incision, which not only facilitates the doctor's operation, but also helps the imaging device to clearly obtain the image of the observation object.
  • the imaging system further includes: a display, connected to the controller, for displaying images acquired through the imaging device.
  • At least three displays there are at least three displays, and at least two of the at least three displays have different orientations. It is convenient for surgical operators to observe images from different positions, and it is convenient for the surgical team to perform precise operations.
  • the imaging system further includes:
  • the base, the bracket is fixed on the base, and there are multiple rollers under the base.
  • this application also discloses an imaging method for surgical implantation, which is applied to an imaging system.
  • the imaging system includes: a robotic arm, an imaging device connected to the robotic arm, and a controller electrically connected to the robotic arm and the imaging device.
  • the method includes: the controller obtains the position and direction of the retractor; the controller adjusts the position and direction of the mechanical arm according to the position and direction of the retractor, so that the acquisition end of the imaging device is aligned with the channel established by the retractor, and the retractor is retracted.
  • the opener is used to establish a channel to assist the imaging device in imaging; the imaging device obtains the light signal reflected by the observation object through the channel and uses it for imaging.
  • the robotic arm is controlled to drive the imaging device to acquire the image of the observation object, and the light source providing device remotely provides a light source for the imaging device, so that the imaging device can clearly obtain observations at a long distance. image of the object.
  • this application places the light source closer to the surgical position, which greatly improves illumination. With high efficiency, it can achieve a working distance of more than 1 meter between the microscope lens and the surgical working area, and still be able to clearly obtain the image of the observation object, which facilitates the operation.
  • the imaging method further includes: the imaging device acquires an optical signal of a preset wavelength from the reflected optical signal, and performs imaging based on the optical signal of the preset wavelength.
  • the imaging system further includes a light source provider that emits a light signal and transmits part or all of the light signal to the observation object through the channel, so that the imaging device obtains the light reflected by the observation object. light signal.
  • the imaging system further includes multiple displays, and the interface orientations of the multiple displays have at least two or more orientations.
  • the method further includes: the controller acquires the imaging data acquired by the imaging device, and The data is sent to multiple displays so that multiple displays with different orientations can display images corresponding to the observation object.
  • the imaging device is controlled by the robotic arm, and
  • the light source providing device remotely provides a light source for the imaging device, so that the imaging device can clearly obtain an image of the observation object at a relatively long distance.
  • this application sets the light source closer to the surgical position, which greatly improves the lighting efficiency. It can achieve a working distance of more than 1 meter between the microscope lens and the surgical working area, and still be able to see clearly.
  • the image of the observation object is obtained to facilitate the operation.
  • Figure 1 is a schematic three-dimensional structural diagram of an imaging system for surgical implantation according to one embodiment of the present application
  • Figure 2 is a front view of an imaging system for surgical implantation according to one embodiment of the present application
  • Figure 3 is a left view of an imaging system for surgical implantation according to one embodiment of the present application.
  • Figure 4 is a right view of an imaging system for surgical implantation according to one embodiment of the present application.
  • Figure 5 is a schematic three-dimensional structural diagram of a retractor according to an embodiment of the present application.
  • Figure 6 is a front view of the retractor according to one embodiment of the present application.
  • Figure 7 is a schematic cross-sectional structural diagram of a retractor according to an embodiment of the present application.
  • Figure 8 is a system architecture diagram of an imaging system for surgical implantation according to one embodiment of the present application.
  • Figure 9 is a flow chart of an imaging method for surgical implantation according to an embodiment of the present application.
  • Bracket 10 fixed frame 11; connector 12; support frame 13;
  • Retractor 30 first channel 31, second channel 32;
  • intraoperative imaging is often required, such as C-arm imaging. Due to the structure and configuration of the existing surgical microscope, the distance between the lens and the surgical area is very short. During the operation, it must be moved before imaging. Open the microscope to perform imaging with the C-arm machine. After imaging, remove the C-arm machine and put it back into the microscope. The operation is complicated and delays the surgical process. In addition, because traditional microscopes require a very short working distance between the surgical area and the microscope objective, this makes the intraoperative imaging operation complex, the viewing angle uncomfortable for the entire surgical team, and the visualization of the surgery is limited, affecting the surgical effect.
  • the imaging system 100 for surgical implantation according to the embodiment of the present application will be described in detail below with reference to the accompanying drawings.
  • the imaging system 100 for surgical implantation includes a bracket 10 , a robotic arm 20 , an imaging device 40 , a light source providing device, and a controller 50 .
  • the first end of the robotic arm 20 is rotatably connected to the bracket 10 , and the second end is connected to the imaging device 40 .
  • the robotic arm 20 can drive the imaging device 40 to move, so that the imaging device 40 can obtain the light signal reflected by the observation object and perform imaging.
  • the observation object may refer to the internal tissues of the human body, or surgical tools, etc.
  • the light signal reflected by the observation object is transmitted from the surgical incision (that is, the surgical cavity) to the imaging device 40 .
  • the surgical incision may be assisted by a surgical tool to establish a channel, for example, a retractor 30 may be used to establish a channel.
  • One end of the light source providing device is disposed on the bracket 10 .
  • Some or all of the light signals provided by the light source providing device are transmitted to the observation object through the channel (which can be understood as a surgical incision) established by the retractor 30 , and are reflected by the observation object to the imaging device 40 , used to assist the imaging device 40 in imaging.
  • the controller 50 is electrically connected to the robot arm 20 , the light source providing device and the imaging device 40 . During surgery, the controller 50 controls the light source providing device to provide a light source.
  • the time for controlling the provision of the light source may be before or after the position of the robotic arm 20 is adjusted, which is not a limitation here.
  • the light source providing device may not be controlled by the controller 50, for example, it may be manually operated, or may be manually operated or controlled by the controller, etc.
  • the controller 50 first obtains the position and direction of the surgical incision.
  • the controller 50 can obtain the position and direction of the retractor 30 (which can be understood as the position and direction corresponding to the surgical incision).
  • the surgical incision that is, the channel inside and outside the surgical cavity, is explained by taking the retractor to establish the channel as an example.
  • the position and direction of the retractor 30 can be identified by identification methods in the prior art, for example, it can be identified based on the position sensor, or it can be identified based on the image acquired by the imaging device 40, where Not as a limitation.
  • the controller 50 adjusts the position and direction of the robotic arm 20 according to the position and direction of the retractor 30 so that the imaging device 40 can accurately acquire the light signal reflected from the channel established by the retractor 30 . Therefore, when the position and direction of the retractor 30 changes, the robotic arm 20 follows the position and direction of the retractor 30 to adjust the aerial posture, such as horizontal movement, up and down movement, adjustment of the depression angle and elevation angle, etc., which facilitates the imaging device 40 to adjust the position and direction of the retractor 30 . Observe the shooting of objects and realize multi-angle imaging to facilitate the operation.
  • the imaging system 100 for surgical implantation by arranging the robotic arm 20 and the imaging device 40 , the direction and position of the surgical channel can be adjusted and positioned, and the robotic arm 20 can be adjusted through the position and attitude of the retractor 30
  • the aerial posture is convenient for the imaging device 40 connected with the robotic arm 20 to take pictures and to facilitate the operation.
  • the light source providing device provides a light source to the imaging device 40 remotely, so that the imaging device 40 can clearly obtain an image of the observation object at a relatively long distance.
  • this application sets the light source closer to the surgical position, which greatly improves the lighting efficiency. It can achieve a working distance of more than 1 meter between the microscope lens and the surgical working area, and still be able to see clearly.
  • the image of the observation object is obtained to facilitate the operation.
  • imaging system 100 may include retractor 30 .
  • the retractor 30 can be a tubular structure, one end of which is a trumpet-shaped structure that spreads outward from the axis.
  • a first channel 31 is provided in the middle of the retractor 30.
  • a second channel 32 is provided at one end. The second channel 32 is finally connected with the first channel 31.
  • the imaging device 40 acquires the image to facilitate imaging.
  • the position and direction of the retractor mentioned may refer to the orientation of the trumpet-shaped end of the retractor, the position of the trumpet shape relative to space, or the position from the bracket, etc.
  • the retractor 30 can be placed in the surgical incision to open the incision to form a channel that connects the outside world with the surgical cavity inside the human body, such as the first channel 31 and the second channel 32 shown in Figure 8 .
  • the first channel 31 can be used as a channel for operation by a surgical operator and as a channel for observing light reflected by an object.
  • the second channel 32 can introduce external light into the first channel 31 , and then enter the surgical incision to illuminate the observation object. The light reflected by the observation object is reflected through the first channel 31 and finally captured by the imaging device 40 .
  • multiple second channels 32 may be provided.
  • the description in this application takes two second channels 32 as an example.
  • the robot arm 20 has at least six switches. 21, each joint 21 can rotate freely, so that the robotic arm 20 has at least six degrees of freedom of rotation angle, which is more free when shooting, does not limit the operation, and is conducive to the operation.
  • the imaging device 40 includes an optical filter and an imaging camera, wherein the optical filter can acquire the optical signal reflected by the observation object and filter out the optical signal that conforms to the preset wavelength in the optical signal.
  • optical filters can separate visible light and infrared light, thereby realizing the collection of optical signals in different wavebands, facilitating imaging according to the waveband, and conducive to the realization of optical navigation. Convenient for long-distance imaging.
  • the imaging camera in order to improve the imaging effect of the imaging camera, is a lens with a high magnification.
  • the lens of the imaging camera can be a combination of an optical zoom camera and a digital zoom camera to achieve a greater magnification, so that within a range of 1 meter, the imaging camera can clearly obtain an image of the object being observed.
  • the distance between the lens and the working area can be increased to prevent the imaging device 40 from blocking other necessary intraoperative imaging devices (such as C-arm machines, etc.) and the surgical operator's line of sight, which facilitates the operation. .
  • the light source providing device can provide variable intensity light, and can realize remote control.
  • the controller 50 is connected to the light source providing device, and the remote computer is connected to the network of the controller 50 to realize remote control. Light source intensity.
  • the light source providing device may include a light emitting diode 70 (Light
  • Emitting Diode LED
  • light pipe not shown.
  • the LED is installed on the bracket 10 , one end of the light pipe is arranged opposite to the LED, and the other end is used to connect with the retractor 30 .
  • the light signal emitted by the LED is transmitted to the retractor 30, so that the light signal reaches the observation object through the channel.
  • the end of the light pipe can be connected to the second channel 32 , and the light enters from the trumpet-shaped end of the retractor 30 , exits from the other end, and illuminates the observation object.
  • the inner wall of the retractor 30 may be an inner surface with high reflective properties, which facilitates the light incident from the light guide to illuminate the observation object.
  • the light guide can be a fiber optic light guide, through which the light emitted by the LED light can be collected and introduced into the retractor 30.
  • the inner surface of the retractor 30 has a highly reflective inner surface.
  • the light signal introduced by the light pipe is emitted to the observation object through the highly reflective inner surface. Since the light emitted by the LED is some distance away from the surgical work area, the light emitted by the LED will not affect the surgical work area. The surgery has some effects, such as no light and shadow.
  • the use of a light pipe facilitates the introduction of a long-distance light source into the retractor 30, accurately irradiates the light source on the observation object, and facilitates imaging by the imaging device 40.
  • the bracket 10 may include a fixing bracket 11 and a supporting bracket 13 .
  • the fixed frame 11 and the supporting frame 13 can be made of steel.
  • the first end of the support frame 13 is connected to the fixed frame 11 and extends in a direction away from the fixed frame 11.
  • the support frame 13 is distanced from the farthest end of the fixed frame 11 (corresponding to the second end of the support frame).
  • This structure can make The robotic arm 20 connected to the second end covers a larger spatial range as much as possible, making it easier to stay away from the surgical area during surgery and avoid blocking the surgical operator's line of sight.
  • the fixing frame 11 and the supporting frame 13 in this application can be two connected objects, or they can be formed in one piece.
  • the farthest end of the support frame 13 is connected to a connector 12.
  • the support frame 13 and the robotic arm 20 are connected through the connector 12.
  • This structure facilitates the connection of the robotic arm 20 and the support frame, which is beneficial to the robotic arm.
  • the imaging system 100 also includes a display, which is connected to the controller 50.
  • the controller 50 sends the image data of the observation object obtained by the imaging device 40 to the display, and the display further displays an image corresponding to the image data. out so that the surgical team can analyze and operate based on the images displayed on the monitor.
  • the display includes a first display 61, a second display 62 and a third display 63.
  • the first display 61 is fixed on the host (including the controller 50), and the interface is placed upward to facilitate standing on the host.
  • the medical staff nearby observed from this angle.
  • the second display 62 and the third display 63 are respectively provided on both sides of the support 10 and are arranged symmetrically.
  • the medical staff located on both sides of the support 10 view the interface. This makes it easier for different medical staff to view the unified observation object from different angles, and facilitates teamwork to complete the operation.
  • a base 80 can be provided below the bracket 10 for fixing the host and the bracket 10, and a roller 81 is provided below the base.
  • an automatic roller 81 can be selected to facilitate the integration of the entire imaging system 100. Movement and positioning.
  • the architecture diagram includes a processor 810 (corresponding to the controller 50, the processor may be a part of the controller 50), a robotic arm 20 control unit 820 (corresponding to the robotic arm 20) respectively connected to the processor 810,
  • the imaging unit 850 (corresponding to the imaging device 40 in FIG. 1 )
  • the light source control unit 830 (corresponding to the light source providing device), and the display unit 840 (corresponding to the display).
  • the control unit 820 of the robot arm 20 may be a combination of the robot arm 20 and multiple drive units.
  • the drive unit may be part of the robot arm 20 .
  • the processor 810 controls the drive unit to adjust the free angle of the robotic arm 20 .
  • the driving unit can be a motor, a cylinder, a motor and other driving units.
  • the imaging unit 850 may include an imaging camera or the like.
  • the light source providing device may include an LED lamp.
  • the display unit 840 may include a display controller 50 and a display screen.
  • the display controller 50 is connected to the processor.
  • the processor obtains the image data of the observation object captured by the imaging unit and sends it to the display controller 50.
  • the display controller 50 The image is processed and rendered, and the image corresponding to the observation object is finally displayed on the display screen.
  • This application also discloses an imaging method for surgical implantation, which method is applied to the imaging system 100 for surgical implantation described in the above embodiments.
  • the specific structure of the imaging system 100 has been described in detail in the above embodiments. No further details will be given.
  • the method specifically includes S910-S940.
  • the controller 50 obtains the position and direction of the retractor 30.
  • the position and direction of the retractor 30 can be obtained by using a distance sensor, such as an infrared sensor, or using a depth camera to collect images. This application does not limit this.
  • the controller 50 adjusts the position and direction of the robotic arm 20 according to the position and direction of the retractor 30, so that the acquisition end of the imaging device 40 is aligned with the channel established by the retractor 30.
  • the imaging device 40 acquires the light signal reflected by the observation object through the channel and uses it for imaging.
  • the direction and position of the robotic arm 20 are The settings are automatically controlled so that the imaging device 40 follows the position and direction of the retractor 30 to take pictures, which facilitates image acquisition.
  • the robotic arm can bypass the surgical area to facilitate the operation.
  • the imaging device 40 acquires an optical signal of a preset wavelength from the reflected optical signal, and performs imaging based on the optical signal of the preset wavelength.
  • the light source provider emits a light signal, and transmits part or all of the light signal to the observation object through the channel, so that the imaging device 40 obtains the light signal reflected by the observation object, thereby improving the clarity of the shooting, and at the same time Remotely transmit light signals to avoid light affecting surgical operators.
  • the controller 50 acquires the imaging data acquired by the imaging device 40 and sends the imaging data to multiple displays, so that the displays display images corresponding to the observation objects to facilitate medical personnel to observe the images.
  • the monitors can be set at different positions, making it easier for medical staff in different positions to observe images of the same observation object on different monitors, which is beneficial to the operation.
  • the robotic arm is controlled to drive the imaging device 40 to acquire an image of the observation object, and a light source is provided remotely to the imaging device 40 through a light source providing device, so that the imaging device 40 can see clearly even at a relatively long distance. Get the image of the observed object.
  • this application sets the light source closer to the surgical position, which greatly improves the lighting efficiency. It can achieve a working distance of more than 1 meter between the microscope lens and the surgical working area, and still be able to see clearly.
  • the image of the observation object is obtained to facilitate the operation.

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Abstract

一种外科手术植入成像方法及成像系统。成像系统（100）包括：支架（10）；机械臂（20），第一端与支架（10）可旋转连接；成像装置（40），与机械臂（20）的第二端连接，成像装置（40）在机械臂（20）的带动下自由转动，用于获取观察对象反射的光信号，并进行成像；光源提供装置，其一端设置在支架（10）上，光源提供装置提供的部分或全部光信号通过手术切口传输至观察对象，并经过观察对象反射至成像装置（40）；牵开器（30）用于放置在手术切口内，并建立手术通道，以使观察对象反射的光信号被成像装置（40）获取；控制器（50），与机械臂（20）和成像装置（40）电连接，根据牵开器（30）的位置和方向调整姿态，控制机械臂（20）带动成像装置（40）自由旋转。成像系统（100）可以实现远距离拍摄，有利于手术的进行。

Description

外科手术植入成像方法及成像系统
本申请要求2022年4月14日递交的申请号为“202210389241.4”、发明名称为“外科手术植入成像方法及成像系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及外科手术成像领域，特别涉及一种外科手术植入成像方法及成像系统。
背景技术
现有的脊柱手术用电子显微镜，在脊柱手术期间需要在手术区域和显微镜物镜之间留有非常短的工作距离。这导致整个手术团队的视角不舒服，并且手术的可视化有限。工作距离短和视角不舒服也限制了手术工具的自由移动，阻碍了手术。随着手术的进行，需要调整观察轴以可视化手术腔的不同部分。这种调整可视化轴的过程通常很繁琐，而且大多数时候，外科医生无法实现最佳设置，使得手术腔内的可视化问题愈发严重。因此亟待需要解决此类问题。
发明内容
有鉴于此，本申请提供一种外科手术植入成像方法及成像系统，实现了成像装置远离工作区域进行成像，更有利于手术团队对手术腔内的可视化，便于手术的进行。
为解决上述技术问题，本申请提供一种外科手术植入用成像系统。
第一方面，本申请的实施例提供一种外科手术植入用成像系统，包括：
支架；
机械臂，机械臂的第一端与支架可旋转连接；
成像装置，与机械臂的第二端连接，成像装置在机械臂的带动下自由转动，用于获取观察对象反射的光信号，并进行成像，其中，观察对象反 射的光信号为经由牵开器建立的通道从手术切口内传输至成像装置，其中成像装置的镜头可以是光学变焦与数字变焦的相机的结合体，实现更大的放大倍数。
光源提供装置，光源提供装置的一端设置在支架上，光源提供装置提供的部分或全部光信号通过手术切口传输至观察对象，并经过观察对象反射至成像装置，用于辅助成像装置成像；
控制器，控制器与机械臂、光源提供装置和成像装置电连接，控制器获取手术切口的位置和方向调整姿态，并根据手术工具的位置和方向，调整机械臂的空中姿态，以使成像装置能够准确的获取反射的光信号。
根据本申请实施例的成像系统，通过机械臂控制成像装置，且通过光源提供装置远程为成像装置提供光源，使得成像装置在较远的距离也可以清楚的获取观察对象的图像。相比于现有的显微镜，本本申请将光源设置相对于在手术位置较近，大大提高了照明效率，能够实现显微镜的镜头与手术工作区域之间大于1米的工作距离，仍能够可以清楚的获取到观察对象的图像，便于手术的进行。
作为本申请第一方面的一个实施例，成像系统还包括：牵开器，牵开器用于放置在手术切口内，以建立手术切口内部和外部的传输通道，控制器获取牵开器的位置和方向调整姿态，并根据牵开器的位置和方向，调整机械臂的空中姿态，以使成像装置能够准确的从牵开器建立的通道获取反射的光信号。
作为本申请第一方面的一个实施例，成像装置包括:滤光片，滤光片用于分离出预设波长的光信号；成像相机，成像相机获取预设范围内的波长，并用于成像。本申请中的滤光片可以分离红外和可见光，实现不同波段成像，以及红外导航功能。
作为本申请第一方面的一个实施例，机械臂为至少具有六个关节，以实现至少具有六个自由度旋转角度。该结构可以实现机械臂在空间上的自由转动，在调整时可以避开手术区域，避免遮挡手术操作人员的视线，且可以带动成像装置更好的获取观察对象的图像。
作为本申请第一方面的一个实施例，支架包括：固定架；支撑架，支 撑架的第一端与固定架连接，第二端朝背离固定架的一侧向外延伸，支撑架的第二端与机械臂与连接，以使增大机械臂能够触及的空间范围。
作为本申请第一方面的一个实施例，支架还包括：连接件，连接件固定在支撑架的第二端，用于连接第一支撑臂和支撑架。
作为本申请第一方面的一个实施例，光源提供装置包括：发光二极管LED,LED安装在固定架上，LED的发光面与机械臂位于固定架的同侧，用于将光线通过牵开器建立的通道传输至观察对象。
作为本申请第一方面的一个实施例，光源提供装置还包括：光导管，光导管的一端与LED相对设置，另一端用于与牵开器连接，将LED发射的光信号传递至牵开器，以使光信号经过通道到达观察对象。该结构，便于将光线引入手术切口内，提高手术切口内的照明亮度，不仅便于医生手术进行，同时有利于成像装置清楚的获取到观察对象的图像。
作为本申请第一方面的一个实施例，成像系统还包括：显示器，与控制器连接，用于经由成像装置获取的图像进行显示。
作为本申请第一方面的一个实施例，显示器至少三个，至少三个显示器的至少有两个显示器的朝向不同。便于手术操作人员可以从不同的位置观察到图像，便于手术团队的精准操作。
作为本申请第一方面的一个实施例，成像系统还包括：
底座，支架固定在底座上,底座下方设有多个滚轮。
第二方面，本申请还公开一种外科手术植入用成像方法，应用于成像系统，成像系统包括：机械臂，与机械臂连接的成像装置，以及与机械臂和成像装置电连接的控制器，方法包括：控制器获取牵开器的位置和方向；控制器根据牵开器的位置和方向调整机械臂的位置和方向，以使成像装置的获取端对准牵开器建立的通道，牵开器用于建立通道，以辅助成像装置成像；成像装置通过通道获取经由观察对象的反射的光信号，并用于成像。
根据本申请实施例的成像方法，通过控制机械臂带动成像装置对观察对象的图像进行获取，且通过光源提供装置远程为成像装置提供光源，使得成像装置在较远的距离也可以清楚的获取观察对象的图像。相比于现有的显微镜，本本申请将光源设置相对于在手术位置较近，大大提高了照明 效率，能够实现显微镜的镜头与手术工作区域之间大于1米的工作距离，仍能够可以清楚的获取到观察对象的图像，便于手术的进行。
作为本申请第二方面的一个实施例，成像方法还包括：成像装置从反射的光信号中获取预设波长的光信号，并基于预设波长的光信号进行成像。
作为本申请第二方面的一个实施例，成像系统还包括光源提供器，光源提供器发射光信号，并将部分或全部光信号经过通道传输到观察对象，以使成像装置获取经由观察对象反射的光信号。
作为本申请第二方面的一个实施例，成像系统还包括多个显示器，多个显示器的界面朝向至少具有两个以上的朝向，方法还包括：控制器获取成像装置获取的成像数据，并将成像数据发送至多个显示器，以使多个不同朝向的显示器显示观察对象对应的图像。
本申请的上述技术方案的有益效果如下：
根据本申请实施例的外科手术植入用成像系统，通过设置机械臂、成像装置和控制器以及各部件之间的连接关系，根据本申请实施例的成像系统，通过机械臂控制成像装置，且通过光源提供装置远程为成像装置提供光源，使得成像装置在较远的距离也可以清楚的获取观察对象的图像。相比于现有的显微镜，本本申请将光源设置相对于在手术位置较近，大大提高了照明效率，能够实现显微镜的镜头与手术工作区域之间大于1米的工作距离，仍能够可以清楚的获取到观察对象的图像，便于手术的进行。
附图说明
图1为本申请一个实施例的手术植入用成像系统的立体结构示意图；
图2为本申请一个实施例的手术植入用成像系统的主视图；
图3为本申请一个实施例的手术植入用成像系统的左视图；
图4为本申请一个实施例的手术植入用成像系统的右视图；
图5为本申请一个实施例的牵开器的立体结构示意图；
图6为本申请一个实施例的牵开器的正视图；
图7为本申请一个实施例的牵开器的剖面结构示意图；
图8为本申请一个实施例的手术植入用成像系统的系统架构图；
图9为本申请一个实施例的手术植入用成像方法的流程图。
附图标记
手术植入用成像系统100；
支架10；固定架11；连接件12；支撑架13；
机械臂20；关节21；
牵开器30，第一通道31，第二通道32；
成像装置40；
控制器50；
第一显示器61；第二显示器62；第三显示器63；
发光二极管70；
底座80；滚轮81。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例的附图，对本申请实施例的技术方案进行清楚、完整地描述。显然，所描述的实施例是本申请的一部分实施例，而不是全部的实施例。基于所描述的本申请的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本申请保护的范围。
为了便于对本申请技术方案的理解，首先对本申请所要解决的技术问题进行描述。
在手术进行期间，经常需要进行术中成像，如C臂机成像，由于现有的手术用显微镜的结构和配置原因，镜头与手术区域之间的距离非常短，在手术中，成像前要搬开显微镜进行C臂机成像，成像后搬走C臂机，放回显微镜，操作复杂，耽误手术进程。此外，由于传统显微镜需要在手术区域和显微镜物镜之间留有非常短的工作距离，这使得术中成像操作复杂，整个手术团队的视角不舒服，并且手术的可视化有限，影响手术效果。
下面结合附图对本申请实施例的手术植入用成像系统100进行详细的描述。
如图1至图4所示，本申请实施例的手术植入用成像系统100，包括支架10、机械臂20、成像装置40、光源提供装置以及控制器50。
具体地，机械臂20的第一端与支架10可旋转连接，第二端与成像装置40连接。当机械臂20移动时，可以带动成像装置40移动，以便于成像装置40获取观察对象反射的光信号，并进行成像。其中，观察对象可以是指人体内部组织，或者手术工具等。观察对象反射的光信号为从手术切口内(即为手术腔)传输至成像装置40。在本申请的实施例中，手术切口可以通过手术工具辅助建立一个通道，例如通过牵开器30建立通道。
光源提供装置的一端设置在支架10上，光源提供装置提供的部分或全部光信号通过牵开器30建立的通道(可以理解为手术切口)传输至观察对象，并经过观察对象反射至成像装置40，用于辅助成像装置40成像。
控制器50与机械臂20、光源提供装置和成像装置40电连接。手术时，控制器50控制光源提供装置提供光源。此处，需要说明的是控制提供光源的时间可以是在机械臂20调整好位置之前，也可以是之后，此处并不作为限制。在一些实施例中，光源提供装置也可以不通过控制器50控制，例如可以手动操作，或者既可以手动操作也可以控制器操控等。
控制器50首先获取手术切口的位置和方向。例如，控制器50可以通过获取牵开器30的位置和方向(可以理解为手术切口对应的位置和方向)。在下面的实施例中，手术切口，即手术腔内外的通道，以牵开器建立通道为例进行说明。在本申请中，牵开器30的位置和方向的识别可以通过现有技术的识别方法进行识别，例如，可以根据位置传感器进行识别，也可以通过根据成像装置40获取的图像进行识别，此处并不作为限定。
控制器50根据牵开器30的位置和方向调整机械臂20的位置和方向，以使成像装置40能够准确的获取从牵开器30建立的通道内反射的光信号。从而实现了在牵开器30位置和方向有变化时，机械臂20跟随牵开器30的位置和方向调整空中姿态，例如水平移动，上下移动，俯角、仰角的调整等，便于成像装置40对观察对象的拍摄，且实现了多角度成像，便于手术的进行。
本申请中，牵开器30的具体对于位置识别和方向识别可参考现有技术， 此处不再详细说明。对于牵开器的具体在下面实施例中对应的图5-图7进行详细的说明。
根据本申请实施例的手术植入用成像系统100，通过设置机械臂20和成像装置40，可以实现手术通道的方向和位置的调整和定位，且通过牵开器30位置和姿态调整机械臂20的空中姿态，从而便于与机械臂20连接的成像装置40拍摄，便于手术的进行。此外，通过光源提供装置远程为成像装置40提供光源，使得成像装置40在较远的距离也可以清楚的获取观察对象的图像。相比于现有的显微镜，本本申请将光源设置相对于在手术位置较近，大大提高了照明效率，能够实现显微镜的镜头与手术工作区域之间大于1米的工作距离，仍能够可以清楚的获取到观察对象的图像，便于手术的进行。
在本申请的一个实施例中，成像系统100可以包括牵开器30。
如图5-图7所示，牵开器30可以为管状结构，其一端为距离轴线向外扩散呈喇叭状结构，在牵开器30的中间设有第一通道31，在具有喇叭状的一端设有第二通道32，第二通道32最终与第一通道31连通，通过通道使得手术腔内人体组织暴露，以使观察对象(人体组织的部位和手术的工具等)反射的光信号被成像装置40获取，便于成像。
在上述实施例中，提及的牵开器的位置和方向，可以是指牵开器具有喇叭状的一端的朝向，以及喇叭状相对于空间位置、或距离支架位置等。
在手术时，牵开器30可以放置在手术切口内，将切口撑开，以形成一个外界与人体内部的手术腔连通的通道，如图8所示的第一通道31和第二通道32。其中第一通道31可以用于手术操作者操作的通道，以及作为观察对象反射的光线的通道。第二通道32可以将外界的光线引入第一通道31，在射入手术切口内，为观察对象照明，经由观察对象反射的光线，通过第一通道31反射，并最终被成像装置40获取。
在一些实施例中，第二通道32可以设置有多个，例如，本申请中以具有两个第二通道32为例进行的说明。在本申请的其他实施例中，也可以是多个通道，便于多个方向射入光线，便于照明，此处并不作为限定。
如图1所示，在本申请的一个实施例中，机械臂20为至少具有六个关 节21，每一个关节21可以自由旋转，从而使得机械臂20至少具有六个自由度旋转角度，在进行拍摄时更加自由，对手术不会限制，有利于手术的进行。
根据本申请的一个实施例，成像装置40包括滤光片和成像相机，其中，滤光片可以获取到经由观察对象反射的光信号，并将光信号中符合预设波长的光信号筛选出来。例如，滤光片可以分离可见光和红外光，从而实现不同波段光信号采集，便于根据波段成像，以及在有利于实现光学导航。便于远距离成像。
在本申请的实施例中，为了提高成像相机的成像效果，该成像相机为具有高放大倍数的镜头。例如，成像相机的镜头可以是光学变焦与数字变焦的相机的结合体，实现更大的放大倍数，以使得在1米范围内，成像相机可以清楚的获取到观察对象的图像。与现有技术相比，可以增大镜头与工作区域之间的距离，避免成像装置40挡住其他必要的术中成像装置(如C臂机等)，以及手术操作者的视线，便于手术的进行。
在本申请的一个实施例中，光源提供装置可以提供可变强度的光线，并且可以实现远程遥控，例如，控制器50与光源提供装置连接，远程计算机与控制器50网络连接，实现通过远程操控光源强度。
如图1和图2所示，光源提供装置可以包括发光二极管70(Light
Emitting Diode，LED)和光导管(未图示)。LED安装在支架10上，光导管的一端与LED相对设置，另一端用于与牵开器30连接。将LED发射的光信号传递至牵开器30，以使光信号经过通道到达观察对象。
在本申请的实施例中，如图7所示，光导管的端部可以与第二通道32连通，光线从牵开器30喇叭状的一端射入，从另一端射出，并照射在观察对象上。其中，牵开器30的内壁可以为具有高反射特性的内表面，便于由光导管射入的光线照射观察对象。
在一些实施例中，光导管可以是光纤导光管，通过光导管可以将LED灯发射的光进行收集，并将光导入牵开器30，牵开器30的内表面具有高反射内表面，通过高反射内表面将光导管导入的光信号发射至观察对象。由于LED发射的光与手术工作区有一段距离，因此，LED发射的光不会对 手术有影响，例如不会产生光影等。此外，采用光导管，便于将远距离的光源引入到牵开器30，精准的将光源照射在观察对象，便于成像装置40的成像。
如图1所示，支架10可以包括固定架11和支撑架13。其中固定架11与支撑架13的材质可以为钢材料制件。支撑架13的第一端与固定架11连接，并沿背离固定架11的方向延伸，例如，支撑架13距离固定架11的最远端(对应支撑架的第二端)，该结构可以使得与第二端连接的机械臂20尽可能的覆盖较大的空间范围，便于在手术中远离手术区域，避免阻挡手术操作人员的视线。
本申请中的固定架11和支撑架13可以是连接的两个物体，也可以是一体成型。
在定位时，首先调整固定架11的大致位置，将支撑架13的最远端朝向手术台的方向(背离固定架11的方向)，使得支撑架13的最远端位于手术台的中心线之上(进而位于患者的正上方)，最远端与机械臂20连接，以使得机械臂20上的成像装置40位于患者上方，便于对观察对象的成像。
如图1所示，支撑架13的最远端上连接有连接件12，支撑架13与机械臂20通过连接件12连接，该结构便于机械臂20与支撑架连接在一起，有利于机械臂20关节21的活动连接。
如图1和图2所示，成像系统100还包括显示器，该显示器与控制器50连接，控制器50将由成像装置40获取的观察对象的图像数据发送显示器，显示器进一步对图像数据对应的图像显示出来，以便于手术团队人员根据显示器显示的图像进行分析和操作。
优选地，显示器至少三个，至少三个显示器的至少有两个显示器的朝向不同。如图1所示，显示器包括第一显示器61、第二显示器62和第三显示器63，其中，第一显示器61固定在主机(包括控制器50)上，界面朝上放设置，便于站立在主机旁的医护人员从此角度观察。第二显示器62和第三显示器63分别设于支架10的两侧，并且对称设置，位于支架10两侧的医护人员观看界面。从而便于不同的医护人员从不同的角度可以观看到统一观察对象，便于团队协作完成手术。
在本申请的一个实施例中，支架10的下方可以设有底座80，用于固定主机和支架10，且底座下方设有滚轮81，优选的可以选择自动滚轮81，便于整个成像系统100的整体移动和定位。
下面结合附图8所示，描述本申请实施例的成像系统100的系统架构示意图。如图8所示，该架构图包括处理器810(对应控制器50，处理器可以是控制器50的一部分)，分别与处理器810连接的机械臂20控制单元820(对应机械臂20)、成像单元850(对应图1的成像装置40)、光源控制单元830(对应光源提供装置)以及显示单元840(对应显示器)。其中，机械臂20控制单元820可以是机械臂20与多个驱动单元的组合，例如驱动单元可以属于机械臂20的一部分。处理器810通过控制驱动单元进而实现机械臂20的自由角度的调节。其中，驱动单元可以是电机，气缸，马达等驱动单元。成像单元850可以包括成像相机等。光源提供装置可以包括LED灯。此外，显示单元840可以包括显示控制器50和显示屏，显示控制器50与处理器连接，处理器获取成像单元拍摄的观察对象的图像数据，并发送给显示控制器50，显示控制器50对图像进行处理和渲染，最终在显示屏上显示观察对象对应的图像。
本申请还公开一种手术植入用成像方法，该方法应用于上述实施例描述的手术植入用成像系统100，其中成像系统100的具体结构，在上述实施例中已经，详细的说明，此处不再赘述。
如图9所示，该方法具体包括S910-S940。
S910,控制器50获取牵开器30的位置和方向。在本申请的实施例中，牵开器30的位置和方向可以通过距离传感器，例如红外传感器等，或者采用深度摄像机等采集图像获得牵开器30的位置和方向。本申请对此并不做限定。
S920,控制器50根据牵开器30的位置和方向调整机械臂20的位置和方向，以使成像装置40的获取端对准牵开器30建立的通道。
S930,成像装置40通过通道获取经由观察对象的反射的光信号，并用于成像。
根据本申请实施例的手术植入用成像方法，通过对机械臂20方向和位 置等自动控制，以使得成像装置40跟随牵开器30的位置和方向进行拍摄，便于图像的获取，同时机械臂可以绕开手术区域，便于手术的进行。
在本申请的一个实施例中，成像装置40从反射的光信号中获取预设波长的光信号，并基于预设波长的光信号进行成像。
根据本申请的一个实施例，光源提供器发射光信号，并将部分或全部光信号经过通道传输到观察对象，以使成像装置40获取经由观察对象反射的光信号，提高拍摄的清晰度，同时远程输送光信号，避免光线影响手术操作人员。
此外，控制器50获取成像装置40获取的成像数据，并将成像数据发送至多个显示器，以使显示器显示观察对象对应的图像，便于医护人员观察图像。显示器可以设置在不同的位置，便于不同位置的医护人员在不同的显示器上观察到相同的观察对象的图像，有利于手术的进行。
由于在上述实施例中对于各部件的功能以及成像的过程进行了描述，具体可参考上述成像系统100的描述，此处不再赘述。
根据本申请实施例的成像方法，通过控制机械臂带动成像装置40对观察对象的图像进行获取，且通过光源提供装置远程为成像装置40提供光源，使得成像装置40在较远的距离也可以清楚的获取观察对象的图像。相比于现有的显微镜，本申请将光源设置相对于在手术位置较近，大大提高了照明效率，能够实现显微镜的镜头与手术工作区域之间大于1米的工作距离，仍能够可以清楚的获取到观察对象的图像，便于手术的进行。
除非另作定义，本申请中使用的技术术语或者科学术语应当为本申请所属领域内具有一般技能的人士所理解的通常意义。本申请中使用的“第一”、“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而是可以包括电性的连接，不管是直接的还是间接的。“上”、“下”、“左”、“右”等仅用于表示相对位置关系，当被描述对象的绝对位置改变后，则该相对位置关系也相应地改变。
以上所述是本申请的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请所述原理的前提下，还可以作出若干改 进和润饰，这些改进和润饰也应视为本申请的保护范围。

Claims (14)

  1. 一种外科手术植入成像系统，其特征在于，包括：
    支架；
    机械臂，所述机械臂的第一端与所述支架可旋转连接；
    成像装置，与所述机械臂的第二端连接，所述成像装置在所述机械臂的带动下自由转动，用于获取观察对象反射的光信号，并进行成像，其中，所述观察对象反射的光信号为从手术切口内传输至所述成像装置；
    光源提供装置，所述光源提供装置的一端设置在所述支架上，所述光源提供装置提供的部分或全部光信号通过手术切口传输至所述观察对象，并经过所述观察对象反射至所述成像装置，用于辅助所述成像装置成像；
    控制器，所述控制器与所述机械臂、光源提供装置和所述成像装置电连接，所述控制器获取所述手术切口的位置和方向调整姿态，并根据所述手术工具的位置和方向，调整所述机械臂的空中姿态，以使所述成像装置能够准确的获取反射的光信号。
  2. 根据权利要求1所述的成像系统，其特征在于，还包括：
    牵开器，所述牵开器用于放置在所述手术切口内，以建立手术切口内部和外部的传输通道；
    所述控制器获取牵开器的位置和方向调整姿态，并根据所述牵开器的位置和方向，调整所述机械臂的空中姿态，以使所述成像装置能够准确的从所述牵开器建立的通道获取反射的光信号。
  3. 根据权利要求1所述的成像系统，其特征在于，所述成像装置包括:
    滤光片，所述滤光片用于分离出预设波长的光信号；
    成像相机，所述成像相机获取所述预设范围内的波长，并用于成像。
  4. 根据权利要求1或2所述的成像系统，其特征在于，所述机械臂为至少具有六个关节，以实现至少具有六个自由度旋转角度。
  5. 根据权利要求1所述的成像系统，其特征在于，所述支架包括：
    固定架；
    支撑架，所述支撑架的第一端与所述固定架连接，第二端朝背离所述固定架的一侧向外延伸，所述支撑架的第二端与所述机械臂与连接，以使 增大所述机械臂能够触及的空间范围。
  6. 根据权利要求5所述的成像系统，其特征在于，所述支架还包括：
    连接件，所述连接件固定在所述支撑架的第二端，用于连接所述机械臂和所述支撑架。
  7. 根据权利要求5或6所述的成像系统，其特征在于，所述光源提供装置包括：
    发光二极管LED,所述LED安装在所述固定架上，所述LED的发光面与所述支撑架的第二端位于所述固定架的同侧，用于将光线传输至观察对象。
  8. 根据权利要求7所述的成像系统，其特征在于，所述光源提供装置还包括：
    光导管，所述光导管的一端与所述LED相对设置，另一端用于向手术切口内传递的光信号至所述观察对象。
  9. 根据权利要求8所述的成像系统，其特征在于，还包括显示器，所述显示器至少三个，至少三个所述显示器的至少有两个显示器的朝向不同，用于经由所述成像装置获取的图像进行显示。
  10. 根据权利要求1所述的成像系统，其特征在于，还包括：
    底座，所述支架固定在所述底座上,所述底座下方设有多个滚轮。
  11. 一种外科手术植入用成像方法，其特征在于，应用于成像系统，所述成像系统包括：机械臂成像装置以及控制器，所述方法包括：
    所述控制器获取牵开器的位置和方向，所述牵开器为用于建立手术切口内部和外部的通道，以辅助所述成像装置成像；
    所述控制器根据所述牵开器的位置和方向调整所述机械臂的位置和方向，以使所述成像装置的获取端对准所述牵开器建立的通道；
    所述成像装置通过所述通道获取经由观察对象的反射的光信号，并用于对所述观察对象成像。
  12. 根据权利要求11所述的成像方法，其特征在于，还包括：所述成像装置从所述反射的光信号中获取预设波长的光信号，并基于所述预设波长的光信号进行成像。
  13. 根据权利要求11或12所述的成像方法，其特征在于，所述成像 系统还包括光源提供器，所述光源提供器发射光信号，并将部分或全部光信号经过所述通道传输到所述观察对象，以使所述成像装置获取经由所述观察对象反射的光信号。
  14. 根据权利要求11所述的成像方法，其特征在于，所述成像系统还包括多个显示器，多个显示器的界面朝向至少具有两个以上的朝向，所述方法还包括：
    所述控制器获取所述成像装置获取的成像数据，并将所述成像数据发送至多个所述显示器，以使多个不同朝向的所述显示器显示所述观察对象对应的图像。
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