CN109806001A - Self-service remote service surgical operation robot system - Google Patents
Self-service remote service surgical operation robot system Download PDFInfo
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- CN109806001A CN109806001A CN201811448268.6A CN201811448268A CN109806001A CN 109806001 A CN109806001 A CN 109806001A CN 201811448268 A CN201811448268 A CN 201811448268A CN 109806001 A CN109806001 A CN 109806001A
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Abstract
The invention discloses self-service remote service surgical operation robot systems, with moveable display terminal and surgical operation robot, Portable self-service medical kit, online medical services platform, in which: moveable display terminal has multi-angle photo display module and multi-angle video-unit；With pressure sensor, have with online medical services platform with video or voice mode communication；Online medical services platform, with at least one response terminal to supply moveable display terminal surgery operating technology counseling services, diagnosis patient's condition output module, the network communication interface that there is each response terminal the session module of wound diagnosis and the pressure data of the vision operation module for observing wound, the pain data for obtaining patient to obtain module, record patient's damaged condition.It is of the invention by tele-medicine guidance realize to surgical operation save oneself or the treatment of medical care in time, reach the purpose for timely and effectively treating the surgery pain of injury.
Description
Technical field
The present invention relates to surgical operation robot technical fields, more particularly to self-service remote service surgery machine
People's system.
Background technique
Surgical operation referred to as perform the operation, be commonly called as operating on, it is all refer to penetrate surgical device or surgery instrument, through surgeon or other
Under the operation of professional, into human body or other biological tissue, lesion is excluded in a manner of external force, changes construction or is implanted into external
The treatment process of object.
Early operation is only limitted to simple manual method, is cut in body surface, cut, stitched, as abscess drainage, swollen object are cut
Remove, wound suture etc..Therefore operation is a kind of destruction tissue integrity (incision), or restores integrality by the tissue destroyed
The operation of (suture).With the development of surgery, field of surgery constantly expands, and can carry out at any position of human body.Application
Instrument is also constantly updated, such as scalpel has electric knife, microwave coagulation treatment, ultrasonic knife and laser knife a variety of.It is pre- sharp in treatment heart
When the operation of syndrome, it can be positioned by high function electronic computer.Some surgical procedures are also not necessarily intended to be cut to break
Bad tissue such as takes out calculus or foreign matter in biliary tract, urinary tract or gastrointestinal tract through various endoscopes；Through puncturing conduit air bag expansion
Coronary artery, or the revascularization etc. for making to occlude with laser.Therefore performing the operation also has wider meaning.But overwhelming majority hand at present
Art is still based on the manual operations of doctor.
With constantly improve for medical technology and medical procedure, surgical operation can largely mitigate the pain of patient
Hardship, to achieve the purpose that recovery.But since medical facilities are not perfect, medical resource is limited, accident spot is too long, and rescue is difficult
With the place reached, still can be born some serious contingencies.
In addition, being concerned about for doctor has been hardly resulted in the remote districts such as some outdoor medical treatment and rural area, three line cities,
Name doctor cannot be obtained for a long time supports that medical treatment is limited.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, it is realized by tele-medicine guidance to surgery the present invention provides a kind of
Operation save oneself or in time medical care treatment, reach timely and effectively treat the surgery pain of injury purpose.
The technical scheme adopted by the invention is that: self-service remote service surgical operation robot system has removable
Display terminal and surgical operation robot, Portable self-service medical kit, online medical services platform, in which:
Moveable display terminal has the multi-angle photo display module that can show patient's trauma situations, and can be more than enough
The multi-angle video-unit of angle observation patient's wound；With the pressure sensor of patient's notch pain spot can be experienced, and have
It is communicated by network communication interface and online medical services platform with video or voice mode；
There is online medical services platform at least one response terminal to be consulted with supplying moveable display terminal surgery operating technology
Service is ask, each response terminal has the session module of wound diagnosis and vision operation module, use for observing wound
In diagnosis patient's condition output module, net that the pressure data for the pain data for obtaining patient obtains module, records patient's damaged condition
Network communication interface；
Portable self-service medical kit, it is internal for loading and protecting moveable display terminal and surgical operation robot
Have disinfection and analgesic drug products；
Surgical operation robot is removably positioned in inside Portable self-service medical kit.
Further, the vision operation module of online medical services platform is for amplifying in time and reducing ground switching observation
Patient's notch, the pressure sensor of the moveable display terminal of the module cooperative obtain the precise information of patient's tolerance, are convenient for
Doctor can more preferably accurately judge that the dosage of patient.
Further, each response terminal of online medical services platform is using patient status's information as foundation, Neng Gou
Line transfers the case history of same patient and checks information, treatment results in real time, that is to say, that in the specific implementation process, different
Identity card of the doctor according to patient or patient status's information in line platform record, the history disease for the patient that can quickly read
It goes through and history checks situation record, so that the medical treatment for quickly taking over a doctor diagnoses, improve the effect of diagnosis
Rate, this function are mainly suitable for that patient is more, while the less situation of doctor uses, and is also adapted to doctor's changing shifts or faces
When the case where leaving the post, needing replacing use, reduce the time that patient describes case history.
Further, online medical services put down the emergency hemostasis for being additionally provided with and being stored on its server and instruct module, commonly use
Surgical operation illustrates module and common surgical operation video annotation module, wherein:
Module is instructed in emergency hemostasis, and the diagram emergency to be constituted with diagram, video and speech pattern instructs module, video, language
Sound emergency instructs module, and it is each in module that above-mentioned diagram emergency instructs module, video emergency that module, voice emergency is instructed to instruct
It includes that emergency hemostasis, points for attention and tool usage instruct module that a emergency, which instructs module, wherein module is instructed in diagram
It is used cooperatively with voice guidance module, video module instructs module to be used cooperatively with diagram；
Common surgical operation diagram module and common surgical operation video annotation module, for diagram and video annotation surgery
The treatment process and method that operation is saved oneself carry out surgical operation prefinishing and answer first aid to play auxiliary Field Force
It helps；The implementation of the module is primarily to help patient's emergency processing wound in the case where offline or network is bad, in turn
It avoids delaying treatment.
Further, the multi-angle photo display module of moveable display terminal can at least be shown from three directions
The wound situation of patient, i.e. multi-angle video-unit include at least three photographic devices, each photographic device is all connected with removable
Dynamic display terminal uploaded videos data.
Further, Portable self-service medical kit includes cabinet, tool separate space, display terminal separate space and upper cover, display
It is placed in display terminal separate space to the foldable opening of terminal, is equipped in tool separate space for storing rising for surgical operation robot
Conjunction can be removed or rotatably be covered to the tool placement platform of drop, upper cover in top of the box position；Multi-angle video-unit is at least
Including three photographic devices, each photographic device is all connected with moveable display terminal.
Further, multi-angle video-unit includes at least three photographic devices, each photographic device, which passes through, to be stretched
Receding metal bellows connects moveable display terminal and facilitates doctor to easily adjust the camera angle of each photographic device
The Non-medical-staff of raw observation wound situation and Wound healing and bone regeneration process, real-time instruction patient oneself treatment or patient one side is controlled
It treats.
Further, bottom of box position is additionally provided with the support frame that can be extracted out, and the supporting element bottom setting that can be extracted out can roll over
Folded support leg directly contacts when folding support leg is put down with ground, to achieve the purpose that support patient's injury.
Further, the supporting element side that can be extracted out is additionally provided with knob, comes for being pulled out, and the branch that can be extracted out
The flexible cushion that thickness is not less than 3mm is additionally provided at the top of support member, patient can directly extract flexible cushion out when in use, pad upper
Face uses, and alleviates pain, has relatively good comfort.
Further, the bottom of box is equipped with roller structure, at least one side is equipped with drawbar and makes it when in use, can be with
Direct pull drawbar is dragged away, can also be buttressed cabinet rolling and be dragged away, use is laborsaving, conveniently.
Compared with prior art, the beneficial effects of the present invention are:
1. self-service remote service surgical operation robot system of the invention by online medical services platform and moves
Display terminal cooperate surgical operation robot, realize the interim occasion rescued outdoor, remote districts and special needs
It is rescued, real-time treatment is carried out to traumatic patient in time, reduces patient transfer time bring risk.
2. several response terminals are arranged in online medical services platform, thus the medical treatment of corresponding moveable display terminal
Request, and response terminal records patient record according to medical request and treatment condition in time, in any one response terminal
The timely treatment and diagnosis to patient can be achieved, save Diagnostic Time, the waiting time of patient can be mitigated well
And save diagnosis and medical expense.
3. for moveable display terminal, request with after the response terminal called of line medical services platform, can be with
Wound is observed under the guidance of doctor, is sterilized, is arranged and emergence therapeutic, perspective treatment, it can also be nurse's
Timely professional treatment is obtained under help.Meanwhile for such as mine, coal mine, outdoor exploitation some high-risk occasions, warp
Certain training is crossed, patient or surrounding people can directly operate surgical operation robot and treat.
4. surgical operation robot is the common Surigical tool that can treat surgical operation, such as curved hemostatic forceps
(haemostatic clamp), straight blood-vessel forceps, right angle forceps, tissue shear, line cut, scalpel, surgical forceps, needle holder, suture needle, towel clamp towel forceps, can also be with
It is that there is the surgical operation work that can be realized above-mentioned Surigical tool function by PLC control device and electric
Tool.
Detailed description of the invention
Fig. 1 is the structure principle chart of self-service remote service surgical operation robot system；
Fig. 2 is the structure principle chart of online medical services platform；
Fig. 3 is the structure chart of one embodiment of Portable self-service medical kit；
Fig. 4 is the structure chart of another embodiment of Portable self-service medical kit；
Wherein: the moveable display terminal of 100-, 101- multi-angle photo display module, 102- multi-angle video-unit, 1021-
Photographic device, the scalable metal bellows of 1022-；103- pressure sensor, 104- network communication interface；
200- surgical operation robot；
300- Portable self-service medical kit, 301- cabinet, 302- tool separate space, 303- display terminal separate space, 304- upper cover, 305-
Liftable tool placement platform, the support frame that 306- can be extracted out, the folding support leg of 307-, 308- knob, 309- are flexible
Bed course, 310- roller structure, 311- drawbar；
The online medical services platform of 400-, 401- session module, 402- vision operation module, 403- pressure data obtain module,
404- diagnoses patient's condition output module.
Specific embodiment
In order to deepen the understanding of the present invention, present invention will be further explained below with reference to the attached drawings and examples, the implementation
Example for explaining only the invention, does not constitute protection scope of the present invention and limits.
Embodiment 1
As shown in Figure 1, self-service remote service surgical operation robot system, with moveable display terminal 100 and outside
Section's operating robot 200, Portable self-service medical kit 300, online medical services platform 400, in which:
Moveable display terminal 100 has the multi-angle photo display module 101 that can show patient's trauma situations, and
It is capable of the multi-angle video-unit 102 of multi-angle observation patient's wound, there is the pressure sensor that can experience patient's notch pain spot
103, and have and communicated by network communication interface 104 and online medical services platform 400 with video or voice mode；When
When moveable display terminal has medical request, response terminal is not only suitably remembered according to the conversation content of session module
Record, it is also possible to patient record be recorded according to medical request and treatment condition in time, can be achieved in any one response terminal
Timely treatment and diagnosis to patient, save Diagnostic Time, can mitigate waiting time and the saving of patient well
Diagnosis and medical expense.
As shown in Fig. 2, online medical services platform 400, has at least one response terminal to supply moveable display
Terminal surgery operating technology counseling services, each response terminal have to the session module 401 of wound diagnosis and for seeing
Examine the vision operation module 402 of wound, the pressure data of pain data for obtaining patient obtains module 403, record patient
The online medical services platform response terminal of diagnosis patient's condition output module 404, the network communication interface of damaged condition also has pressure
Data obtaining module 403, the pressure data obtain module from moveable display terminal can also obtain patient pain and
Pressure data increases the accuracy of diagnosis.
Portable self-service medical kit 300, for loading and protecting moveable display terminal 100 and surgical operation machine
Device people 200, inside also have disinfection and analgesic drug products, and disinfection and analgesic drug products are generally alcohol, gauze, common anti-inflammatory drug
Deng.
For surgical operation robot 200, it is removably positioned in inside Portable self-service medical kit, surgical operation robot
The common Surigical tool that can treat surgical operation, such as curved hemostatic forceps (haemostatic clamp), straight blood-vessel forceps, right angle forceps,
Tissue shear, line cut, scalpel, surgical forceps, needle holder, suture needle, towel clamp towel forceps, is also possible to by PLC control device and electric power
Electronic has the Surigical tool that can be realized above-mentioned Surigical tool function, such as Chinese patent
Surgical operation robot in the disclosed system and method for robotic surgical of CN201380052236 also belongs to this
The application category of the surgical operation robot of invention, Chinese patent CN201410751043- surgical operation robot system and its
Control method also belongs to the application category and Chinese patent application of surgical operation robot of the invention
CN201780005500- is used for the graphic user interface of robotic surgical system.
In the above-described embodiments, the vision operation module of online medical services platform is for amplifying in time and cutting with reducing
Observation patient's notch is changed, the pressure sensor of the moveable display terminal of the module cooperative obtains the accurate letter of patient's tolerance
Breath, the dosage of patient can be more preferably accurately judged that convenient for doctor.
In the above-described embodiments, each response terminal of online medical services platform is using patient status's information as foundation,
The case history of same patient can be transferred online and checks information, treatment results in real time, that is to say, that in the specific implementation process,
Identity card of the different doctors according to patient or patient status's information in line platform record, the patient's that can quickly read goes through
History case history and history check situation record, so that the medical treatment for quickly taking over a doctor diagnoses, improve diagnosis
Efficiency, this function are mainly suitable for that patient is more, while the less situation of doctor uses, be also adapted to doctor's changing shifts or
The case where temporarily leaving the post, need replacing use reduces the time that patient describes case history.
In the above-described embodiments, online medical services put down the emergency hemostasis for being additionally provided with and being stored on its server and instruct mould
Block, common surgical operation diagram module and common surgical operation video annotation module, wherein:
Module is instructed in emergency hemostasis, and the diagram emergency to be constituted with diagram, video and speech pattern instructs module, video, language
Sound emergency instructs module, and it is each in module that above-mentioned diagram emergency instructs module, video emergency that module, voice emergency is instructed to instruct
It includes that emergency hemostasis, points for attention and tool usage instruct module that a emergency, which instructs module, wherein module is instructed in diagram
It is used cooperatively with voice guidance module, video module instructs module to be used cooperatively with diagram；
Common surgical operation diagram module and common surgical operation video annotation module, for diagram and video annotation surgery
The treatment process and method that operation is saved oneself carry out surgical operation prefinishing and answer first aid to play auxiliary Field Force
It helps；The implementation of the module is primarily to help patient's emergency processing wound in the case where offline or network is bad, in turn
It avoids delaying treatment, inevitably commonly uses surgical operation diagram module and common surgical operation video annotation module, diagram emergency
It instructs module, video, voice emergency to instruct all surgical operation robots arrived described in module, should all be included in surgery hand
In art robot inventory, and in Portable self-service medical kit, guarantee to make adequate preparation, but simultaneously, for difference
Being adapted to property of surgical operation robot change under occasion and application scenario, it is necessary to application is explored outdoors, mine excavates,
The surgical operation robot of flood rescue, scene of fire and simple outdoor activities etc. is different, and adaptability is also wanted to change,
In some cases, this Portable self-service medical kit can also be designed and be arranged directly together with other rescue tools, only
Guarantee to fetch conveniently.Specifically, surgical operation robot can be common Surigical tool, such as curved hemostatic forceps
(haemostatic clamp), straight blood-vessel forceps, right angle forceps, tissue shear, line cut, scalpel, surgical forceps, needle holder, suture needle, towel clamp towel forceps, can also be with
It is that there is the surgical operation work that can be realized above-mentioned Surigical tool function by PLC control device and electric
Tool.
In the above-described embodiments, the multi-angle photo display module of moveable display terminal, at least can be from three sides
To the wound situation of display patient, i.e. multi-angle video-unit includes at least three photographic devices, each photographic device connects
Connect moveable display terminal uploaded videos data.
Embodiment 2
As shown in figure 3, the Portable self-service medical kit of self-service remote service surgical operation robot system include cabinet 301,
Tool separate space 302, display terminal separate space 303 and upper cover 304 are placed in the foldable opening of moveable display terminal 100 aobvious
Show in terminal separate space 303, can according to need opening when in use, when not used storage save, usually can also display terminal every
Chamber 303 places isolating pad, places shipping damage.The liftable for storing surgical operation robot is equipped in tool separate space 302
Tool placement platform 305, the purpose of liftable tool placement platform 305 is the surgical operation in order to be placed in it
Robot hides when not used to be stored, convenient transportation, and conjunction can be removed or rotatably be covered to upper cover in top of the box position；It is more
Angle video device 102 includes at least three photographic devices, each photographic device is all connected with moveable display terminal, thus
Realize multi-angle camera shooting.
It can also be seen that coming from Fig. 3, multi-angle video-unit includes at least three photographic devices 1021, each camera shooting
Device passes through scalable metal bellows 1022 and connects moveable display terminal, to easily adjust each photographic device
Camera angle, facilitate doctor to observe wound situation and Wound healing and bone regeneration process, real-time instruction patient oneself treatment or patient
The Non-medical-staff of one side is treated.Scalable metal bellows 1022 since it is flexible preferably, can any telescopic direction and
It stretches within the scope of adjustable length, uses and more meet the requirements.
As shown in figure 4, bottom of box position is additionally provided with the support frame 306 that can be extracted out, the supporting element bottom setting that can be extracted out
Folding support leg 307, directly contacts when folding support leg is put down with ground, to reach support patient's injury
Purpose.
In the above-described embodiments, the supporting element side that can be extracted out is additionally provided with knob 308, comes for being pulled out, and
The flexible cushion 309 that thickness is not less than 3mm is additionally provided at the top of the supporting element that can be extracted out, patient can directly extract out soft when in use
Property bed course, pad is used above, and alleviates pain, has relatively good comfort.
It can also be seen that coming from Fig. 4, the bottom of box is equipped with roller structure 310, at least one side, which is equipped with drawbar 311, to be made
Its when in use, can be dragged away with direct pull drawbar, cabinet rolling can also be buttressed and dragged away, use is laborsaving, conveniently.
Embodiment 3
As shown in figure 3, the liftable tool placement platform 305 in the tool separate space 302 of Portable self-service medical kit, specific
When implementation, it is made using retractable support column 312(sponge or retractable material) and the liftable work of several compressed springs 313
Have placement platform, to rise surgical operation robot 200, is easy to use.The tool of being placed in is pushed down using upper cover when not in use
In separate space, guarantee that surgical operation robot 200 shakes when transport, guarantees that there is good security performance when transport, and also not
Damage surgical operation robot.The design, which is also an advantage that, is exactly, and Portable self-service medical kit can be moved repeatedly, repeatedly
It is dynamic.
It is inconsistent to can also be seen that several diameters can be set in liftable tool placement platform top from Fig. 3 and Fig. 4
Placement containing tube 314, for storing and fixing the Surigical tool of different-diameter.
What the embodiment of the present invention was announced is preferred embodiment, and however, it is not limited to this, the ordinary skill people of this field
Member, easily according to above-described embodiment, understands spirit of the invention, and make different amplification and variation, but as long as not departing from this
The spirit of invention, all within the scope of the present invention.
Claims (10)
1. self-service remote service surgical operation robot system, it is characterised in that: with moveable display terminal and outside
Section's operating robot, Portable self-service medical kit, online medical services platform, in which:
Moveable display terminal has the multi-angle photo display module that can show patient's trauma situations, and can be more than enough
The multi-angle video-unit of angle observation patient's wound；With the pressure sensor of patient's notch pain spot can be experienced, and have
It is communicated by network communication interface and online medical services platform with video or voice mode；
There is online medical services platform at least one response terminal to be consulted with supplying moveable display terminal surgery operating technology
Ask service, each response terminal have vision operation module to the session module of wound diagnosis and for observing wound,
For obtain patient pain data pressure data obtain module, record patient's damaged condition diagnosis patient's condition output module,
Network communication interface；
Portable self-service medical kit, it is internal for loading and protecting moveable display terminal and surgical operation robot
Also have disinfection and analgesic drug products；
Surgical operation robot is removably positioned in inside Portable self-service medical kit.
2. self-service remote service surgical operation robot system according to claim 1, it is characterised in that: online medical treatment
For the vision operation module of service platform for amplifying and reducing ground switching observation patient's notch in time, the module cooperative is removable
Display terminal pressure sensor obtain patient's tolerance precise information.
3. self-service remote service surgical operation robot system according to claim 2, it is characterised in that: online medical treatment
Each response terminal of service platform can transfer the case history and reality of same patient using patient status's information as foundation online
When check information, treatment results.
4. self-service remote service surgical operation robot system according to claim 1, it is characterised in that: online medical treatment
Service is flat to be additionally provided with the emergency hemostasis being stored on its server and instructs module, common surgical operation diagram module and common outer
Section's operation video frequency explains module, wherein:
Module is instructed in emergency hemostasis, and the diagram emergency to be constituted with diagram, video and speech pattern instructs module, video, language
Sound emergency instructs module, and it is each in module that above-mentioned diagram emergency instructs module, video emergency that module, voice emergency is instructed to instruct
It includes that emergency hemostasis, points for attention and tool usage instruct module that a emergency, which instructs module, wherein module is instructed in diagram
It is used cooperatively with voice guidance module, video module instructs module to be used cooperatively with diagram；
Common surgical operation diagram module and common surgical operation video annotation module, for diagram and video annotation surgery
The treatment process and method that operation is saved oneself.
5. self-service remote service surgical operation robot system according to any one of claims 1-4, feature exist
In: the multi-angle photo display module of moveable display terminal can at least show the wound situation of patient from three directions,
I.e. multi-angle video-unit includes at least three photographic devices, each photographic device is all connected with moveable display terminal and uploads
Video data.
6. self-service remote service surgical operation robot system according to claim 1, it is characterised in that: it is portable from
Helping medical kit includes cabinet, tool separate space, display terminal separate space and upper cover, is placed in the foldable opening of display terminal display eventually
It holds in separate space, the liftable tool placement platform for storing surgical operation robot is equipped in tool separate space, upper cover is desirable
Lid is closed in top of the box position down or rotatably；Multi-angle video-unit includes at least three photographic devices, each is taken the photograph
As device is all connected with moveable display terminal.
7. self-service remote service surgical operation robot system according to claim 6, it is characterised in that: multi-angle view
Frequency device includes at least three photographic devices, and it is moveable aobvious that each photographic device passes through scalable metal bellows connection
Show terminal.
8. self-service remote service surgical operation robot system according to claim 6, it is characterised in that: the bottom of box
Position is additionally provided with the support frame that can be extracted out, and folding support leg, folding support leg is arranged in the supporting element bottom that can be extracted out
It is directly contacted when putting down with ground.
9. self-service remote service surgical operation robot system according to claim 8, it is characterised in that: can extract out
Supporting element side is additionally provided with knob, and the flexible cushion that thickness is not less than 3mm is additionally provided at the top of the supporting element that can be extracted out.
10. self-service remote service surgical operation robot system, feature described according to claim 6 or 7 or 8 or 9 exist
In: the bottom of box is equipped with roller structure, at least one side is equipped with drawbar.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811448268.6A CN109806001A (en) | 2018-11-30 | 2018-11-30 | Self-service remote service surgical operation robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811448268.6A CN109806001A (en) | 2018-11-30 | 2018-11-30 | Self-service remote service surgical operation robot system |
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| CN109806001A true CN109806001A (en) | 2019-05-28 |
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| CN111768860A (en) * | 2020-08-11 | 2020-10-13 | 徐航 | Method for realizing in-situ hospitalization of user by using telemedicine robot system |
| CN112786219A (en) * | 2021-03-09 | 2021-05-11 | 中南大学 | Medical care management method, system and device |
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