CN109431606A - A kind of blood vessel intervention operation robot combined system and its application method - Google Patents
A kind of blood vessel intervention operation robot combined system and its application method Download PDFInfo
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- CN109431606A CN109431606A CN201811175035.3A CN201811175035A CN109431606A CN 109431606 A CN109431606 A CN 109431606A CN 201811175035 A CN201811175035 A CN 201811175035A CN 109431606 A CN109431606 A CN 109431606A
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- 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
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- 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
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- 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
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
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- 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
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- 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
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- 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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- Heart & Thoracic Surgery (AREA)
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Abstract
The invention discloses a kind of blood vessel intervention operation robot combined systems, including master control trolley, equipment trolley, operation trolley, contrast imaging equipment, puncture cannula and flexible operation tool.Combined system of the invention has the flexibility ratio of replacement using flexible non-individual body surgical structure compared with traditional blood vessel intervention operation robot；What the active flexible section of flexible Continuum Structure and passive compliant section can more be accurately controlled operation tool under the guidance of angiography curves movement, including curving direction and curving radian, it reduces to by the power of operator's blood vessel, improves operation precision and reduce operation risk.
Description
Technical field
The invention belongs to medical instruments fields, are related to a kind of blood vessel intervention operation robot combined system and its user
Method.
Background technique
Blood vessel intervention operation is a kind of minimally invasive image-guided diagnosis and treatment method.With the mode of non-opening, skin is penetrated with puncture needle
Skin reaches internal organ or its hetero-organization, for treating cardiovascular disease and tumour etc..Usually in blood vessel intervention, medical device is logical
Needle thorn is crossed to be introduced into the blood vessel of patient.Blood vessel intervention has an advantage that be easy to device introducing patient and cut without the use of big
Mouthful, it significantly reduces the pain of patient and potentially bleeds or infected possibility.It is smaller that blood vessel intervenes notch, thus more holds
Easily sealing, postoperation recovery are fast.
The operation tool of existing blood vessel intervention robot is made of single hyperelastic alloy wire or conduit,
There is a small-sized bending in operation tool distal end, can be by blood vessel intervention operation work by the feeding and rotation that manipulate operation tool
Tool reaches lesions position by blood vessel, curved blood vessel of bifurcated etc. along set path.Existing blood vessel intervenes robot
Auxiliary system carries out end effector and instrument with US (B ultrasound), CT or MRI (Magnetic resonance imaging) Image-aided operator
Space orientation and orientation.
Existing operation tool can only control the freedom of motion of front and back feeding and rotation in the blood vessels, for complicated blood vessel
It is limited that environment is accurately positioned accurate movement ability under the guidance of radiography.Although using the conduit or superelastic alloy silk of prebuckling
Curved blood vessel and vascular bifurcation can be led by prebuckling, but since prebuckling radian and blood vessel radian are inconsistent
When certain contact force can be generated to blood vessel, increase the risk of operation.
Therefore, it is necessary to develop a kind of blood vessel intervention operation robot system to further increase the flexibility ratio of operation tool,
To improve operation precision and reduce operation risk.
Summary of the invention
To solve the above-mentioned problems, non-individual body surgical arm is applied to the treatment of blood vessel intervention by the present invention, is compared to biography
The blood vessel intervention operation robot of system can be improved the flexibility ratio of operation tool.Flexible Continuum Structure of the invention can be in blood
Operation tool is more accurately controlled under the vision guide of pipe radiography curves movement, including curves direction and curve radian, to subtract
Few power generated to patient's blood vessel improves operation precision and reduces operation risk.
Therefore, in the first aspect, the present invention provides a kind of blood vessel intervention operation robot combined systems (below
In, sometimes referred to as " system of the invention "), which includes master control trolley, equipment trolley, operation trolley, contrast imaging
Equipment, puncture cannula and flexible operation tool, wherein
The master control trolley includes controlling equipment, the first display and industrial personal computer, wherein setting reception mould in the industrial personal computer
Block and signal conversion module；
The equipment trolley includes cabinet, second display, cable, optical tracker and hub (HUB), wherein described
Hub is mounted in the cabinet, and the display is fixed on the cabinet；The optical tracker by can locking it is solid
Fixed rack is fixed on the cabinet；The cable includes operating table fare cable and principal and subordinate link cable；The master control trolley with
The equipment trolley is connected by the principal and subordinate link cable, and the operation trolley and the equipment trolley pass through the operation
The connection of trolley cable；
The operation trolley includes trolley chassis, positioning mechanical arm, linear mould group, driving mould group, flexible operation tool, light
Learn positioning identifier, casing off device and tool isolating device；The linear mould group is mounted on the positioning mechanical arm, described
Driving mould group is configured to be moved forward and backward in the linear mould group along the longitudinal axis of the linear mould group；The flexible operation
Tool includes driving gear unit and flexible Continuum Structure, and hand is intervened equipped with blood vessel in the distal end of the flexibility Continuum Structure
Art tool；The flexibility Continuum Structure includes the passive compliant section of nearside and the active flexible section in distal side, wherein the active
The movement of compliant section is controlled by the controlling equipment of the master control trolley；The distal end of the driving mould group and the flexible operation work
The driving gear unit of tool is connected and controls the movement of the flexible Continuum Structure；
Described sleeve pipe isolating device is mounted on the far-end of the linear mould group, and described sleeve pipe isolating device is equipped with through-hole
The flexible operation tool is enabled to pass through the through-hole；The tool isolating device is mounted in the driving mould group；Institute
Optical alignment mark is stated to be mounted in described sleeve pipe isolating device；
The puncture cannula has cavity for receiving the flexible operation tool to pass through, and the puncture cannula is set
It is set to and is connect with described sleeve pipe isolating device；
The contrast imaging equipment is configured to target position contrast imaging, and contrastographic picture signal is transmitted separately to
And it is shown on described first and the second display；And
The controlling equipment is configured to receive the control signal of operator and the control signal is sent to industrial personal computer
Receiving module, the receiving module sends control signals to the signal conversion module, and the signal conversion module will be controlled
Signal processed is converted into drive volume parameter information, and sends the hub on the equipment trolley for the drive volume parameter information,
The driving mould group being sent to again by the hub on operation trolley；The driving mould group according to drive volume parameter information push and
Flexible Continuum Structure movement is controlled to drive blood vessel intervention operation movement of tool.
In the second aspect, the assembly method of blood vessel intervention operation robot combined system of the invention is provided, it is described
Method the following steps are included:
(1) described sleeve pipe isolating device is mounted on to the far-end of the linear mould group, and by the tool isolating device
It is mounted in the driving mould group；
(2) by the trolley chassis locking for trolley of performing the operation, the posture for adjusting the positioning mechanical arm of the operation trolley makes institute
The cavity of the through-hole and puncture cannula of stating casing off device is axially aligned, and the puncture cannula is connect with casing off device
Together；
(3) flexible Continuum Structure is mounted in the tool isolating device of the operation trolley, and makes the flexible hand
Art tool passes through described sleeve pipe isolating device and promotes to the distal end of the puncture cannula；And
(4) by optical alignment mark be mounted in described sleeve pipe isolating device, and adjust described in can locking bracket make institute
The optical alignment mark of the operation trolley can be observed by stating optical tracker.
In the third aspect, the application method of system of the invention is provided, the described method comprises the following steps:
(1) described sleeve pipe isolating device is mounted on to the far-end of the linear mould group, and by the tool isolating device
It is mounted in the driving mould group；
(2) by the trolley chassis locking for trolley of performing the operation, the posture for adjusting the positioning mechanical arm of the operation trolley makes institute
The cavity of the through-hole and puncture cannula of stating casing off device is axially aligned, and the puncture cannula is connect with casing off device
Together；
(3) flexible Continuum Structure is mounted in the tool isolating device of the operation trolley, and makes the flexible hand
Art tool passes through described sleeve pipe isolating device and promotes to the distal end of the puncture cannula；And
(4) by optical alignment mark be mounted in described sleeve pipe isolating device, and adjust described in can locking bracket make institute
The optical alignment mark of the operation trolley can be observed by stating optical tracker；
(5) it opens the contrast imaging equipment irradiation target position and obtains the contrastographic picture of the target position；
(6) contrastographic picture obtained in step (2), operation are shown on first display and the second display
Person operates the controlling equipment to generate control signal and send out the control signal under the guidance according to the contrastographic picture
It send to the receiving module of industrial personal computer,；And
(7) receiving module sends control signals to the signal conversion module, and the signal conversion module will be controlled
Signal processed is converted into drive volume parameter information, and sends the hub on the equipment trolley for the drive volume parameter information,
The driving mould group being sent to again by the hub on operation trolley；The driving mould group according to drive volume parameter information push and
Control bending and the direction of the active flexible section of flexible Continuum Structure.
In the fourth aspect, the method for executing blood vessel intervention operation using system of the invention, the method packet are provided
Include following steps:
(1) object to be operated is adjusted to suitable position, and demarcates site of puncture；
(2) puncture cannula is pierced into the blood vessel of the site of puncture for the object to be operated demarcated in step (1)；
(3) according to the position of the puncture cannula, the mobile operation trolley, and above-mentioned assembly method is executed；
(4) by the flexible Continuum Structure of the flexible operation tool, into object to be operated body, direction is promoted until described
Blood vessel intervention operation tool enters in the blood vessel of the site of puncture；
(5) the contrast imaging equipment is opened to irradiate blood vessel intervention site of puncture and obtain blood vessel intervention puncture portion
The contrastographic picture of position；And
(6) contrastographic picture obtained in step (2), operation are shown on first display and the second display
Person operates the controlling equipment under the guidance of the contrastographic picture to control the active flexible section of the flexible Continuum Structure
Bending and direction, the blood vessel intervention tool is fed to operative region.
Beneficial effects of the present invention
1, system of the invention utilizes non-individual body surgical arm, has replacement compared with traditional blood vessel intervention operation robot
Flexibility ratio.
2, the active flexible section of flexibility Continuum Structure used by system of the invention and passive compliant section can be in blood
Operation tool is more accurately controlled under the guidance of pipe radiography curves movement, including curves direction and curve radian, reduces to quilt
The power of operation object blood vessel improves operation precision and reduces operation risk.
3, the various equipment in system of the invention can flexibly be put in operating room according to the difference of Surgical Operation
It puts, there is stronger environmental suitability.
4, system of the invention is applicable to various blood vessel intervention operations, for example, cardiovascular disease intervention operation, the cerebrovascular
Disease intervention operation and tumor disease intervention operation etc..
Detailed description of the invention
Fig. 1 is the composition and arrangement schematic diagram of an embodiment of system of the invention.
Fig. 2 is the side schematic view of the master control trolley in Fig. 1.
Fig. 3 is the front schematic view of the equipment trolley in the system of Fig. 1.
Fig. 4 is the side schematic view of the equipment trolley in the system of Fig. 1.
Fig. 5 is the structural schematic diagram of the operation trolley in the system of Fig. 1.
Fig. 6 is the detailed construction schematic diagram of the flexible operation tool in Fig. 5.
Fig. 7 is the schematic diagram of site of puncture and puncture cannula position in embodiment 1.
Fig. 8 is the schematic diagram of site of puncture and puncture cannula position in embodiment 2.
Fig. 9 is the arrangement schematic diagram of system of the invention in embodiment 2.
The preferred embodiments of the invention are described with reference to the accompanying drawing, it will be understood by those skilled in the art that be below with reference to
Embodiment described in attached drawing or embodiment, which are merely to illustrate, realizes preferred forms of the invention, rather than by model of the invention
It encloses and is limited to these embodiments.The present invention can make various modifications and variations on the basis of following embodiments.These change
It is included within the scope of the present invention into variation.It is similar attached between each embodiment shown in the drawings of the invention
Icon note instruction similar component.
Specific embodiment
Definition
Distal side or distal end: in the present specification, when referring to " distal side or distal end ", which refers to relatively close operated
The side of object operative site or the one end for being relatively distant from operation trolley.
Nearside or proximal end: in the present specification, when referring to " nearside or proximal end ", which, which refers to be relatively distant from, is operated
The side of object operative site, one end of relatively close operation trolley.
Front and rear: in the present specification, as previously mentioned, relative direction is each meant when referring to " preceding " and " rear ", wherein advising
Before the side of fixed relatively close object to be operated operative site is, be relatively distant from object to be operated operative site side be after.
Blood vessel intervention operation robot combined system of the invention
System of the invention includes master control trolley, equipment trolley, operation trolley, contrast imaging equipment, puncture cannula and soft
Property operation tool, wherein
The master control trolley includes controlling equipment, the first display and industrial personal computer, wherein setting reception mould in the industrial personal computer
Block and signal conversion module；
The equipment trolley includes cabinet, second display, cable, optical tracker and hub, wherein the line concentration
Device is mounted in the cabinet, and the display is fixed on the cabinet；The optical tracker passes through can the fixed branch of locking
Frame is fixed on the cabinet；The cable includes operating table fare cable and principal and subordinate link cable；The master control trolley with it is described
Equipment trolley is connected by the principal and subordinate link cable, and the operation trolley and the equipment trolley pass through the operation trolley
Cable connection；
The operation trolley includes trolley chassis, positioning mechanical arm, linear mould group, driving mould group, flexible operation tool, light
Learn positioning identifier, casing off device and tool isolating device；The linear mould group is mounted on the positioning mechanical arm, described
Driving mould group is configured to be moved forward and backward in the linear mould group along the longitudinal axis of the linear mould group；The flexible operation
Tool includes driving gear unit and flexible Continuum Structure, and hand is intervened equipped with blood vessel in the distal end of the flexibility Continuum Structure
Art tool；The flexibility Continuum Structure includes the passive compliant section of nearside and the active flexible section in distal side, wherein the active
The movement of compliant section is controlled by the controlling equipment of the master control trolley；The distal end of the driving mould group and the flexible operation work
The driving gear unit of tool is connected and controls the movement of the flexible Continuum Structure；
Described sleeve pipe isolating device is mounted on the far-end of the linear mould group, and described sleeve pipe isolating device is equipped with through-hole
The flexible operation tool is enabled to pass through the through-hole；The tool isolating device is mounted in the driving mould group；Institute
Optical alignment mark is stated to be mounted in described sleeve pipe isolating device；
The puncture cannula has cavity for receiving the flexible operation tool to pass through, and the puncture cannula is set
It is set to and is connect with described sleeve pipe isolating device；
The contrast imaging equipment is configured to blood vessel intervention operation area contrast imaging, and contrastographic picture signal is distinguished
It is transmitted to and is shown on described first and the second display；And
The controlling equipment is configured to receive the control signal of operator and the control signal is sent to industrial personal computer
Receiving module, the receiving module sends control signals to the signal conversion module, and the signal conversion module will be controlled
Signal processed is converted into drive volume parameter information, and sends the hub on the equipment trolley for the drive volume parameter information,
The driving mould group being sent to again by the hub on operation trolley；The driving mould group according to drive volume parameter information push and
Flexible Continuum Structure movement is controlled to drive blood vessel intervention operation movement of tool.
In the present invention, the function that master control trolley is realized is that remote control operation flexibility operation tool and sight are provided for operator
Examine the platform of operating field image in art.Operation trolley be for controlling flexible operation tool in the intracorporal movement of the object to be operated,
Play the role of support, positioning flexible operation tool simultaneously.The effect of equipment trolley is that hub, optical tracker, auxiliary are set
Equipment such as standby (for example, electric knife generators, safety management module), and the drive volume that master control trolley issues is received by hub and is joined
Number information, and the driving mould group on operating table vehicle is sent to push and control the movement of flexible non-individual body.
In the system of the present invention, it performs the operation and carries positioning mechanical arm on the trolley chassis of trolley, carried on positioning mechanical arm
Linear mould group, and drive mould group that can be moved forward and backward along linear mould group.The effect on trolley chassis is to realize operation trolley in hand
The indoor movement of art and locking, the effect of positioning mechanical arm are to be used to adjust posture after the locking of trolley chassis to control flexibility
The position of operation tool and direction.After the locking of positioning mechanical arm, before the adjustable flexible operation tool of linear mould group
After move, driving mould group is then bending and multifreedom motion for driving flexible Continuum Structure.
Specifically, flexible Continuum Structure includes passive compliant section and active flexible section, and passive compliant section is located at flexible connect
The nearside of continuous body structure, active flexible section are located at the distal side of flexible Continuum Structure.The passive compliant section can preferably be complied with
The shape of vascular bending passively free bend, and active flexible section can preferably be carried out with the control of main controller space 4 from
By the bending (comprising two bending directions, a sense of rotation and a direction of feed) spent to preferably comply with the curved of blood vessel
Bent and branch.Therefore, in a preferred embodiment, the active flexible section of the flexible Continuum Structure can be configured
At the bending for carrying out 4DOF in space under the control of the controlling equipment of master control trolley, the 4DOF includes two bendings
Direction, a sense of rotation and a direction of feed.
In the present invention, flexible operation tool can use commercially available operating robot carry out repacking be made, as long as flexible
Continuum Structure uses the design of flexible Continuum Structure of the invention and can be adapted to system of the invention.
In the present invention, the blood vessel intervention operation tool carried on flexible operation tool may include in vascular procedure
The various operation tools that may be used, for example, bracket puts tool, blood vessel dilatation tool, electrosurgical tool etc..
In the present invention, the design of casing off device and tool isolating device is mainly based upon wanting for operation sterile working
Ask, function be the operation tool crossed as barrier for disinfection and isolation or endoscope with the driving mould group that can not be carried out disinfection and
Mechanical structures or the equipment such as linear mould group, so that it is guaranteed that field of operation is sterile.It will be understood by those skilled in the art that casing off
Device and tool isolating device can be realized using many modes, for example, can connect or install aseptic plastic clothing or cloth list
Device (for example, sterile barrier disclosed in another patent application publication number CN106377315A of the applicant, this application
Full content is by being incorporated herein), the plastic cloth or cloth list can cover and perform the operation on trolley all are isolated and not sterilize
Part, as long as its purpose that isolation sterile part and non-sterilization section may be implemented, the in the present invention realization of the device
Mode is unrestricted.
In the present invention, puncture cannula can be using paracentesis trocar, puncture bushing device common in blood vessel intervention operation
Equal instruments, as long as it can be realized puncture vessel and the flexible operation tool in system of the invention can be received to enter field of operation
Domain.The connection type of puncture cannula and casing off device can be various suitable mechanical connection manners, including but not
It is limited to the modes such as mechanical snap, nested locking.
In the present invention, principal and subordinate link cable can be a composite cable or more cables, and form is unrestricted,
Type includes but is not limited to: transmission of video cable, optical fiber, equipment are total to ground wire, control signal transmission cable.Operating table fare cable
It can be a composite cable or more cables, including but not limited to 24V power cable, equipment common ground, CAN communication line
Cable, emergency stop switch cable etc..In addition, system of the invention also needs some other common cable, for example, ac cable, is used
In master control trolley and equipment trolley are connected with hospital power supply.Cable between master control trolley, equipment trolley and operation trolley
It is laid in the ground of operating room.Contrast imaging equipment and master control trolley and equipment trolley can be equipped with the connection of vision signal,
Connection type and interface are depending on selected contrast imaging equipment.
As described above, driving mould group is moved forward and backward in linear mould group, flexible operation tool is under the control of driving mould group
Movement, therefore blood vessel intervention operation tool and flexible Continuum Structure can pass through sensor relative to the position of linear mould group
It directly obtains, however the relative position of linear mould group in space cannot but directly obtain.Therefore, in order to obtain linear mould group
Relative space position and then the three dimension location for understanding flexible operation tool, system of the invention can also include optical tracking
Device and one or more optical alignments mark, wherein the optical tracker can by can the fixed bracket of locking be fixed on it is described
On the cabinet of equipment trolley；The optical alignment mark may be mounted on the casing off device on operation trolley.
In the present invention, a variety of optical tracking dresses as known in the art can be used in optical tracker and optical alignment mark
It sets with positioning means and realizes.For example, optical tracker includes infrared launcher, one or more cameras and image analysis
Device, and optical alignment mark is made of multiple reflection spheres made of special material.During performing the operation progress, infrared emission
Device emits infrared light, and camera receives optical alignment and identifies reflected infrared light, and image analysis apparatus is calculated by image
Method can carry out analysis to reflected optical information is identified by optical alignment to obtain three coordinates and space side in space
To location information.Since optical alignment mark is mounted on casing off device, the location information of optical alignment mark
Just reflect the spatial positional information of flexible operation tool.Pass through the three-dimensional localization identified to optical alignment, so that it may obtain
The relative space position parameter of flexible operation tool, and these relative space position parameters can be further used for flexible operation work
In the remote control operation algorithm of tool, the accurate control to flexible operation tool is realized.
In one embodiment, system of the invention further includes operating table.Herein, operating table can use ability
Any operating table well known to domain, as long as it can carry the object to be operated and be able to cooperate system use of the invention.
In a preferred embodiment, described first and the second display be preferably 3D display device.One implementation
In scheme, the first display is 3D display device, and second display is 2D display, for providing in surgical procedure for support staff
Operating field image, operation remind and input instruction.
In the present invention, the effect of contrast imaging equipment is developed to the blood vessel of injection contrast agent, as long as therefore energy
The equipment for being enough able to achieve blood vessel development and imaging to injection contrast agent can be used in the present invention, and including but not limited to B ultrasound is set
Standby, CT equipment (ct apparatus), MRI machine (magnetic resonance imaging device) and digital subtraction angiography equipment
(DSA)。
In the present invention, industrial personal computer can select commercially available corresponding dress according to the corresponding function being previously mentioned in this specification
It sets or the bundled software of available machinery people's surgery systems or hardware is realized, or on its basis improve or self-developing obtains
, as long as it can be realized corresponding function mentioned in the present invention.
Fig. 1 is the composition and arrangement schematic diagram of an embodiment of system of the invention.In the implementation of figure 1,
System of the invention is by 001, equipment trolley 002 of a master control trolley, the operation trolley 003 being arranged in by operating bed 004
It is formed with contrast imaging equipment 005.Fig. 2 is the side schematic view of master control trolley.As depicted in figs. 1 and 2, master control trolley 001 wraps
Controlling equipment 103 and the first display 102 are included, operator 101 observes the real-time blood vessel of operation shown in the first display 102
Image, operation controlling equipment 103 is to generate control signal (note: the portion for not having mark part hiding for simplicity, in Fig. 1
Part such as industrial personal computer, the function of these components is referring to narration above).It is installed on equipment trolley 002 from can further be seen that in Fig. 1
There is optical tracker 205.Second display 201 of 104 station of support staff on 004 side of operating bed, observation device trolley
Operating field image 204 in upper shown surgical procedure, provides relevant back work in time.Fig. 2 also shows master station
The principal and subordinate link cable 401 of vehicle 001 with exchange cable 403.
Fig. 3 is the front schematic view of the equipment trolley in the system of Fig. 1, and Fig. 4 is the side of the equipment trolley in the system of Fig. 1
Face schematic diagram.As shown in figure 3, equipment trolley 002 includes cabinet 208, hub 202, second display 201, principal and subordinate link line
Cable 401, operating table fare cable 402, ac cable 403, wherein hub 202 is mounted in the cabinet 208, in cabinet 208
It can also include other ancillary equipments 203, for example, electric knife, electric knife is connected with the industrial personal computer；Safety management module is for monitoring
The state of whole system can cut off the power supply of driving mould group when an exception occurs；Power module is used to supply for all equipment
Electricity；Video processor is for handling vision signal.As shown in figure 3, display 201 is fixed on cabinet 208, on display 201
It can show the 2D image 204 etc. of operating field in surgical procedure.Fig. 4 shows that optical tracker 205 and equipment trolley 002 pass through one
A lockable bracket 207 connects.
As shown in Figure 3 and Figure 4, it is connected between master control trolley 001 and equipment trolley 002 by principal and subordinate link cable 401.Hand
It is connected between art trolley 003 and equipment trolley 002 by operating table fare cable 402.Master control trolley 001 and equipment trolley 002 are each
It is connected from by a 220V ac cable 403 with hospital power supply.Master control trolley 001, equipment trolley 002, operation trolley 003
Between cable be laid in the ground of operating room.
Fig. 5 is the structural schematic diagram of the operation trolley in the system of Fig. 1.Fig. 6 is the detailed of the flexible operation tool in Fig. 5
Structural schematic diagram.As shwon in Figures 5 and 6, operation trolley 003 includes trolley chassis 306, positioning mechanical arm 305, linear mould group
303, mould group 302, flexible operation tool 300, casing off device 3021 and tool isolating device 3031 are driven, wherein localization machine
Tool arm 305 is mounted on trolley chassis 306, carries linear mould group 303 on positioning mechanical arm 305, driving mould group 302 can along
Property mould group 303 the longitudinal axis be moved forward and backward.Flexible operation tool 300 includes flexible Continuum Structure 301 and is mounted in flexible continuous
Blood vessel intervention operation tool 310 on the distal end of body structure 301.Flexible operation tool 300 be mounted in driving mould group 302
Tool isolating device 3021 connects.Operation trolley 003 may be implemented in indoor movement and the locking of performing the operation in trolley chassis 306, determines
Position mechanical arm 305 can adjust gesture stability blood vessel intervention operation tool location and direction after 306 locking of trolley chassis, linearly
Mould group 303 can adjust moving forward and backward for blood vessel intervention operation tool 310 after the locking of positioning mechanical arm 305, drive mould group 302
The bending of flexible operation tool 301 can be driven to complete the space multifreedom motion (preferably three of blood vessel intervention operation tool 310
Freedom degree movement).
As shown in Figure 6, tool isolating device 3021 is provided on operation trolley 003 and casing off device 3031 is used to
The non-sterilization section of isolation operation trolley and the object to be operated, wherein casing off device 3031 is mounted on the remote of linear mould group 303
At end, and the center of casing off device 3031 is equipped with through-hole (not shown) and flexible operation tool 300 is passed through
The through-hole；Tool isolating device 3021 is mounted in driving mould group 302, and flexible operation tool 300 is mounted on tool isolation dress
It sets on 3021.In addition, being provided with optical alignment mark 206 on casing off device 3031, it is responsible for operation trolley 003 and positions.
In addition, Fig. 5 and Fig. 6 are also shown, optical alignment mark 206 is mounted on casing off device 3031.
As shown in fig. 6, flexible Continuum Structure 301 includes passive compliant section 3011 and active flexible section 3012, it is passive soft
Property section 3011 be located at the nearside of flexible Continuum Structure 301, active flexible section 3012 is located at the remote of flexible Continuum Structure 301
Side.Passive compliant section 3011 can comply with the shape of vascular bending passively free bend, and the then acceptor of active flexible section 3012
The bending that the control of controller carries out space 4DOF (includes two bending directions, a sense of rotation and a feeding side
To).
The assembly method of endoscopic surgery robot combined system of the invention
The assembly method of blood vessel intervention operation robot combined system of the invention may comprise steps of:
(1) described sleeve pipe isolating device is mounted on to the far-end of the linear mould group, and by the tool isolating device
It is mounted in the driving mould group；
(2) by the trolley chassis locking for trolley of performing the operation, the posture for adjusting the positioning mechanical arm of the operation trolley makes institute
The cavity of the through-hole and puncture cannula of stating casing off device is axially aligned, and the puncture cannula is connect with casing off device
Together；
(3) flexible Continuum Structure is mounted in the tool isolating device of the operation trolley, and makes the flexible hand
Art tool passes through described sleeve pipe isolating device and promotes to the distal end of the puncture cannula；And
(4) by optical alignment mark be mounted in described sleeve pipe isolating device, and adjust described in can locking bracket make institute
The optical alignment mark of the operation trolley can be observed by stating optical tracker.
Illustrate that endoscopic surgery robot combined system of the invention exists below by way of Fig. 1-Fig. 6 embodiment illustrated
Implement preoperative assembly method:
1, casing off device 3031 is mounted on to the far-end of linear mould group 303, and tool isolating device 3021 is pacified
In driving mould group 302；
2, by 306 locking of trolley chassis of trolley 003 of performing the operation, the posture of adjustment positioning mechanical arm 305 makes casing off
The through-hole of device 3031 and the cavity of puncture cannula 308 are axially aligned, and puncture cannula 308 is connect with casing off device 3031
Together；
3, flexible operation tool 300 is mounted in tool isolating device 3021 in place, and makes flexible operation work
Tool 300 passes through casing off device 3031 and promotes with the cavity for wearing side casing 308 to the distal end of puncture cannula 308.
4, adjustment can locking bracket 207 enable optical tracker 205 observe operation trolley 003 optical alignment mark
Know 206.
The application method of system of the invention
The application method of system of the invention may comprise steps of:
(1) described sleeve pipe isolating device is mounted on to the far-end of the linear mould group, and by the tool isolating device
It is mounted in the driving mould group；
(2) by the trolley chassis locking for trolley of performing the operation, the posture for adjusting the positioning mechanical arm of the operation trolley makes institute
The cavity of the through-hole and puncture cannula of stating casing off device is axially aligned, and the puncture cannula is connect with casing off device
Together；
(3) flexible Continuum Structure is mounted in the tool isolating device of the operation trolley, and makes the flexible hand
Art tool passes through described sleeve pipe isolating device and promotes to the distal end of the puncture cannula；And
(4) by optical alignment mark be mounted in described sleeve pipe isolating device, and adjust described in can locking bracket make institute
The optical alignment mark of the operation trolley can be observed by stating optical tracker；
(5) it opens the contrast imaging equipment irradiation target position and obtains the contrastographic picture of the target position；
(6) contrastographic picture obtained in step (2), operation are shown on first display and the second display
Person operates the controlling equipment to generate control signal and send out the control signal under the guidance according to the contrastographic picture
It send to the receiving module of industrial personal computer,；And
(7) receiving module sends control signals to the signal conversion module, and the signal conversion module will be controlled
Signal processed is converted into drive volume parameter information, and sends the hub on the equipment trolley for the drive volume parameter information,
The driving mould group being sent to again by the hub on operation trolley；The driving mould group according to drive volume parameter information push and
Control bending and the direction of the active flexible section of flexible Continuum Structure.
Blood vessel intervention operation method
It can use system of the invention and execute blood vessel intervention operation, this method may comprise steps of:
(1) object to be operated is adjusted to suitable pose, and demarcates site of puncture.
(2) puncture cannula is pierced into the blood vessel of the site of puncture for the object to be operated demarcated in step (1).
(3) local anaesthesia is implemented to the site of puncture.
(4) according to the position of the puncture cannula, the mobile operation trolley, and above-mentioned assembly method is executed.
(5) by the flexible Continuum Structure of the flexible operation tool, into object to be operated body, direction is promoted until described
Blood vessel intervention operation tool enters in the blood vessel of the site of puncture.
(6) the contrast imaging equipment is opened to irradiate blood vessel intervention site of puncture and obtain blood vessel intervention puncture portion
The contrastographic picture of position.
(7) contrastographic picture obtained in step (2), operation are shown on first display and the second display
Person operates the controlling equipment under the guidance of the contrastographic picture to control the active flexible section of the flexible Continuum Structure
Bending and direction, the blood vessel intervention tool is fed to operative region.
In a preferred embodiment, contrast imaging equipment can according to the position of operation, kinds of Diseases, lesion property
The factors such as matter are taken the circumstances into consideration to select by operator, and the equipment that can choose includes but is not limited to B ultrasound equipment, CT equipment, MRI machine sum number
Word subtractive angiography equipment.
In a preferred embodiment, the active flexible section of flexible Continuum Structure may be configured in the master control
The bending of 4DOF in space is carried out under the control of the controlling equipment of trolley, the 4DOF may include two bending sides
To a, sense of rotation and a direction of feed.
In a preferred embodiment, described first and the second display can be 3D display device.
In a preferred embodiment, the blood vessel intervention operation can be selected from cardiovascular disease intervention operation, brain blood
Pipe disease intervention operation and tumor disease intervention operation.
Blood vessel intervention operation robot combined system of the invention is utilized below by way of embodiment 1 and the explanation of embodiment 2
The method for executing blood vessel intervention operation.
Embodiment 1
In this embodiment, the method for implementing cardiovascular disease intervention operation using system of the invention is illustrated.
In the present embodiment using configuration and its arrangement shown in Fig. 1.
As shown in fig. 7, taking dorsal position by operator 105, puncture cannula 308 is inserted via by the femoral artery of operator or vein
Enter blood vessel.Implement operation according to following step:
1, site of puncture 106 is demarcated；
2, the cable between master control trolley 001, equipment trolley 002 and operation trolley 003 is connected；
3, master control trolley 001 and equipment trolley 002 are switched on, operating robot self-test；
4, casing off device 3031 and tool isolating device 3021 are mounted on operation trolley 003, and optics is determined
Bit identification 206 is mounted on casing off tool 3031；
5, puncture cannula 308 is pierced into blood vessel through site of puncture 106 by support staff 104；
6, local anaesthesia is implemented by operator site of puncture 104 pairs of support staff, and shifts operation trolley 003 onto operating bed
By in the of 004, locking trolley chassis 306 adjusts positioning mechanical arm 305, so that the finger of flexible operation tool 300 and puncture cannula 308
To identical, puncture cannula 308 is connect with casing off device 3031 after aligned position；
7, flexible operation tool 300 is connect and is locked with driving mould group 303, then by flexible Continuum Structure 301 to
By direction feeding in operator's body until the end of flexible Continuum Structure enters blood vessel；
8, support staff 104 adjustment can locking bracket 207 enable the position of optical tracker 205 to observe operating table
Optical alignment mark 206 on vehicle 003；
9, support staff 104 opens CT machine 005 and starts to irradiate site of puncture 106；
10, under the guidance of the contrastographic picture shown by CT machine 005 of operator 101, by flexible Continuum Structure 301 along
Preset path is fed into focal area.In the process, operator 101 operates the controlling equipment on master control trolley 001
The bending of 103 control active flexible sections 3012 and direction, allow to comply with the blood vessel for bending into bifurcated of blood vessel, passive soft
Property section 3011 then follows the bending of blood vessel to be passively bent；
11, after performing the operation, flexible Continuum Structure 301 is fallen back on extravascular position by the manipulation of operator 101；
12, support staff 104 exits flexible operation tool 300 completely by operator's body, disconnects 308 He of puncture cannula
Connection between casing off device 3031, and remove operation trolley 003；
13, flexible operation tool 300 is unlocked and is removed with driving mould group 302；
14, stop blooding to site of puncture 106.
Embodiment 2
In this embodiment, the method for implementing cerebral vessels embolism intervention operation using system of the invention is illustrated.
The present embodiment is using configuration and arrangement shown in Fig. 9.Fig. 8 is by operator's position and puncture portion
The schematic diagram of position 106 and 308 position of puncture cannula.
As shown in figure 8, taking dorsal position by operator 105, puncture cannula 308 is inserted into blood via by the arteria carotis of operator
Pipe.
Specific operating procedure is substantially in the same manner as in Example 1, the difference is that CT machine 005 is placed in by operator 105
Head side make it possible to be irradiated to by the blood vessel of the neck of operator 105 to brain.
Although specific embodiments of the present invention have had been illustrated and described, those skilled in the art are come
It says it is readily apparent that various other changes and modification can be made in the case where not departing from spirit and scope of the present invention.Cause
This, includes all these changes and the modification belonged in the scope of the invention in appended claims.
Claims (10)
1. a kind of blood vessel intervention operation robot combined system, it is characterised in that the system comprises master control trolley, equipment trolley,
Operation trolley, contrast imaging equipment, puncture cannula and flexible operation tool, wherein
The master control trolley includes controlling equipment, the first display and industrial personal computer, wherein set in the industrial personal computer receiving module and
Signal conversion module；
The equipment trolley includes cabinet, second display, cable, optical tracker and hub, wherein the hub is pacified
In the cabinet, the display is fixed on the cabinet；The optical tracker by can the fixed bracket of locking it is solid
It is scheduled on the cabinet；The cable includes operating table fare cable and principal and subordinate link cable；The master control trolley and the equipment
Trolley is connected by the principal and subordinate link cable, and the operation trolley and the equipment trolley pass through the operating table fare cable
Connection；
The operation trolley includes trolley chassis, positioning mechanical arm, linear mould group, drives mould group, flexible operation tool, optics fixed
Bit identification, casing off device and tool isolating device；The linear mould group is mounted on the positioning mechanical arm, the driving
Mould group is configured to be moved forward and backward in the linear mould group along the longitudinal axis of the linear mould group；The flexibility operation tool
Including driving gear unit and flexible Continuum Structure, the distal end of the flexibility Continuum Structure is equipped with blood vessel intervention operation work
Tool；The flexibility Continuum Structure includes the passive compliant section of nearside and the active flexible section in distal side, wherein the active flexible
The movement of section is controlled by the controlling equipment of the master control trolley；The distal end of the driving mould group and the flexible operation tool
Driving gear unit is connected and controls the movement of the flexible Continuum Structure；
Described sleeve pipe isolating device is mounted on the far-end of the linear mould group, and described sleeve pipe isolating device makes equipped with through-hole
The flexibility operation tool can pass through the through-hole；The tool isolating device is mounted in the driving mould group；The light
Positioning identifier is learned to be mounted in described sleeve pipe isolating device；
The puncture cannula has cavity for receiving the flexible operation tool to pass through, and the puncture cannula is configured to
It is connect with described sleeve pipe isolating device；
The contrast imaging equipment is configured to target position contrast imaging, and contrastographic picture signal is transmitted separately to and is shown
Show on described first and the second display；And
The controlling equipment is configured to receive the control signal of operator and the control signal is sent to connecing for industrial personal computer
Module is received, the receiving module sends control signals to the signal conversion module, and the signal conversion module believes control
It number is converted into drive volume parameter information, and sends the hub on the equipment trolley for the drive volume parameter information, then by
The hub is sent to the driving mould group on operation trolley；The driving mould group is pushed and is controlled according to drive volume parameter information
Flexible Continuum Structure movement is to drive blood vessel intervention operation movement of tool.
2. system described in claim 1, it is characterised in that the contrast imaging equipment is selected from B ultrasound equipment, CT equipment, MRI and sets
Standby and digital subtraction angiography equipment.
3. system described in claim 1, it is characterised in that the flexibility Continuum Structure is configured in the master control trolley
Controlling equipment control under carry out space in 4DOF bending, the 4DOF include two bending directions, one from
Turn direction and direction of feed.
4. system described in claim 1, it is characterised in that the controlling equipment is the distant behaviour's device of handle.
5. system described in claim 1, it is characterised in that the blood vessel intervention operation tool includes that bracket puts tool, blood vessel
Expansion tool and electrosurgical tool.
6. system described in claim 1, it is characterised in that first display is 3D display device and the second display
It is 2D display.
7. system described in claim 1, it is characterised in that the cable further include transmission of video cable, optical fiber, equipment altogether
Line and control signal transmission cable.
8. system described in claim 1, it is characterised in that the puncture cannula and described sleeve pipe isolating device pass through mechanical card
Button or nested locking mode connection.
9. system described in claim 1, it is characterised in that the equipment trolley further includes ancillary equipment, the ancillary equipment packet
Electric knife is included, the electric knife is connected with the industrial personal computer.
10. the application method of blood vessel intervention operation robot of any of claims 1-9 combined system, the method
The following steps are included:
(1) described sleeve pipe isolating device is mounted on to the far-end of the linear mould group, and the tool isolating device is installed
In the driving mould group；
(2) by the trolley chassis locking for trolley of performing the operation, the posture for adjusting the positioning mechanical arm of the operation trolley makes the set
The through-hole of pipe isolating device and the cavity of puncture cannula are axially aligned, and the puncture cannula and casing off device are connected to one
It rises；
(3) flexible Continuum Structure is mounted in the tool isolating device of the operation trolley, and makes the flexible operation work
Tool is promoted across described sleeve pipe isolating device to the distal end of the puncture cannula；And
(4) by optical alignment mark be mounted in described sleeve pipe isolating device, and adjust described in can locking bracket make the light
The optical alignment mark of the operation trolley can be observed by learning tracker；
(5) it opens the contrast imaging equipment irradiation target position and obtains the contrastographic picture of the target position；
(6) contrastographic picture obtained in step (2), operator's root are shown on first display and the second display
The controlling equipment is operated under guidance according to the contrastographic picture to generate control signal and be sent to the control signal
The receiving module of industrial personal computer；And
(7) receiving module sends control signals to the signal conversion module, and the signal conversion module believes control
It number is converted into drive volume parameter information, and sends the hub on the equipment trolley for the drive volume parameter information, then by
The hub is sent to the driving mould group on operation trolley；The driving mould group is pushed and is controlled according to drive volume parameter information
The bending of the active flexible section of flexible Continuum Structure and direction.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011538232.4A CN112842533B (en) | 2018-10-09 | 2018-10-09 | Flexible surgical tool and vascular intervention surgical robot system |
| CN201811175035.3A CN109431606B (en) | 2018-10-09 | 2018-10-09 | Vascular intervention operation robot combination system and use method thereof |
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| CN201811175035.3A CN109431606B (en) | 2018-10-09 | 2018-10-09 | Vascular intervention operation robot combination system and use method thereof |
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| CN202011538232.4A Division CN112842533B (en) | 2018-10-09 | 2018-10-09 | Flexible surgical tool and vascular intervention surgical robot system |
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| CN109431606B CN109431606B (en) | 2021-03-09 |
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| CN201811175035.3A Active CN109431606B (en) | 2018-10-09 | 2018-10-09 | Vascular intervention operation robot combination system and use method thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109431606B (en) | 2021-03-09 |
| CN112842533B (en) | 2023-09-05 |
| CN112842533A (en) | 2021-05-28 |
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