CN101612030B - 外科手术成像装置 - Google Patents

外科手术成像装置 Download PDF

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CN101612030B
CN101612030B CN2009101490134A CN200910149013A CN101612030B CN 101612030 B CN101612030 B CN 101612030B CN 2009101490134 A CN2009101490134 A CN 2009101490134A CN 200910149013 A CN200910149013 A CN 200910149013A CN 101612030 B CN101612030 B CN 101612030B
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迈克尔·P·惠特曼
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Abstract

一种外科手术成像装置以及插入外科手术位置的方法。该外科手术成像装置包括多个脚爪,每一个脚爪上均安装有图像传感器。该图像传感器可提供与外科手术位置相对应的不同的图像数据,这样使得外科医生可从不同角度观察外科手术位置。该脚爪可以在第一位置与第二位置之间移动,其中第一位置适合于穿过狭小外科手术切口而插入,而在第二位置,脚爪彼此分开。另外,该脚爪可在伸展位置与收缩位置之间弯曲,其中在伸展位置,脚爪彼此基本共面,而在收缩位置,各脚爪弯曲,以便基本不垂直于其各自的支腿进行观察。方便地,脚爪与腔体的形状相一致地弯曲,而该腔体在外科手术位置通过用于形成该腔体的致动器的启动而形成。

Description

外科手术成像装置
本申请是向中国国家知识产权局提交的名称为“外科手术成像装置”的第03804590.7号专利申请的分案申请,其申请日为2003年1月30日。
相关申请的交叉引用
本申请要求2002年1月30日提交的第60/352,726号美国临时专利申请的优先权,其全部内容结合于此作为参考。
技术领域
本发明涉及一种外科手术成像装置,尤其涉及一种可提供体腔内的图像数据的外科手术成像装置。
背景技术
在外科手术进行过程中,使外科医生能够观察到手术的位置以确保该手术正确地进行,这是非常重要的。然而,在许多类型的外科手术过程中,外科医生是不能够观察到手术的位置的。例如,对于腹腔镜或内窥镜手术,手术过程中外科医生通过非常狭小的切口进入到手术的位置,因而,妨碍了外科医生观察该手术的位置。
用于进行这种类型的外科手术的一个方法是使用外科手术装置,该外科手术装置包括用于指示使用中的该外科手术装置的元件的位置的装置。例如,用于该外科手术的外科手术装置可包括远程状态指示器,用于指示该外科手术装置的元件的位置,例如,钳子或缝合件卡盘(staple cartridge)的位置。通过获知该外科手术装置的元件的位置,外科医生就可以确定在手术过程中是否正确地操作了该外科手术装置。
进行这种类型的外科手术的另一种方法是使用摄像机或类似装置。例如,可以通过病人身上的切口将各种类型的摄像机插入到手术位置。该摄像机在手术进行过程中可以提供该手术位置的视频数据,从而使得医生能够观察到实时进行的手术。然而,一旦摄像机穿过切口插入到手术位置,由于狭窄的切口妨碍了摄像机在大部分方向的移动,因此对其进行操作是非常困难的。另外,这些摄像机只能提供该手术位置的单个视角的图像。如果外科医生需要更换该手术位置的视角,如从一个不同的角度检查手术位置时,该外科医生通常需要从第一切口取出摄像机,在病人身上另切一个切口,然后将该摄像机重新插入到第二个切口。
发明内容
根据本发明的一个实施例,提供了一种外科手术成像装置。该外科手术成像装置用于插入到手术位置。该外科手术成像装置包括多个脚爪。在每一个脚爪上均安装有一个图像传感器。该图像传感器可生成对应于手术位置的不同的图像数据,因此,外科医生可从不同的角度观察该手术位置。
脚爪可在第一位置和第二位置之间移动,其中,在第一位置脚爪彼此基本平行,而在第二位置脚爪彼此基本不平行。在基本平行时,如第一位置,脚爪穿过切口插入到手术位置。一旦穿过切口插入到该手术位置后,使用者可旋转通过支腿与脚爪连接的控制杠杆,使脚爪彼此在径向分开。
另外,在伸展位置和收缩位置之间,脚爪可以弯曲,其中在伸展位置,脚爪基本垂直于其各自的支腿,而在收缩位置,脚爪基本不垂直于其各自的支腿。方便地,该脚爪可以与腔的形状相一致地形成弯曲,而该腔是在手术位置通过用来形成该腔的致动器的启动而形成。
该外科手术成像装置可以有线形式、无线形式、或两者结合的形式进行操作。在有线形式中,该装置可包括:本体部,其具有与图像传感器电连接的槽;视频显示装置,用来显示图像数据;以及控制电缆,用来将图像数据从图像传感器传送到视频显示装置。在有线形式中,该装置还包括电源,其与控制电缆相连接,用于对该装置供给电能。在无线形式中,该装置可包括:本体部,其具有第一天线;以及遥控装置,其具有第二天线,其中遥控装置通过第二天线形成无线控制信号,并且通过第一天线传送到该装置。另外,在无线形式中,该装置还可包括视频显示装置,其具有天线,其中该装置通过第一天线产生与图像传感器的图像数据相对应的无线信号,以及其中该视频显示装置用于接收无线信号并提供与该图像数据相对应的显示。在无线形式中,该装置还可包括用于向该装置提供电能的本地电源。
附图说明
图1示出了根据本发明的一个实施例的外科手术成像装置的立体图;
图2示出了沿图1中B-B线截取的外科手术成像装置的本体部的剖面图;
图3示出了根据本发明的一个实施例的具有摄像机的脚爪;
图4为沿图3中A-A线截取的脚爪的剖面图;
图5示出了根据本发明的一个实施例的控制电缆;
图6示出了根据本发明的一个实施例的外科手术成像装置的支腿和脚爪,其中该外科手术成像装置处于第一位置;
图7示出了沿图6中C-C线截取的脚爪的剖面图;
图8为图1所示外科手术成像装置的仰视图;
图9示出了根据本发明的一个实施例的图1所示的外科手术成像装置,其中该外科手术成像装置处于收缩位置;
图10示出了根据本发明的一个实施例的将用于图像数据无线传送到视频显示装置以供显示的无线装置;
图11(a)至图11(c)示出了根据本发明一个实施例的用于进行典型的外科手术的外科手术成像装置的操作;以及
图12示出了根据本发明的一个实施例的具有安装在本体部内的图像传感器的外科手术成像装置。
具体实施方式
图1示出了根据本发明的一个实施例的外科手术成像装置100的立体图。该外科手术成像装置100包括本体部104,其内封装有支腿106a-106d以及收缩致动器102。支腿106a-106d分别连接到杠杆112a-112d上。脚爪108a-108d分别从支腿106a-106d延伸。分别位于或接近各脚爪108a-108d末端的是摄像机114a-114d。
根据本发明的一个实施例,支腿106a-106d连同其各自的脚爪108a-108d是可移动的。例如,支腿106a-106d可以在本体部104的圆柱形的开孔内移动(以下将详细描述),这样,支腿106a-106d可围绕本体部104的中心轴线104a径向移动。另外,支腿106a-106d也可旋转移动,例如,在本体部104内,围绕其各自的中心轴线旋转,这样,使得脚爪108a到108d也分别围绕支腿106a-106d的中心轴线旋转。通过操作杠杆112a-112d,支腿106a-106d可分别以两种方式进行移动,这将在下文进一步进行描述。控制杠杆112a-112d延伸穿过开孔111。特别地,支腿106a-106d在本体部104中的运动将结合附图6、7、8在下文进行更加详细的描述。
另外,脚爪108a-108d可以相对其各自的支腿106a-106d运动。例如,脚爪108a-108d可以在伸展位置和收缩位置之间移动,其中,在伸展位置,各脚爪108a-108d基本上位于相同的平面,例如,各脚爪基本垂直于其各自的支腿106a-106d,而在收缩位置,各脚爪108a-108d基本上不位于相同的平面,例如,基本上不垂直于其各自的支腿106a-106d。脚爪108a-108d在伸展位置和收缩位置之间的运动将结合图9进行更加详细的描述。
本体部104也可包括存储装置161。在本发明的一个实施例中,存储装置161存储与外科手术成像装置100相对应的数据。例如,存储装置161可存储与操作程序相对应的数据,其中该操作程序用来控制外科手术成像装置100的操作。例如,操作程序可包括控制或操作外科手术成像装置100的各种功能的数据,例如,镜头运动、光强度的调整、放大倍率、色彩、亮度、以及焦距。
存储在存储装置161中的数据可包括模型/序列号识别数据161a、使用数据161b、以及图像数据161c。该模型/序列号识别数据161a仅识别外科手术成像装置100。使用数据161b可包括如下信息,例如外科手术成像装置100已经使用的小时数、以及使用外科手术成像装置100已经观察过的手术类型。图像数据161c可包括显示体腔中的可视图像的例如视频剪辑、静止帧等。在本发明的一个实施例中,在使用外科手术成像装置100进行外科手术的过程中,使用者可对图像数据161c进行标注和分类。另外,使用数据161b和图像数据161c可进行传送,以便永久地存储到存储装置中,例如,软盘、CD、硬驱动盘等,这样,外科医生日后就可以复查所存储的数据。
外科手术成像装置100的本体部104还包括槽105,其用来容置控制电缆200,以下将结合图5作进一步描述。通常来说,控制电缆200可以在摄像机114a-114d与视频显示装置205和/或电源210之间传送数据和/或电能。
图2示出了沿图1中B-B线截取的本体部104的剖面图。如前所述,在该实施例中,支腿106a-106d分别连接到控制杠杆112a-112d上。控制杠杆112a-112d穿过开孔111延伸,并且可以相对本体部104的中心轴线104a沿径向移动。支腿106a-106d穿过本体部104径向延伸,并且伸出圆柱形的开孔107。开孔111的形成可以使得控制杠杆112a-112d充分移动,以使得支腿106a-106d可以在本体部104的圆柱形开孔107中的不同位置之间移动,以下将进一步描述。
如上所述,位于或靠近脚爪108a-108d的末端分别为摄像机114a-114d。图3和图4示出了根据本发明的一个实施例的具有摄像机114的脚爪108。图3所示出的摄像机114包括镜头116和图像传感器118。一个或多个光源115可以安装到摄像机114的邻近处以提供光源,从而使得图像传感器118可以感测图像。脚爪108还包括具有控制和电源引线的控制线122,该控制和电源引线用于将电能传送到图像传感器118和光源155中,以及/或将图像数据信号传送到图像传感器118,和从该图像传感器中传送出图像数据信号。该光源115可以包括,如发光二极管。
图4为沿图3中A-A线截取的脚爪108的剖面图。图4示出了包括一对镜头116、用于保护镜头116的镜头盖120、以及图像传感器118的摄像机114。图像传感器118可以是,例如,电荷耦合装置(下文中称为“CCD”)。该图像传感器118接收来自镜头116的图像,并且将图像转换为图像数据,如电信号,以通过控制线122传送。该摄像机114也可包括内部电路,以将图像传感器118捕获的图像转换为电信号,以传送到视频显示装置。
尽管根据本发明的一个实施例使用CCD作为图像传感器118,但也可以使用其他合适的图像传感器。在根据本发明的另一实施例中,图像传感器118为使用互补金属氧化物半导体(下文中称为“CMOS”)处理的集成电路。CMOS型图像传感器可包括光电二极管或光电晶体管,作为光检测元件。另外,CMOS图像传感器可以传送模拟信号,或者使用模-数转换器来传送信号。对于CCD传感器而言,CMOS图像传感器是一种替代选择,因其对光具有较高的灵敏度,在操作过程中仅需较少的电能。2002年4月27日提交的第10/127,310号美国专利申请(其全部内容结合于此,作为参考)披露了其他种可能的图像装置以及可与该实施例结合使用的装置。
图5示出了根据本发明的一个实施例的控制电缆200。该控制电缆200包括接头211、引线215、以及接头212。控制电缆200通过接头211与本体部104上的槽105连接。引线215将信号传送到各摄像机114a-114d的图像传感器118,以及从图像传感器中传送出信号。另外,引线215也可传送电能,以便接通摄像机114a-114d的各部件。接头212连接到视频显示装置205,例如,电视监控器、计算机监控器、CRT、或类似的显示装置,用来接收和处理用于观察的图像数据,以及/或连接到电源205。
如上所述,在本发明的一个实施例中,支腿106a-106d连同其各自的脚爪108a-108d可在不同位置之间移动。例如,支腿106a-106d连同其各自的脚爪108a-108d可以在第一位置和第二位置之间移动,其中在第一位置,脚爪108a-108d彼此平行,而在第二位置,脚爪108a-108d的末端彼此不平行。图6示出了处于第一位置的支腿106a-106d,及其各自的脚爪108a-108d。在该第一位置,支腿106a-106d在本体部104内旋转,这样,脚爪108a-108d的末端,例如,具有摄像机114a-114d的脚爪108a-108d的端部分别彼此相邻。在本发明的一个实施例中,脚爪108a-108d固定在一起,从而减小了脚爪108a-108d的末端的横截面面积。例如,图7示出了沿图6中C-C线截取的脚爪108a-108d的剖面图,其中,各脚爪108a-108d的末端具有彼此互补的横截面形状,因而当其彼此平行时,可以最小化脚爪108a-108d的横截面面积。这个平行位置非常适合于将脚爪108a-108d从病人身上的切口移进移出,以下将进行更为充分的描述。
如上详细所述,图1示出了位于第二位置的支腿106a-106d,及其各自的脚爪108a-108d。在该第二位置,支腿106a-106d在本体部104内旋转,使得脚爪108a-108d基本位于同一个平面,例如,一基本垂直于本体部104的中心轴线104a的平面,这样使其彼此不平行。例如,图1示出了支腿106a-106d,随其各自的脚爪108a-108d在本体部104内旋转,这样,脚爪108a-108d相对彼此径向分离,并且相对于本体部104的中心轴线104a彼此离开大约90°。
图8中示出了位于第二位置的支腿106a-106d以及脚爪108a-108d。图8为图1所示外科手术装置100的仰视图。在图8所示的实施例中,箭头F示出了支腿106b、106c、以及106d可在本体部104的圆柱形开孔107内移动的方向。另外,箭头G示出了当其各自的支腿106a-106d围绕其各自的中心轴线旋转时,脚爪108a-108d移动的方向。
如前所述,除了图8中所示的支腿106a-106d以及其脚爪108a-108d的运动之外,脚爪108a-108d还可在伸展位置和收缩位置之间移动。如上所述,图1示出了处于伸展位置的脚爪108a-108d,其中,各脚爪108a-108d基本位于同一个平面,例如,各脚爪基本垂直于其各自的支腿106a-106d。另一方面,图9示出了位于收缩位置的外科手术装置100。如前所述,在所示的实施例中,该外科手术成像装置100的脚爪108a-108b在收缩位置基本不垂直于其各自的支腿106a-106d。在收缩位置,外科手术成像装置100的脚爪108a-108d相对于其各自的支腿106a-106d移动,因而,各脚爪108a-108d的摄像机114a-114d指向空间区域。在本发明的一个实施例中,外科手术成像装置100的脚爪108a-108d相对其各自的支腿106a-106d移动,因而,安装到各脚爪108a-108d上的图像传感器118也指向相同的空间区域,例如,图9所示的空间区域201。空间区域201可以是外科手术器械在手术过程中使用的空间区域。这样,在该实施例中,在收缩位置,各脚爪108a-108d的图像传感器118在手术过程中,从不同角度生成手术位置的图像。作为选择,外科手术成像装置100的脚爪108a-108d可以移动,这样,各脚爪108a-108d的图像传感器118指向不同的空间区域。
在一个实施例中,外科手术成像装置100通过收缩致动器102的致动,从伸展位置移动到收缩位置。收缩致动器102相对于本体部104轴向移动,因而,在收缩过程中,收缩致动器102的底部110沿箭头R所指的方向离开本体部104。脚爪108a-108d最好由柔性材料制成,以便当在其上施加力时,脚爪108a-108d可弯曲。例如,随着收缩致动器102的底部移到本体腔内,而通过本体腔壁可在脚爪108a-108d上施加力。结果,脚爪108a-108d可能会弯曲,并且可能形成如图9所示的弯曲形状。在一个实施例中,各脚爪108a-108d的弯曲形状与内部安装有脚爪108a-108d的体腔壁的形状相一致。通过这种方式,位于各脚爪108a-108d末端上的图像传感器118可为使用者提供体腔区域的多视角的图像。另外,使用者可以旋转各脚爪108a-108d,以便从各个角度观察体腔。
如前所述,可以通过控制电缆200进行图像数据的传送,该控制电缆的一端插入本体部104的槽105中,另一端插入视频显示装置205。作为选择,图像数据可以无线传送到视频显示装置以进行显示。例如,外科手术成像装置100可包括无线装置,用于将图像数据无线传送到视频显示装置进行显示。图10示出了根据本发明的一个实施例,其使用无线装置将图像数据无线传送到视频显示装置用于显示。特别地,如图10所示,该外科手术成像装置100还包括天线145a,用于传送图像数据以及/或控制信号。该外科手术成像装置100的天线145a可从遥控装置147的天线145b接收控制信号148。这些控制信号可包括,例如,控制图像传感器118的信号、由光源115提供的光的强度、或者用于控制外科手术成像装置100的操作的任何其他的信号。另外,该外科手术成像装置100还可通过该外科手术成像装置100的天线145a将视频信号158传送到视频显示装置150的天线150a。
在另一实施例中,摄像机114a-114d还可包括无线电路,使得无线信号158可直接传送到视频显示装置150。尽管该外科手术成像装置100的无线实施例可以省去控制电缆200和电源210,但是,外科手术成像装置100也可如图10所示,包括本地电源,如电池109。该本地电源109可对图像传感器118、光源115、摄像机114a-114d中的任何附加的内部电路等供给电能。在本发明的无线实施例中,该外科手术成像装置100还可省去本体部104(如图1所示)的用于容置控制电缆200的槽105。
在另一实施例中,为了获得可选择的功能,该外科手术成像装置100可以有线或无线的方式装备。在该实施例中,槽105可具有盖子,当该图像装置100以无线方式操作时,使用者可利用该盖子盖住槽105。如果使用者需要以有线的方式操作该外科手术成像装置100,使用者可将该盖子移走并且将控制电缆200连接到槽105中。在该实施例中,用于该外科手术成像装置100的操作程序有利地设置以便当该控制电缆200与槽连接或不连接时,均可以检测,并且据此,以有线或无线的方式操作该外科手术成像装置100。
在本发明的另一个实施例中,可以在本体部,例如,本体部104,或在遥控装置中安装一个或多个图像传感器,如图像传感器118。图12示出了具有设置在本体部104内的图像传感器118的一个实施例。在该实施例中,脚爪108a-108d包括光导向器,例如光导向器315a-315d,以及/或者镜头系统,例如,镜头系统314a-314d,其将体腔内反射的光导引到图像传感器118a-118d,以便远程捕获体腔的图像。例如,此处可以使用光纤。
本发明的外科手术成像装置100可用于各种外科手术程序。图11(a)至11(c)示出了进行各种外科手术,如腹部外科手术的该外科手术成像装置100的操作。应该指出,这仅是本发明的外科手术成像装置100进行的多种外科手术中的一种。根据图11(a)所示的手术示例,在腹部壁AW切有一到达腹膜脂肪层PFL的切口199。脚爪108a-108d通过切口199插入。为了便于插入脚爪108a-108d,以及最小化所需的切口尺寸,使用者应将脚爪108a-108d设置在第一位置,例如,图6所示的第一位置,其中,脚爪108a-108d彼此平行。随着脚爪108a-108d的插入,其将腹膜P与腹膜脂肪层PFL分开。
在脚爪108a-108d以及底部110插入到切口内之后,使用者可使用控制杠杆112a-112d分开脚爪108a-108d。图11(b)示出了脚爪108a-108d以及底部110已经插入到切口内并且脚爪108a-108d已经分开的外科手术成像装置100。如图11(b)所示,脚爪108a-108d可分开,直到脚爪108a-108d位于第二位置,例如,图1和8所示的第二位置,其中,脚爪108a-108d相对于本体部104的中心轴线104a彼此分开大约90°。
在脚爪108a-108d分开之后,用户可以对该收缩致动器102施加向下的压力。随着使用者将该收缩致动器102伸出切口,收缩致动器102的底部110在腹膜P上推动,使得腹膜P与腹膜脂肪层PFL分离,但不会刺穿该腹膜P。以这种方式,在腹壁AW与腹膜P之间形成空腔C,可允许外科医生具有足够的空间进行手术。图11(c)示出了收缩致动器102的底部110推动腹膜P,以使得在腹壁AW与腹膜P之间形成空腔C之后的外科手术成像装置100。图11(c)还示出了在收缩致动器102的延伸以及腹壁AW与腹膜P之间形成空腔C的过程中,该脚爪108a-108d弯曲以与该腹膜脂肪层PFL的曲率相匹配。一旦脚爪108a-108d位于在图11(c)所示的收缩位置,外科医生可以通过电源210向光源115和图像传感器118供给电能,而形成空腔C的图像数据。在该收缩位置,各脚爪108a-108d的图像传感器118可提供空腔C的多方向视角的图像,使得外科医生可从各种角度观察空腔C中正在进行的手术。如果需要另外的图像,外科医生可以操纵控制杠杆112a-112d直到获得所需的图像。
因此,根据各实施例中的本发明的外科手术成像装置,可以降低获得体腔内手术位置的不同图像的难度。不象普通的外科摄像机需要外科医生从第一切口移出摄像机,在病人身上开出另一切口,以及在第二切口位置再插入摄像机,以改变手术位置的图像以及/或者从不同角度检查该外科手术的位置,与普通的外科摄像机不同,本发明的外科手术成像装置可看到多个视角的图像而不需移动成像装置。外科医生通过观察从位于手术位置中的不同位置的各图像传感器发出的图像数据,可以从不同的角度、简单地观察手术位置。另外,如果这些图像仍然不够,外科医生可通过控制杠杆112a-112d移动脚爪108a-108d,以获得新的图像,而不需要移走成像装置,或者切割另外的手术切口。再者,根据各实施例中的本发明的外科手术成像装置,提供了一种可在手术位置形成腔体的单个装置,因此,提供了用于进行外科手术的空间。另外,根据各实施例中的本发明的外科手术成像装置,提供了一个或多个光源,以在手术位置提供光源,因此,可使得图像传感器提供有用的图像数据而不需切割另外的切口以插入另外的光源。
以上所述仅为本发明的优选实施例而已,并不用于限制本发明,对于本领域的技术人员来说,本发明可以有各种更改和变化。凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包括在本发明的保护范围之内。

Claims (24)

1.一种外科手术成像装置,用于插入到外科手术位置,包括:
多个支腿,支腿中的每一个均在第一方向上延伸;
多个脚爪,所述多个脚爪中的每一个均在末端或者接近末端处具有相应的图像传感器,用于提供与所述外科手术位置相对应的不同的图像数据,多个脚爪中的每一个均从相应一个支腿延伸并且能够从基本垂直于第一方向的方向弯曲至基本不垂直于第一方向的方向。
2.根据权利要求1所述的外科手术成像装置,其中所述多个脚爪是可移动的。
3.根据权利要求2所述的外科手术成像装置,其中所述多个脚爪在第一位置与第二位置之间可移动,其中在所述第一位置,所述多个脚爪彼此基本平行,以及在所述第二位置,所述多个脚爪彼此基本不平行。
4.根据权利要求3所述的外科手术成像装置,其中所述多个脚爪在所述第一位置彼此基本平行,所述多个脚爪穿过切口插入到所述外科手术位置。
5.根据权利要求4所述的外科手术成像装置,其中所述外科手术成像装置设置成使得所述多个脚爪可相对彼此径向分开。
6.根据权利要求1所述的外科手术成像装置,其中所述多个脚爪中的每一个均为可弯曲的。
7.根据权利要求6所述的外科手术成像装置,所述外科手术成像装置还包括本体部,所述多个支腿延伸穿过所述本体部。
8.根据权利要求7所述的外科手术成像装置,其中所述多个脚爪在伸展位置与收缩位置之间可弯曲,其中在所述伸展位置,所述多个脚爪中的每一个均基本垂直于其各自的所述支腿,而在所述收缩位置,所述多个脚爪中的每一个均基本不垂直于其各自的所述支腿。
9.根据权利要求8所述的外科手术成像装置,其中所述外科手术成像装置还包括致动器,所述致动器具有底部,用于通过启动在所述外科手术位置形成腔体。
10.根据权利要求9所述的外科手术成像装置,其中所述多个脚爪设置成与所述腔体的形状相一致弯曲。
11.根据权利要求3所述的外科手术成像装置,所述外科手术成像装置还包括本体部,所述多个支腿延伸穿过所述本体部,并且所述外科手术成像装置还包括:多个控制杠杆,所述多个控制杠杆中的每一个均连接到延伸穿过所述本体部的所述多个支腿中的相应一个上,每一个所述控制杠杆均能够在所述第一位置与所述第二位置之间移动所述多个支腿中的相应一个脚爪。
12.根据权利要求1所述的外科手术成像装置,其中所述图像传感器为电荷耦合器件。
13.根据权利要求1所述的外科手术成像装置,其中所述图像传感器为互补金属氧化物半导体。
14.根据权利要求1所述的外科手术成像装置,其中所述外科手术成像装置以有线方式操作。
15.根据权利要求14所述的外科手术成像装置,还包括:
本体部,用于支撑所述多个脚爪,所述本体部具有与所述图像传感器电连接的槽;
控制电缆,具有可与所述槽连接的第一端以及第二端,所述控制电缆用于从所述图像传感器传送图像数据;以及
视频显示装置,与所述控制电缆的第二端相连接,并且显示所述图像数据。
16.根据权利要求15所述的外科手术成像装置,其中所述控制电缆与电源相连接,以对所述外科手术成像装置供给电能。
17.根据权利要求1所述的外科手术成像装置,其中所述外科手术成像装置以无线方式操作。
18.根据权利要求17所述的外科手术成像装置,还包括:
本体部,用于支撑所述多个脚爪,所述本体部具有第一天线;
遥控装置,具有第二天线,所述遥控装置通过所述第二天线形成无线控制信号、通过所述第一天线传送到所述外科手术成像装置。
19.根据权利要求17所述的外科手术成像装置,还包括:
本体部,用于支撑所述多个脚爪,所述本体部具有第一天线;
视频显示装置,具有第二天线,其中所述外科手术成像装置通过所述第一天线形成与所述图像传感器的图像数据相对应的无线信号,以及其中所述视频显示装置接收所述无线信号,并且与所述图像数据相对应进行显示。
20.根据权利要求17所述的外科手术成像装置,还包括用于对所述外科手术成像装置供给电能的本地电源。
21.根据权利要求1所述的外科手术成像装置,还包括:存储装置,所述存储装置用于存储与所述外科手术成像装置相对应的操作程序。
22.根据权利要求1所述的外科手术成像装置,其中所述外科手术成像装置可选择以有线和无线方式中的一种进行操作。
23.一种外科手术成像装置,用于插入外科手术位置,包括:
本体部;
多个支腿,在第一方向上延伸穿过所述本体部;
多个脚爪,所述多个脚爪中的每一个均从相应一个支腿延伸并且能够从基本垂直于第一方向的方向弯曲至基本不垂直于第一方向的方向,并且包括镜头系统和光导向器中的至少一个;以及
至少一个图像传感器,位于所述本体部中并且连接到所述镜头系统和光导向器中的至少一个上,所述图像传感器设置成提供与所述外科手术位置相对应的不同的图像数据。
24.根据权利要求23所述的外科手术成像装置,其中所述镜头系
统和光导向器中的至少一个包括光纤。
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