CN111513853B - Catheter manipulation device and system - Google Patents
Catheter manipulation device and system Download PDFInfo
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- CN111513853B CN111513853B CN202010389867.6A CN202010389867A CN111513853B CN 111513853 B CN111513853 B CN 111513853B CN 202010389867 A CN202010389867 A CN 202010389867A CN 111513853 B CN111513853 B CN 111513853B
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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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
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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
Abstract
The invention provides a control device and a system of a catheter, wherein the catheter is used for extending into the body of a patient to repair a focus part, the control device is in communication connection with a processing device, the control device controls the motion of the catheter through the processing device, and the control device comprises: the device comprises a supporting table, a control assembly and a collecting device, wherein the control assembly is movably arranged on the supporting table along a first direction and is telescopic along the first direction; the acquisition device is used for acquiring first data of the control assembly moving along the first direction and sending corresponding operation instructions to the processing device based on the acquired first data so as to control the catheter to advance or retreat along the axial direction of the catheter; and acquiring second data of the control assembly stretching along the first direction, and sending corresponding operation instructions to the processing device based on the acquired second data to control the bending or straightening of the catheter. The operation and control device of the catheter is simple and convenient to operate and accords with the operation habit of an operator, so that the convenience of catheter movement control is improved.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a catheter control device and a catheter control system.
Background
In the related technology, the remote control operation of the radiofrequency ablation catheter mechanical arm adopts a universal human-computer interface, and the remote control instruction control of the complicated catheter control action is realized through a knob or a rocker.
The technical scheme has the following defects: the operation habit of a doctor is changed, and the operation of manually controlling the catheter cannot be simulated, so that the manual operation experience accumulated by the doctor for many years is wasted; moreover, the operator cannot complete complex manipulation control of the catheter with one hand, requiring learning and training of the cooperative operation of both hands.
Disclosure of Invention
The invention provides a catheter control device and a catheter control system, aiming at solving the technical problem of improving the convenience of catheter movement control.
According to an embodiment of the present invention, a catheter control device for extending into a patient for performing a focal site repair, the catheter control device being communicatively connected to a processing device, the control device controlling movement of the catheter through the processing device, the control device comprising:
a support table;
the control assembly is movably arranged on the support table along a first direction and is telescopic along the first direction;
the acquisition device is used for acquiring first data of the control assembly moving along the first direction and sending corresponding operation instructions to the processing device based on the acquired first data so as to control the catheter to advance or retreat along the axial direction of the catheter; and acquiring second data of the control assembly stretching along the first direction, and sending corresponding operation instructions to the processing device based on the acquired second data to control the bending or straightening of the catheter.
According to the control device of the catheter, the forward and backward control of the catheter can be realized by controlling the control assembly to move along the first direction, the bending and straightening control of the catheter can be realized by controlling the control assembly to stretch along the first direction, the operation is simple and convenient, the operation habit of an operator is met, and the convenience in movement control of the catheter is improved.
According to some embodiments of the invention, the control assembly comprises:
a support section provided on the support table to be movable in the first direction;
a handle connected with the support portion;
a slide bar movably connected with the handle in the first direction;
when the sliding handle moves along the first direction, the telescopic operation of the control assembly is realized so as to control the bending or straightening of the catheter.
In some embodiments of the present invention, the handle may be circumferentially rotatable relative to the support portion, and when the handle is circumferentially rotated, the collecting device collects third data of the circumferential rotation of the handle, and sends a corresponding operation instruction to the processing device to control the catheter to circumferentially rotate based on the collected third data.
According to some embodiments of the invention, the support table is provided with a first scale for indicating a distance of movement of the control assembly in the first direction, and the support is provided with a second scale for indicating an angle of rotation of the handle.
In some embodiments of the invention, the support table is provided with a clear reset key for controlling the control assembly to return to an initial position.
According to some embodiments of the invention, the support is provided with an angle adjustment module for adjusting the angle of inclination of the handle relative to the support table.
In some embodiments of the invention, the manipulation device further comprises: the simulation tube is used for simulating the tube,
the simulation pipe with the control assembly is connected the in-process that the control assembly moved telescopically, on the one hand, the control assembly directly drives the simulation pipe carries out corresponding motion, and on the other hand, the collection processing apparatus gathers simultaneously the flexible removal data of control assembly and based on flexible removal data send corresponding operating command with the processing apparatus is in order to control the pipe with the motion that the simulation pipe carries out the synchronization.
According to some embodiments of the invention, the simulation tube comprises:
the pipe body is connected with the control assembly;
the traction wire is arranged in the tube body and is connected with the control assembly;
when the control assembly stretches along the first direction, the control assembly drives the traction wire to move so as to control the simulation tube to be bent or straightened.
A control system for a catheter according to an embodiment of the present invention includes:
a manipulation device, wherein the manipulation device is a manipulation device of the catheter;
a robotic arm assembly connected to the conduit;
the processing device is connected with the control device and the mechanical arm assembly, receives an operation instruction of the control device and controls the movement of the mechanical arm assembly according to the operation instruction so as to control the movement of the catheter.
According to the control system of the catheter, an operator can simulate the operation mode of the manual catheter through the control device, and the operation habit of the operator is met. The operator can realize the axial displacement, the circumferential direction rotation and the straightening bending control of the catheter through controlling the control system by a single hand, and the operation is convenient.
According to some embodiments of the invention, the manipulation device is provided with a mode switching module for providing the control system with a function of switching between a simulation mode and a surgical mode;
when the control system is switched to the surgical mode, the control assembly controls the catheter to move;
when the control system is switched to the simulation mode, the control assembly controls the simulation tube to move.
Drawings
Fig. 1 is a schematic structural view of a catheter manipulation device according to an embodiment of the present invention.
Reference numerals:
a manipulation device 100;
the support table 10, the forward trigger switch 110, the backward trigger switch 120, the clear reset key 130, the forward and backward reset key 131, the curved reset key 132 and the rotary reset key 133;
the device comprises a control assembly 20, a supporting part 210, an angle adjusting die 211, a rotary trigger switch 212, a handle 220, a sliding cavity 221, a bending trigger switch 222, a sliding handle 230 and a slot part 240;
a dummy tube 30, a tube body 31, a pull wire 32, a first attachment point 321, a second attachment point 322, an electrode 33;
a connecting wire 40 and a plug portion 410.
Detailed Description
To further explain the technical means and effects of the present invention adopted to achieve the intended purpose, the present invention will be described in detail with reference to the accompanying drawings and preferred embodiments.
The catheter manipulation device 100 according to the embodiment of the present invention, the catheter is used for extending into a patient to repair a lesion, and the manipulation device 100 is communicatively connected to the processing device, where the "communication connection" may be a wired communication connection or a wireless communication connection. The processing device may be a processing device, such as a computer, having functions of receiving signals, processing signals, and transmitting signals. The steering device 100 controls the movement of the catheter through the processing device.
As shown in fig. 1, the manipulation device 100 includes: support table 10, control assembly 20, and acquisition devices (not shown).
Wherein, the control assembly 20 is movably disposed on the supporting platform 10 along a first direction, and the control assembly 20 is retractable along the first direction. The "first direction" as referred to herein may be understood as an extending direction of the control assembly 20, such as a front-back direction as indicated in the state of the operation device 100 shown in fig. 1. The control assembly 20 is movable in a fore-and-aft direction with respect to the support table 10, and the control assembly 20 is also extendable and retractable in the fore-and-aft direction.
The acquisition device is used for acquiring first data of the control assembly 20 moving along the first direction and sending corresponding operation instructions to the processing device based on the acquired first data so as to control the catheter to advance or retreat along the axial direction of the catheter; second data of the control assembly 20 extending and retracting in the first direction is acquired, and corresponding operation instructions are sent to the processing device based on the acquired second data to control the bending or straightening of the catheter.
It should be noted that, the operator may control the control assembly 20 to move along the first direction, the collecting device may collect first data of the control assembly 20 along the first direction, and send a corresponding operation instruction to the processing device based on the first data, and the processing device may control the guide pipe to advance or retreat along the axial direction thereof according to the received operation instruction.
For example, when the operator moves the control assembly 20 forward in a first direction, the acquisition device may acquire data of the forward movement of the control assembly 20 and send corresponding forward operation instructions to the processing device, which receives the forward operation instructions and controls the catheter to move forward. The principle of controlling the backward movement of the catheter is similar to the principle of controlling the forward movement of the catheter and will not be described in detail herein.
The operator can also control the control assembly 20 to extend and retract along the first direction, and the acquisition device can acquire second data of the control assembly 20 along the first direction and send an operation instruction to the processing device to control the straightening and bending of the catheter based on the second data.
For example, when the operator needs to control the catheter to be straightened, the control assembly 20 may be shortened in the first direction, the acquisition device acquires the shortening data of the control assembly 20 and sends an operation instruction for straightening the catheter to the processing device, and the processing device receives the operation instruction for straightening the catheter and controls the catheter to be straightened. The operation principle of the control catheter for bending is similar to that of the control catheter for straightening, and the description thereof is omitted.
According to the catheter control device 100 provided by the embodiment of the invention, the forward and backward control of the catheter can be realized by controlling the control component 20 to move along the first direction, the bending and straightening control of the catheter can be realized by controlling the control component 20 to stretch along the first direction, the operation is simple and convenient, the operation habit of an operator is met, and the convenience for controlling the movement of the catheter is improved.
According to some embodiments of the present invention, as shown in FIG. 1, the control assembly 20 includes: a support portion 210, a handle 220, and a slider 230.
The support portion 210 is movably provided to the support table 10 along the first direction. The length of the support portion 210 may be set to not less than 2cm, and the support weight of the support portion 210 may be set to not less than 2 kg. The support table 10 may be provided with a chute, and the length of the chute may be greater than or equal to 5 cm. The support portion 210 cooperates with the sliding slot, so that the support portion 210 can move the handle 220 and the sliding bar 230 in a first direction relative to the supporting platform 10. It is to be understood that the above described movement engagement is only illustrative and is not to be construed as a specific limitation of the present invention. In the actual machining design, it is sufficient that the support portion 210 and the support table 10 are movably engaged in the first direction.
It should be noted that, as shown in fig. 1, the support table 10 may be provided with a forward trigger switch 110 and a backward trigger switch 120, when the support portion 210 moves forward on the support table 10, the forward trigger switch 110 may be triggered to generate forward data, and the acquisition device may acquire the forward data and send a forward operation instruction to the processing device based on the forward data, so that the processing device controls the guide tube to move forward along the axial direction thereof. The principle of operation of the trigger retraction trigger switch 120 to control retraction of the catheter in its axial direction is similar to the principle of control of advancement of the catheter in its axial direction and will not be described in detail herein.
The handle 220 is connected to the support portion 210, and the slider 230 is movably connected to the handle 220 in the first direction. When the sliding handle 230 is moved in a first direction, a telescoping operation of the control assembly 20 is effected to control the bending or straightening of the catheter.
As shown in fig. 1, both the handle 220 and the sliding bar 230 may be configured in a cylindrical shape, and the length of the handle 220 may be designed to be not less than 5cm and the diameter may be designed to be not less than 5 mm. The handle 220 may be provided with a slide chamber 221 extending in an axial direction thereof, one end of the slide lever 230 protrudes into the slide chamber 221 and is movable within the slide chamber 221, and a maximum moving distance of the slide lever 230 may be set to not less than 5 mm. For example, as slide handle 230 is moved rearward within slide cavity 221, a shortening operation of control assembly 20 may be achieved to control a catheter to be straightened by the treatment device; when the sliding handle 230 is previously moved within the sliding chamber 221, an extension operation of the control assembly 20 may be achieved to control the catheter to perform a bending operation via the treatment device. The sliding cavity 221 may be provided with a bending trigger switch 222, the control assembly 20 may trigger the bending trigger switch 222 when extending or retracting to generate second data, and the acquisition device may acquire the second data and transmit a corresponding operation instruction for controlling the bending or straightening of the catheter to the processing device, so as to control the catheter to perform bending and straightening operations.
In some embodiments of the present invention, the handle 220 is circumferentially rotatable with respect to the support portion 210, and the maximum rotation amplitude of the handle 220 may be designed to be not less than 90 degrees. As shown in fig. 1, the supporting portion 210 may be provided with a pivot hole, and the handle 220 may be rotatably engaged with the supporting portion 210 through the pivot hole.
The support portion 210 may be provided with a rotation trigger switch 212, when the handle 220 rotates circumferentially, the rotation trigger switch 212 is triggered to generate third data, the acquisition device acquires the third data of the handle 220 rotating circumferentially and sends a corresponding operation instruction to the processing device based on the acquired third data to control the catheter to rotate circumferentially. Therefore, the operator can control the circumferential rotation of the catheter by rotating the handle 220 in the circumferential direction, and the operation habit of the operator is met.
According to some embodiments of the present invention, the support table 10 is provided with a first scale for indicating the moving distance of the control assembly 20 along the first direction, for example, the support table 10 may be provided with a millimeter or centimeter scale along the first direction, so that an operator can accurately control the moving distance of the control assembly 20 along the first direction. The support portion 210 may be provided with a second scale for indicating a rotation angle of the handle 220. For example, the support portion 210 may be provided with an angle scale so that an operator can accurately grasp the circumferential rotation angle of the control assembly 20.
In some embodiments of the present invention, the support table 10 is provided with a clear reset key 130 for controlling the return of the control assembly 20 to the initial position. As shown in FIG. 1, clear reset key 130 may include: a forward and backward reset key 131, a curved reset key 132 and a rotary reset key 133.
It should be noted that, as described above, when the operator moves the control assembly 20 forward, the guide tube can be controlled to move forward in the axial direction thereof. However, the distance that the control assembly 20 moves forward is limited and the guide tube cannot be controlled to move forward along its axis indefinitely. The advance and retreat reset key 131 may be activated when the operator controls the control assembly 20 to move forward to a threshold distance, at which point the position of the catheter may be temporarily locked, the control assembly 20 advancement control data is zeroed and the control assembly 20 is retracted to the proper position, and then the control assembly 20 may be moved forward again to control the catheter to continue its axial advancement. The principles of the curved reset key 132 and the rotational reset key 133 are similar to those of the advancing and retreating reset key 131 and will not be described in detail herein.
As shown in fig. 1, according to some embodiments of the present invention, the supporting part 210 is provided with an angle adjusting module 211 for adjusting an inclination angle of the handle 220 with respect to the supporting table 10.
In the state of the control device 100 shown in fig. 1, the extending direction of the handle 220 extends in the front-rear direction shown in the drawing, and in this case, the extending direction of the handle 220 is parallel to the top surface of the support base 10, so that the operator can move the control device in the front-rear direction. However, different operators have different operation habits, for example, some operators may be used to tilt the operating handle 220 downward or upward, and at this time, the tilt angle of the operating handle 220 may be adjusted by the angle adjusting module, so that the operator can find the operating angle suitable for himself. This increases the comfort and convenience of use of the control device 100.
In some embodiments of the present invention, as shown in fig. 1, the manipulation device 100 further comprises: simulating a tube 30.
The simulation pipe 30 is connected with the control assembly 20, and in the process of the telescopic movement of the control assembly 20, on one hand, the control assembly 20 directly drives the simulation pipe 30 to move correspondingly, and on the other hand, the acquisition and processing device simultaneously acquires the telescopic movement data of the control assembly 20 and sends a corresponding operation instruction to the processing device based on the telescopic movement data so as to control the catheter and the simulation pipe 30 to move synchronously.
It should be noted that when the operator manipulates the catheter to move through the manipulation device 100, the simulation tube 30 connected to the control module 20 moves in synchronization with the catheter. Therefore, the operator can conveniently acquire the moving posture of the catheter by observing the moving posture of the simulation tube 30, so that the movement adjustment of the catheter can be more convenient and accurate.
According to some embodiments of the present invention, as shown in FIG. 1, the simulated tube 30 comprises: a tube 31 and a pull wire 32.
Wherein, the body 31 is connected with the control assembly 20, and the haulage wire 32 is located in the body 31, and the haulage wire 32 is connected with the control assembly 20.
As the control assembly 20 is extended and retracted in a first direction, the control assembly 20 moves the pull wire 32 to control the bending or straightening of the mock tube 30.
As shown in fig. 1, a pull wire 32 is inserted into the catheter, and the pull wire 32 may be a steel wire or other material. One end of the pull wire 32 may be secured within the body 31 by a first attachment point 321 and the other end of the pull wire 32 may be secured to the handle 220 or the slider 230 by a second attachment point 322. The simulator tube 30 may be driven by the pull wire 32 to straighten or bend as the sliding stem 230 slides relative to the handle 220.
In addition, as shown in fig. 1, in some embodiments of the present invention, the length of the supporting platform 10 in the front-back direction may be set to 18cm, and a key setting area with a length of 4cm may be provided near the front side of the supporting platform 10 for setting the clear reset key 130. The overall height of the control device above the support table 10 may be set to 10 cm.
The catheter comprises a curved section and a flat section, the curved section being provided with electrodes 33. The straight section has a length of 10cm and the curved section forms a semi-circle having a radius of 1cm when the catheter is bent to the condition shown in figure 1.
It should be noted that the catheter may be a radio frequency ablation catheter for extending into a patient for ablation recovery procedures.
In some related art, the basic actions of manually operating the rf ablation catheter by an operator (e.g., a clinician) holding the catheter operating handle 220 include the following:
1. rapid (cm/s) or slow (mm/s) advancement or retraction of the catheter;
2. rotating the catheter in a positive or negative direction at a high speed (more than 5 degrees/s) or a low speed (1-2 degrees/s);
3. the head end of the catheter is bent or straightened in a single direction with large amplitude (more than 5 degrees/s) or small amplitude (1-2 degrees/s);
4. manipulating the catheter in the 2 or more compound motions;
5. stabilize the catheter for a long time (30-60s) under any one compound action.
This way of manipulation has the following drawbacks:
1. an operator needs to directly hold the catheter handle beside an operating bed for operation, and needs to wear a lead garment to avoid radiation;
2. because the catheter needs to be finely controlled for a long time, the fatigue of hands, the strain of finger tendons and the like easily occur, and misoperation or action failure is caused;
3. because the catheter handle does not have a power assisting device, a beginner can preliminarily master the control process and skill only by long-time high-intensity learning and training, the control experience is gradually accumulated, and the learning and training time for realizing independent operation and safe operation is very long.
In other related technologies, the remote control operation of the mechanical arm of the radiofrequency ablation catheter adopts a universal human-computer interface, and the remote control instruction control of complex control actions is realized through a knob or a rocker. The above scheme has the following disadvantages:
1. manual catheter operation cannot be simulated, the operation habit of a doctor is changed, and the compliance is reduced;
2. the operation process is not intuitive, manual operation experience accumulated by doctors for many years cannot be covered, and the proficiency is reduced;
3. complex control actions can not be completed by one hand, the cooperative operation of both hands needs to be learned and trained, and the learning time is prolonged.
In the catheter control device 100 provided by the invention, the remote control device 100 of the catheter mechanical arm is designed and manufactured by simulating the radio frequency ablation catheter handle 220, so that manual catheter operation can be simulated, remote control of the catheter mechanical arm is completed on the premise of keeping the conventional manual operation mode and habit, an operator can keep an intuitive manual operation process, and manual operation experience accumulated by the operator for many years can be reserved and applied. In addition, an operator can complete complex operation and control actions with one hand, operation efficiency is improved, operation intensity is reduced, and learning time is shortened. In addition, the operation risk caused by misoperation due to hand fatigue of an operator can be avoided, and the working strength and the occupational injury of the hand of the operator are obviously reduced.
A control system for a catheter according to an embodiment of the present invention includes: a manipulation device 100, a manipulator arm assembly and a processing device.
The manipulating device 100 is the above-mentioned catheter manipulating device 100, and the mechanical arm assembly is connected to the catheter.
The processing device is connected with the control device 100 and the mechanical arm assembly, receives the operation instruction of the control device 100, and controls the movement of the mechanical arm assembly according to the operation instruction so as to control the movement of the catheter.
For example, the processing device may be a computer, and the computer may be connected in wired or wireless communication with the manipulation device 100 and the robot assembly. The operator can send an operation instruction to the computer through the manipulating device 100, and the computer can control the mechanical arm assembly to drive the catheter to move correspondingly based on the received operation instruction.
According to the control system of the catheter of the embodiment of the invention, an operator can simulate the operation mode of the manual catheter through the control device 100, and the operation habit of the operator is met. The operator can realize the axial displacement, the circumferential direction rotation and the straightening bending control of the catheter through controlling the control system by a single hand, and the operation is convenient.
As shown in fig. 1, the processing device and the control device 100 can be connected by a connection line 40, the connection line 40 has a plug portion 410, and the control device 100 is provided with a matching socket portion 240. When the plug portion 410 is inserted into the socket portion 240, the forward trigger switch 110, the backward trigger switch 120, the rotary trigger switch 212, the forward/backward reset key 131, the curved reset key 132, the rotary reset key 133, and the like are connected to the connection line 40 through a wire.
According to some embodiments of the present invention, the manipulation device 100 is provided with a mode switching module for providing the control system with a function of switching between a simulation mode and a surgical mode.
When the control system switches to the surgical mode, the control assembly 20 controls the catheter to move; when the control system switches to the simulation mode, the control assembly 20 controls the simulation tube 30 to move.
It should be noted that the control system of the catheter may have a simulation mode and a surgical mode, and is provided with a mode switching module. When the control system is switched to the simulation mode, the operation of the control device 100 only drives the simulation tube 30 to move correspondingly, or the control device 100 can be connected to a simulation ablation catheter operation teaching system, and the operation instruction generated by the operation of the control device 100 can display the simulation motion of the catheter through a computer, rather than controlling the motion of the catheter positioned in the patient. Therefore, training teaching and simulation exercise can be performed. When the control system is switched to the operation mode, the operation of the control device by the operator can generate an operation instruction and send the operation instruction to the processing device, and the processing device controls the catheter to move correspondingly through the mechanical arm assembly based on the operation instruction.
From this, have two kinds of modes of simulation mode and operation mode through setting up the pipe system, further improved control system's function and practicality, can cooperate three-dimensional operation teaching training system work, the hand-in rate is high, guarantees to take the teacher to realize high-efficient teaching and training under current operation custom and the guidance of operation experience, shortens training study time.
The specific use method of the control system of the catheter provided by the invention comprises the following steps:
s100, pressing the reset key 130 to reset the zero position of the control component 20 and the zero position of the roller of the handle 220;
s200, the handle 220 is held by the right hand, and the telescopic sliding handle 230 is held by the thumb and the forefinger. When the handle 220 is sent or retreated, the control device 100 sends an operation instruction to the processing device, the processing device controls the mechanical arm assembly to control the catheter to advance or retreat according to the operation instruction, and the advancing or retreating speed and amplitude of the catheter are consistent with the movement of the handle 220;
s300, when the handle 220 is rotated forwards or backwards, the control device 100 sends an operation instruction to the processing device, the processing device controls the mechanical arm assembly to control the catheter to rotate forwards or backwards according to the operation instruction, and the rotation speed and amplitude of the catheter are consistent with the motion of the handle 220;
s400, when the telescopic sliding handle 230 is currently sent or withdrawn to stretch or retract the control assembly 20, the control device 100 sends an operation instruction to the processing device, the processing device controls the mechanical arm assembly to control the head end of the catheter to be bent or straightened according to the operation instruction, and the speed and amplitude of the bending or straightening of the catheter are consistent with the motion of the sliding handle 230;
s500, when the mode is switched to a training mode, the device can be matched with a three-dimensional teaching system to complete simulation operation teaching and training.
While the invention has been described in connection with specific embodiments thereof, it is to be understood that it is intended by the appended drawings and description that the invention may be embodied in other specific forms without departing from the spirit or scope of the invention.
Claims (9)
1. A catheter steering device for extending into a patient for performing a focal site repair, the steering device being communicatively coupled to a processing device, the steering device controlling movement of the catheter through the processing device, the steering device comprising:
a support table;
the control assembly is movably arranged on the support table along a first direction and is telescopic along the first direction;
the acquisition device is used for acquiring first data of the control assembly moving along the first direction and sending corresponding operation instructions to the processing device based on the acquired first data so as to control the catheter to advance or retreat along the axial direction of the catheter; acquiring second data of the control assembly stretching along the first direction, and sending corresponding operation instructions to the processing device based on the acquired second data to control the bending or straightening of the catheter;
the control assembly includes:
a support section provided on the support table to be movable in the first direction;
a handle connected with the support portion;
a slide bar movably connected with the handle in the first direction;
when the sliding handle moves along the first direction, the telescopic operation of the control assembly is realized so as to control the bending or straightening of the catheter.
2. The catheter manipulation device of claim 1, wherein the handle is circumferentially rotatable relative to the support portion, and when the handle is circumferentially rotated, the acquisition device acquires third data of the circumferential rotation of the handle and sends a corresponding operation command to the processing device based on the acquired third data to control the circumferential rotation of the catheter.
3. The catheter manipulation device of claim 2, wherein the support platform is provided with a first scale for indicating the distance the control assembly is moved in the first direction, and the support platform is provided with a second scale for indicating the degree of rotation of the handle.
4. The catheter manipulation device of claim 3, wherein the support platform is provided with a reset zero key for controlling the control assembly to return to an initial position.
5. The catheter manipulation device of claim 1, wherein the support portion is provided with an angle adjustment module for adjusting an inclination angle of the handle with respect to the support table.
6. The catheter manipulation device of claim 1, further comprising: the simulation tube is used for simulating the tube,
the simulation pipe with the control assembly is connected control assembly's flexible removal in-process, on the one hand, control assembly directly drives control assembly carries out corresponding motion, on the other hand, collection system gathers simultaneously control assembly's flexible removal data and based on flexible removal data send corresponding operating instruction with the processing apparatus is in order to control the pipe with the motion that the simulation pipe carries out the synchronization.
7. The catheter manipulation device of claim 6, wherein the simulated tube comprises:
the pipe body is connected with the control assembly;
the traction wire is arranged in the tube body and is connected with the control assembly;
when the control assembly stretches along the first direction, the control assembly drives the traction wire to move so as to control the simulation tube to be bent or straightened.
8. A control system for a catheter, comprising:
a steering device for a catheter according to any one of claims 1-7;
a robotic arm assembly connected to the conduit;
the processing device is connected with the control device and the mechanical arm assembly, receives an operation instruction of the control device and controls the movement of the mechanical arm assembly according to the operation instruction so as to control the movement of the catheter.
9. The catheter control system of claim 8, wherein the steering device is provided with a mode switching module for providing the control system with a function of switching between a simulation mode and a surgical mode;
when the control system is switched to the surgical mode, the control assembly controls the catheter to move;
when the control system is switched to the simulation mode, the control assembly controls the simulation tube to move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010389867.6A CN111513853B (en) | 2020-05-11 | 2020-05-11 | Catheter manipulation device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010389867.6A CN111513853B (en) | 2020-05-11 | 2020-05-11 | Catheter manipulation device and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5876325A (en) * | 1993-11-02 | 1999-03-02 | Olympus Optical Co., Ltd. | Surgical manipulation system |
| US8202244B2 (en) * | 2005-07-11 | 2012-06-19 | Catheter Robotics, Inc. | Remotely controlled catheter insertion system |
| WO2012073789A1 (en) * | 2010-11-30 | 2012-06-07 | オリンパス株式会社 | Master control input device and master-slave manipulator |
| US9566414B2 (en) * | 2013-03-13 | 2017-02-14 | Hansen Medical, Inc. | Integrated catheter and guide wire controller |
| JP6117922B2 (en) * | 2013-06-13 | 2017-04-19 | テルモ株式会社 | Medical manipulator and method of operating the same |
| FR3016512B1 (en) * | 2014-01-23 | 2018-03-02 | Universite De Strasbourg | MASTER INTERFACE DEVICE FOR MOTORIZED ENDOSCOPIC SYSTEM AND INSTALLATION COMPRISING SUCH A DEVICE |
| CN107249491A (en) * | 2015-06-01 | 2017-10-13 | 奥林巴斯株式会社 | Medical manipulator |
| DE102018104714A1 (en) * | 2018-03-01 | 2019-09-05 | Karl Storz Se & Co. Kg | Telemanipulator system and method for operating a telemanipulator system |
| CN209611307U (en) * | 2018-09-30 | 2019-11-12 | 泗洪县正心医疗技术有限公司 | A kind of tubulose Combined operation robot |
| CN110859674B (en) * | 2019-11-26 | 2020-11-20 | 北京唯迈医疗设备有限公司 | Main end control device of interventional operation robot |
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