CN110448378B - Immersive intervention operation integrated console - Google Patents
Immersive intervention operation integrated console Download PDFInfo
- Publication number
- CN110448378B CN110448378B CN201910745395.0A CN201910745395A CN110448378B CN 110448378 B CN110448378 B CN 110448378B CN 201910745395 A CN201910745395 A CN 201910745395A CN 110448378 B CN110448378 B CN 110448378B
- Authority
- CN
- China
- Prior art keywords
- control
- dsa
- console
- button
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- 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
-
- 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
- A61B2034/742—Joysticks
-
- 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
- A61B2034/743—Keyboards
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The invention discloses an immersive intervention operation integrated console, which is used for remotely controlling a DSA and a robot part in an operating room; the console is arranged outside the operating room; the display area comprises a plurality of display screens, is arranged on the table top of the console and is used for feeding back real-time images in the operating room; the control area comprises a plurality of groups of buttons and control rockers which are electrically connected with the control ends of the DSA and the robot part, and is arranged on the table surface of the console and used for controlling the DSA and the robot part; the pedal part is arranged at the bottom of the console and is used for controlling the exposure of the DSA; the control cabinet is arranged outside the operating room and is respectively and electrically connected with the DSA, the robot part, the display area, the control area and the control end of the pedal part. The invention can remotely realize DSA and robot control, greatly improves the immersion feeling of remote control of an interventional doctor, is easy to use and safe, changes the traditional interventional diagnosis and treatment process and realizes interventional operation under zero radiation dose.
Description
Technical Field
The invention relates to the technical field of minimally invasive interventional therapy, in particular to an integrated console for an immersive interventional operation.
Background
Interventional minimally invasive therapy is an emerging discipline which is rapidly developed in recent years and integrates image diagnosis and clinical therapy. Under the guidance and monitoring of image equipment such as a digital subtraction angiography machine and the like, a series of technologies for introducing specific instruments into a human pathological change part through natural pores or tiny wounds of a human body by using puncture needles, catheters and other interventional devices to carry out minimally invasive treatment are generally known. The traditional interventional operation needs a doctor to stand beside a catheter bed, and corresponding operation of a catheter guide wire is carried out by combining image positioning information acquired by real-time X-ray radiation, the typical interventional operation time is 40 minutes to 1 half hour, the doctor is difficult to avoid uninterrupted X-radiation, particularly in China, a large number of interventional doctors carry out overload work, the operation amount is more than several times of that of European and American doctors, a large number of occupational diseases such as reduction of leucocytes, low immunity, alopecia and the like are caused by long-term large-amount radiation, the morbidity of diseases such as leucocytes, cancers and the like is greatly increased, and the health of the interventional doctors is seriously threatened.
In order to solve the problem of excessive X-ray radiation, in recent years, the research of an interventional operation robot is started, various motions of a guide wire of a catheter are realized by simulating the hand motions of a doctor, the doctor remotely controls the operation without completing the operation beside a catheter bed, the problem of ray radiation is avoided, and the interventional operation robot has great clinical value.
Although great benefit is provided, the actual clinical intervention robot is not ideal in popularization, and on the one hand, the intervention robot needs to be perfect in precision and reliability in the control process, and on the other hand, the complexity of the real-time process of the intervention operation is not fully considered, so that the usability is poor.
The delivery process of the interventional operation catheter guide wire and the operation of interventional image equipment such as DSA are closely combined and alternately carried out, if the position of a catheter bed is repeatedly changed, the position of a C-arm frame is changed, a wire harness device is controlled, image control and the like are realized, the interventional robot only realizes remote control of the catheter guide wire, the remote control cannot be realized by a series of DSA operations, the great inconvenience is brought, a doctor still needs to frequently enter the equipment for operation, the operation time is generally prolonged by about 1 hour, and the enthusiasm of the doctor for using the interventional robot is greatly reduced.
Intervene the operation simultaneously and regard as the higher invasive operation of risk, the security is the most important consideration, and the doctor can use the eyes of self at the pipe bed operation, and the ear comes to discern the risk, in case become remote operation, and the integrative environment of sound light electricity is built to urgent needs, fully simulate and intervene operation process pipe room environment, gives doctor comprehensive information.
The prior art has the following problems:
(1) the traditional DSA equipment cannot be remotely controlled, various motion functions and exposure functions need to be completed beside the DSA equipment;
(2) the interventional robot control and the DSA control are mutually independent and lack of cooperation;
(3) during the intervention remote operation, the auxiliary information such as video images, wound images, voice and the like of a patient are not integrated.
Therefore, how to provide a console capable of remotely implementing control over DSA and robots is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides an immersive interventional operation integrated console, which can remotely realize control over a DSA and a robot, greatly improves the immersion feeling of remote control of an interventional doctor, is easy to use and safe, changes the traditional interventional diagnosis and treatment process, and realizes an interventional operation under a 'zero' radiation dose.
In order to achieve the purpose, the invention adopts the following technical scheme:
an integrated console for immersive intervention operation is used for remotely controlling DSA and a robot part in an operating room; the method comprises the following steps: the device comprises a console, a display area, a control area, a pedal part and a control cabinet;
the console is arranged outside the operating room;
the display area comprises a plurality of display screens, is arranged on the table top of the console and is used for feeding back real-time images in the operating room;
the control area comprises a plurality of groups of buttons and control rocking bars which are electrically connected with the DSA and the control end of the robot part, is arranged on the table surface of the console and is used for controlling the DSA and the robot part;
the foot pedal part is arranged at the bottom of the console and is used for controlling the exposure of the DSA;
the control cabinet is arranged outside the operating room and is respectively and electrically connected with the DSA, the robot part, the display area, the control area and the control end of the pedal part.
Through the technical scheme, the DSA robot is used in an interventional operation, and a doctor can control the DSA robot and the interventional operation robot independently or simultaneously as required outside an operating room; this integration control cabinet's is multiple functional, can realize in the operating room to DSA and robot's whole control function, has built complete intervention operating room environment, has promoted the sense of immersing of intervention doctor remote control by a wide margin, and ease for use and security have changed traditional intervention and have diagnose the process, have realized the intervention operation under "zero" radiation dose.
Preferably, in above-mentioned immersive intervention operation integration control cabinet, the control cabinet includes control panel, stereo set and microphone, the stereo set with the microphone sets up on the control panel, and with control cabinet electric connection. The communication between the inside and the outside of the operating room can be realized, so that a complete interventional operating room environment is created.
Preferably, in the integrated console for an immersive interventional procedure as set forth above, the display area includes: the real-time image display screen is used for observing the blood vessel condition of the patient; the reference image display screen is used for carrying out image comparison analysis; the robot information display screen is used for displaying the position information of the robot part; the DSA control information display screen is used for displaying the operation condition of the DSA; the camera display screen is used for monitoring the real-time state of the patient; and the physiological index display screen is used for displaying the physiological indexes of the patient. The condition in the operating room can be monitored and controlled in real time.
Preferably, in the integrated console for immersive interventional surgery described above, the manipulation section includes: the exposure indicating area is used for controlling the switch of the whole machine and displaying the working state; a DSA-C arm control area for controlling fuselage movement and C-arm movement in the DSA; the guide pipe bed control area is used for controlling the up-down and front-back movement of the guide pipe bed; the image control area is used for adjusting the functional parameters of the image; and the robot control area is used for controlling the robot part to complete the control of the guide wire of the catheter. The operation and control are more convenient and the use is more convenient.
Preferably, in an integrated console for an immersive interventional procedure as described above, the exposure indicating region, the DSA-C arm control region, the catheter bed control region, the image control region, and the robot control region are each provided in plurality. The control effect is stronger.
Preferably, in the integrated console for immersive interventional surgery as described above, the structure of the buttons and the control rocker of the manipulation region includes: the key comprises a solid key, a silica gel press key cap, a key circuit board, a master control circuit board and a key mounting plate; the entity key pressing information is collected by the key circuit board and is sent to the master control circuit board through a first control cable; after the rocker is pressed down in one direction, the rocker firing pin triggers the contact switch in the corresponding direction to be closed, and corresponding information is sent to the master control circuit board through the first control cable. The control of the button and the control rocker is convenient.
Preferably, in the integrated console for immersive interventional surgery as described above, the step portion includes a protective cover, an exposure step and a perspective step; the protective cover is used for preventing false stepping; the exposure pedal is used for controlling the DSA to perform higher-dose perspective and record images for a doctor to repeatedly observe the images; the fluoroscopy pedal is used for controlling the DSA to perform lower dose fluoroscopy, so that a doctor can observe the condition of the guide wire of the catheter in the body. Through foot control, the practicality of operation is stronger.
Preferably, in the integrated console for immersion type interventional operation, the exposure pedal and the fluoroscopy pedal have the same internal structure: the pedal front cover triggers the pedal switch to be closed, and corresponding signals are sent to the control mechanism through the second control cable. Simple structure and convenient use.
Preferably, in the integrated console for the immersive interventional operation, the inside and the outside of the operating room are isolated by lead glass windows. The condition in the operating room can be observed conveniently, so that emergency treatment can be performed.
Preferably, in the integrated console for an immersive interventional procedure as described above, the control cabinet includes a control area therein for controlling the DSA and the robot part. The control effect is stronger.
Through the technical scheme, compared with the prior art, the invention discloses and provides an integrated console for an immersive interventional operation, which has the following beneficial effects:
1. the integrated console for the immersive interventional operation, provided by the invention, adopts an integrated design, integrates DSA (digital signal processor) and surgical robot control on one platform, and effectively solves the problem that a doctor needs to control two devices at the same time in an actual operation.
2. The immersive integrated interventional operation console provided by the invention can help reduce the entering into an operating room as much as possible, thereby bringing convenience to doctors and well meeting the requirements of real operating environments.
3. The immersive interventional operation integrated console provided by the invention has the advantages that through the robot and the DSA outdoor control, the risk of receiving X-rays in the operation of a doctor is greatly reduced, and the health of medical care personnel is protected.
4. The device can control DSA outdoors, can realize remote intervention operation by matching with communication devices such as 5G and the like, and brings good news for patients with difficulty in moving.
5. The equipment adopts a module design, is convenient to install and maintain, and has complete functions and simple operation. The user can easily get on the hand with clear indication. In addition, the device has the auxiliary functions of voice prompt, error protection, prompt and the like, and can effectively protect the safety of patients.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of an overall structure of an integrated console for an immersive interventional operation in an operating room, according to the present invention;
FIG. 2 is a schematic structural diagram of an integrated console for an immersive interventional operation provided by the present invention;
FIG. 3 is a schematic layout of an integrated console for an immersive interventional procedure according to the present invention;
FIG. 4 is a schematic view of an operation area of an integrated console for an immersive interventional procedure according to the present invention;
FIG. 5 is a schematic structural diagram of an operation area of an integrated console for an immersive interventional operation according to the present invention;
FIG. 6 is a partial structural view of a pedal of an integrated console for an immersive interventional operation provided by the invention;
fig. 7 is a circuit control diagram of an integrated console key for an immersive interventional operation provided by the invention.
Wherein:
1-a console;
101-control table top; 102-sound; 103-a microphone;
2-controlling the cabinet;
201-lead glass window; 202-operating room; 203-cable wires;
3-DSA part;
301-a conduit bed; 302-C arm;
4-a robot part;
401-a robotic arm; 402-a propulsion mechanism; 403-catheter guidewire;
5-a display area;
501-real-time image display screen; 502-reference image display screen; 503-a robot information display screen; 504-DSA manipulation information display screen; 505-camera display screen; 506-a physiological index display screen;
6-a manipulation zone;
601-an exposure indicating area; 602-DSA-C arm control region; 603-a conduit bed control zone; 604-picture control area; 605-robot control zone; 606-boot button; 607-power off button; 608-scram button; 609-C arm moving rocker one; 610-C arm moving rocker II; 611-exposure dose selection key; 612-path map button; 613-exposure enable button; 614-C exposure field of view switch button; 615-the conduit bed moves the rocker longitudinally; 616-the conduit bed moves the rocker laterally; 617-catheter bed elevation button; 618-conduit bed lowering button; 619-beam limiter direction control rocker; 620-beam limiter iris control rocker; 621-camera adjusting rocker; 622-camera adjustment button; 623-image resizing button; 624-image contrast adjustment button; 625-image brightness adjustment button; 626-image play/pause adjust button; 627-robot catheter control rocker; 628-robot guide wire control rocker; 629-balloon release button; 630-contrast agent injection button;
7-a step portion;
701-pedal mis-stepping prevention protection cover; 702-an exposure pedal; 703-perspective footplate.
801-physical keys; 802-silica gel cap; 803-a manipulation zone enclosure; 804-a key circuit board; 805-a master control circuit board; 806-a first control cable; 807-rocker firing pin; 808-a contact switch; 809-rocker lever; 810-a workstation; 811-interface board; 812-image processing unit.
901-pedal front cover; 902 a pedal switch; 903-a spring; 904-second control cable.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, an embodiment of the present invention discloses an integrated immersive interventional procedure console for remote manipulation of DSA3 and robot part 4 in an operating room 202; the method comprises the following steps: the control system comprises a control console 1, a display area 5, a control area 6, a pedal part 7 and a control cabinet 2;
the console 1 is arranged outside the operating room 202;
the display area 5 comprises a plurality of display screens, is arranged on the table top of the console 1 and is used for feeding back real-time images in the operating room 202;
the control area 6 comprises a plurality of groups of buttons and control rockers which are electrically connected with the DSA3 and the control end of the robot part 4, is arranged on the table surface of the console 1 and is used for controlling the DSA3 and the robot part 4;
the step part 7 is arranged at the bottom of the console 1 and is used for controlling the exposure of the DSA 3;
the control cabinet 2 is disposed outside the operating room 202 and electrically connected to the DSA3, the robot part 4, the display area 5, the control area 6, and the control end of the foot pedal part 7.
In order to further optimize the above technical solution, the console 1 includes a console top 101, a sound box 102 and a microphone 103, and the sound box 102 and the microphone 103 are disposed on the console top 101 and electrically connected to the console box 2.
In order to further optimize the above technical solution, the display area 5 includes: a real-time image display 501 for observing the blood vessel condition of the patient; a reference image display screen 502 for performing image contrast analysis; a robot information display screen 503 for displaying position information of the robot part; a DSA control information display screen 504 for displaying the operating condition of the DSA; a camera display screen 505 for monitoring the real-time status of the patient; and a physiological index display screen 506 for displaying the physiological index of the patient.
In order to further optimize the above solution, the manipulation zone 6 comprises: an exposure indicating area 601 for controlling the switch of the whole machine and displaying the working state; DSA-C arm control area 602 for controlling fuselage movement and C-arm movement in DSA 3; a conduit bed control zone 603 for controlling the up and down and back and forth movement of the conduit bed; an image control area 604 for adjusting functional parameters of the image; and a robot control area 605 for controlling the robot part 4 to complete the control of the guide wire of the catheter.
To further optimize the above solution, the exposure indication area 601, the DSA-C arm control area 602, the catheter bed control area 603, the image control area 604 and the robot control area 605 are provided in plurality.
In order to further optimize the above technical solution, the structure of the buttons and the control rocker of the manipulation area 6 includes: the key comprises a solid key 801, a silica gel press key cap 802, a key circuit board 804 and a master control circuit board 805; the information of pressing the entity key 801 is collected by the key circuit board 804 and is sent to the master control circuit board 805 through the first control cable 806; when the rocker is pressed in one direction, the rocker striker 807 triggers the contact switch 808 in the corresponding direction to close, and corresponding information is sent to the main control circuit board 805 through the first control cable 806.
In order to further optimize the above technical solution, the foot pedal portion 7 includes a protective cover 701, an exposure pedal 702 and a perspective pedal 703; the protective cover 701 is used for preventing false stepping; the exposure pedal 702 is used to control the DSA3 to perform higher dose fluoroscopy and record images for the physician to repeatedly view the images; the fluoroscopy pedal 703 is used to control the DSA3 for lower dose fluoroscopy for the physician to view the catheter guidewire in the body.
In order to further optimize the above technical solution, the internal structures of the exposure pedal 702 and the perspective pedal 703 are the same: the pedal front cover 901 triggers the pedal switch 902 to close and a corresponding signal is sent to the control mechanism via the second control cable 904.
In order to further optimize the above technical solution, the inside and outside of the operating room 202 are isolated by lead glass windows 201.
To further optimize the above solution, the control cabinet 2 comprises a control area for controlling the DSA3 and the robot part 4.
It needs to be further explained that:
the doctor operates outside the operating room 202 and can observe the conditions inside the operating room 202 through the lead glass window 201. The control cabinet 2 is used for processing the received operation information and transmitting the operation information to the DSA3 and the robot part 4, and is connected with the control console 1 through a cable 203. DSA3 and robot portion 4 are placed in operating room 202. The C-arm 302 is used in conjunction with the catheter bed 301, and the patient will lie on the catheter bed 301 while undergoing surgery. The robotic arm 401 is fixedly mounted on a bed plate of the catheter bed 301 and can move along with the bed body, thereby ensuring that the catheter bed 301 and the propulsion mechanism 402 of the robot are relatively stationary. The pushing mechanism 402 is fixed on the mechanical arm 401, and a proper angle and position can be selected by adjusting the mechanical arm 401 to perform the robot interventional operation. The catheter guide wire 403 is mounted on the advancing mechanism 402, and the doctor can control the catheter guide wire to enter the human body for operation through controlling the advancing mechanism 402.
The console 1 is further provided with a sound unit 102 and a microphone 103, and the sound unit 102 is used for transmitting sounds inside the catheter room, such as device operation sounds, warning sounds, speech sounds of the patient in the operating room, and the like. The microphone 103 is used to send sounds into the operating room, e.g. the doctor needs to ask the patient about his condition, etc.
The control cabinet 2 displays the processed real-time image on the real-time image display screen 501 in the form of video stream through the single-channel DVI cable, so that the doctor can observe the blood vessel condition of the patient from the real-time image display screen, and similarly, the control cabinet 2 displays the reference image on the reference image display screen 502 in the form of video stream through the single-channel DVI cable, so that the doctor can conveniently perform image comparison and analysis. The control cabinet 2 displays information such as the position of the robot on the robot information display screen 503 in the form of a video stream through a DVI cable, and displays the operation condition of the DSA on the DSA manipulation information display screen 504. The camera in the operating room is installed at C shape arm 302 for real time monitoring pipe patient's on bed condition, and video information passes back to control cabinet 2 through DVI, and control cabinet 2 is through DCI cable relevant information display on camera display screen 505 after handling. The information of the physiological monitor is transmitted to the control cabinet 2 through a coaxial cable or an Ethernet cable, and the control cabinet 2 processes the information and then displays various physiological indexes of heartbeat and the like of the patient on the physiological index display screen 506 through a DVI cable.
The exposure indicating area 601 is used for controlling the switch of the whole machine and displaying the working state. It includes a power-on button 606, a power-off button 607, and an emergency stop button 608, on which indicator lights are provided. The DSA-C arm control area 602 is used to control the movement of the body and the movement of the C-arm in DSA to select a more appropriate angle for exposure. The control rocker is used for specifically controlling the movement of each direction of the C-shaped arm, and the buttons 609 and 614 are used for controlling the exposure related functions, and comprise: c arm moving rocker one 609; c arm moving rocker 610; an exposure dose selection key 611; a path map button 612; an exposure enable button 613; c expose view switching button 614. The conduit bed control area 603 is used to control the up and down and back and forth movement of the conduit bed. The control joystick and buttons 615 and 618 are used for specific execution control, including: the catheter bed moves the rocker 615 longitudinally; the conduit bed moves the rocker 616 laterally; a catheter bed elevation button 617; a conduit bed lowering button 618. The image control section 604 is used for adjusting the image size, brightness, etc., the beam flux, camera control, etc., and other image-related functions. The beam limiter direction control rocker 619 and the beam limiter iris control rocker 620 control the X-ray flux. The control rocker and button 621-626 is used for specifically performing image control, and includes: a camera adjusting rocker 621; a camera adjustment button 622; an image size adjustment button 623; an image contrast adjustment button 624; an image brightness adjustment button 625; an image play/pause adjust button 626. The robot control section 605 is used to control the advancement mechanism 402 of the robot to accomplish control of the catheter guidewire. A robotic catheter control rocker 627 controls the advancement of the catheter and a robotic guidewire control rocker 628 controls the rotation and advancement of the guidewire. Balloon release button 629 may speed the advancement of the robot to the catheter guide wire, and contrast injection button 630 may inject contrast into the body for convenient observation of the vessel morphology.
It should be noted that the structures of the signal control circuits of the key, the rocker and the pedal of the present invention are the same, taking the control circuit of the key as an example, referring to fig. 7, the entity key 801 transmits the trigger signal to the key circuit board 804, the key circuit board 804 transmits the signal to the main control circuit board 805, and the main control circuit board 805 transmits the signal sequentially through the workstation 810, the interface board 811 and the image processing unit 812, so as to realize the control of the corresponding structures. The control structure of the rocker and the pedal is the same as that of the rocker and the pedal, and the detailed description is omitted.
The master control board 805 collects all key and joystick information in a polling manner, and interacts with the control mechanism using a can2.0b-based protocol through the first control cable 806 at 5ms transmission intervals.
In conclusion, the cooperation of all the parts can realize that the doctor basically completes the vascular interventional operation outside the operation room, thereby effectively reducing the damage of X-ray to medical care personnel.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. An integrated console for immersive interventional surgery for remote manipulation of a DSA (3) and a robotic portion (4) in an operating room (202); the method comprises the following steps: the device comprises a control console (1), a display area (5), a control area (6), a pedal part (7) and a control cabinet (2);
the console (1) is arranged outside the operating room (202); the control console (1) comprises a control console surface (101), a sound box (102) and a microphone (103), wherein the sound box (102) and the microphone (103) are arranged on the control console surface (101) and are electrically connected with the control cabinet (2);
the display area (5) comprises a plurality of display screens, is arranged on the table top of the console (1) and is used for feeding back real-time images in the operating room (202); the display area (5) comprises: the real-time image display screen (501) is used for observing the condition of blood vessels of a patient; a reference image display screen (502) for performing image contrast analysis; a robot information display screen (503) for displaying positional information of the robot part; a DSA control information display screen (504) for displaying the operation condition of the DSA; a camera display screen (505) for monitoring a real-time status of a patient; a physiological index display screen (506) for displaying a physiological index of the patient;
the control area (6) comprises a plurality of groups of buttons and control rockers which are electrically connected with the control ends of the DSA (3) and the robot part (4), is arranged on the table top of the console (1), and is used for controlling the DSA (3) and the robot part (4); the manipulation zone (6) comprises:
the exposure indicating area (601) is used for controlling the switch of the whole machine and displaying the working state; the device comprises a starting button (606), a closing button (607) and an emergency stop button (608), wherein indicator lamps are arranged on the buttons;
a DSA-C arm control area (602) for controlling the movement of the body and the movement of the C-arm in the DSA (3) to select a more appropriate angle for exposure, a control rocker for controlling the movement of the C-arm in each direction, and a button for controlling exposure related functions, comprising: c, moving a rocker one (609); c arm moving rocker two (610); an exposure dose selection key (611); a path map button (612); an exposure enable button (613); a C exposure field switching button (614);
a conduit bed control zone (603) for controlling the up and down and back and forth movement of the conduit bed; the control sticks and buttons are used to perform controls specifically, including: the conduit bed moves the rocker (615) longitudinally; the conduit bed moves the rocker (616) laterally; a catheter bed elevation button (617); a conduit bed lowering button (618);
an image control area (604) for adjusting the size, brightness state and flux of the image, the camera controlling the function of the image; the beam limiter direction control rocker (619) and the beam limiter iris control rocker (620) control the X-ray flux; the control stick and the buttons are used for specifically performing image control, and include: a camera adjusting rocker (621); a camera adjustment button (622); an image size adjustment button (623); an image contrast adjustment button (624); an image brightness adjustment button (625); an image play/pause adjust button (626);
a robot control area (605) for controlling the robot part (4) to complete the control of the catheter guide wire; a robot catheter control rocker (627) controls the advancing of the catheter, and a robot guide wire control rocker (628) controls the rotation and the advancing of the guide wire; the balloon release button (629) can accelerate the speed of propelling the catheter to guide the wire by the robot, and the contrast agent injection button (630) can inject contrast agent into a human body so as to be convenient for observing the shape of the blood vessel;
the pedal part (7) is arranged at the bottom of the console (1) and is used for controlling the exposure of the DSA (3);
the control cabinet (2) is arranged outside the operating room (202) and is respectively electrically connected with the DSA (3), the robot part (4), the display area (5), the control area (6) and the control end of the pedal part (7).
2. An immersive interventional procedure integration console according to claim 1, wherein buttons of said exposure indication region (601), said DSA-C arm control region (602), said catheter bed control region (603), said image control region (604), and said robot control region (605) are all plural.
3. An integrated console according to claim 1, characterized in that the button structure of the manipulation zone (6) comprises: the key comprises a solid key (801), a key circuit board (804) and a master control circuit board (805); the entity key (801) is electrically connected with the key circuit board (804); the key circuit board (804) is electrically connected with the master control circuit board (805).
4. An integrated immersive interventional procedure console according to claim 1, wherein the step portion (7) comprises a protective cover (701), an exposure step (702) and a perspective step (703); the protective cover (701) is used for preventing false stepping; the exposure pedal (702) is used for controlling the DSA (3) to perform higher dose fluoroscopy and record images for a doctor to repeatedly observe the images; the fluoroscopy pedal (703) is used for controlling the DSA (3) to perform lower dose fluoroscopy, so that a doctor can observe the condition of a catheter guide wire in a body.
5. An integrated console of immersive interventional procedure according to claim 4, wherein said exposure pedal (702) and said fluoroscopy pedal (703) are identical in internal structure: the pedal front cover (901) triggers the pedal switch (902) to close, and a corresponding signal is sent to the control mechanism through the second control cable (904).
6. An integrated console of immersive interventional procedure according to claim 1, wherein the inside and outside of said operating room (202) are isolated by lead glass windows (201).
7. An immersive interventional procedure integration console according to claim 1, wherein a control area for controlling the DSA (3) and the robot part (4) is included in the control cabinet (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910745395.0A CN110448378B (en) | 2019-08-13 | 2019-08-13 | Immersive intervention operation integrated console |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910745395.0A CN110448378B (en) | 2019-08-13 | 2019-08-13 | Immersive intervention operation integrated console |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110448378A CN110448378A (en) | 2019-11-15 |
| CN110448378B true CN110448378B (en) | 2021-03-02 |
Family
ID=68486368
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910745395.0A Active CN110448378B (en) | 2019-08-13 | 2019-08-13 | Immersive intervention operation integrated console |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110448378B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110916799A (en) * | 2019-11-22 | 2020-03-27 | 江苏集萃智能制造技术研究所有限公司 | Puncture robot navigation system based on 5G network |
| CN111513855B (en) * | 2020-04-28 | 2022-03-29 | 绍兴梅奥心磁医疗科技有限公司 | Interventional catheter operation system for cardiology department and application method thereof |
| CN111658154B (en) * | 2020-05-11 | 2021-10-26 | 首都医科大学附属北京天坛医院 | Automatic remote radiography surgical robot system |
| CN112914730B (en) * | 2021-01-19 | 2022-12-16 | 上海市第十人民医院 | Remote interventional therapy system based on VR technology |
| CN113545856B (en) * | 2021-07-05 | 2022-10-14 | 杭州三坛医疗科技有限公司 | Remote orthopedic surgery system based on 5G communication |
| CN114098991A (en) * | 2022-01-25 | 2022-03-01 | 亿盛欣科技(北京)有限公司 | Surgical robot control method, medium and device based on real-time perspective image |
| CN114831737A (en) * | 2022-05-23 | 2022-08-02 | 上海奥朋医疗科技有限公司 | Operating system and method for ERCP surgical robot |
| CN115252119A (en) * | 2022-07-20 | 2022-11-01 | 北京唯迈医疗设备有限公司 | Conduit room main control robot and manual monitoring system thereof |
| CN115192203A (en) * | 2022-07-20 | 2022-10-18 | 北京唯迈医疗设备有限公司 | Intervene unmanned operating room system |
Family Cites Families (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05305067A (en) * | 1992-05-07 | 1993-11-19 | Toshiba Corp | Mri diagnostic device |
| US6852107B2 (en) * | 2002-01-16 | 2005-02-08 | Computer Motion, Inc. | Minimally invasive surgical training using robotics and tele-collaboration |
| WO2007012990A2 (en) * | 2005-07-25 | 2007-02-01 | Koninklijke Philips Electronics, N.V. | System and method for providing lateral and frontal x-ray images of a patient |
| US8792964B2 (en) * | 2008-03-12 | 2014-07-29 | Siemens Aktiengesellschaft | Method and apparatus for conducting an interventional procedure involving heart valves using a robot-based X-ray device |
| US8343096B2 (en) * | 2008-03-27 | 2013-01-01 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter system |
| CN103764021B (en) * | 2011-05-20 | 2015-11-25 | 南洋理工大学 | A kind ofly to repair for collaborative neuro-physiological and/or system, instrument, the apparatus and method of functional promotion |
| CN103607971B (en) * | 2011-07-07 | 2016-08-31 | 奥林巴斯株式会社 | Medical master slave manipulator |
| EP3620121B1 (en) * | 2012-08-03 | 2024-01-31 | Stryker Corporation | Systems for robotic surgery |
| WO2014027692A1 (en) * | 2012-08-16 | 2014-02-20 | 株式会社東芝 | Image-processing device, diagnostic medical image apparatus and blood pressure monitor |
| CN117770979A (en) * | 2012-12-10 | 2024-03-29 | 直观外科手术操作公司 | Collision avoidance during controlled movement of movable arm of image acquisition device and steerable device |
| EP2928405B1 (en) * | 2012-12-10 | 2018-10-10 | Koninklijke Philips N.V. | Positioning tool |
| US9498291B2 (en) * | 2013-03-15 | 2016-11-22 | Hansen Medical, Inc. | Touch-free catheter user interface controller |
| CN105246411B (en) * | 2013-04-03 | 2019-10-18 | 皇家飞利浦有限公司 | Intervene x-ray system |
| JP6204584B2 (en) * | 2013-10-07 | 2017-09-27 | メンティス インコーポレイティド | Radiation estimation and protection based on medical treatment simulation |
| EP2923669B1 (en) * | 2014-03-24 | 2017-06-28 | Hansen Medical, Inc. | Systems and devices for catheter driving instinctiveness |
| DE102014214265A1 (en) * | 2014-07-22 | 2016-01-28 | Siemens Aktiengesellschaft | A method for setting a volume value of a communication unit and a communication unit |
| EP3866174A1 (en) * | 2014-11-13 | 2021-08-18 | Intuitive Surgical Operations, Inc. | Interaction between user-interface and master controller |
| WO2016090270A1 (en) * | 2014-12-05 | 2016-06-09 | Corindus, Inc. | System and method for navigating a guide wire |
| DE102015202911A1 (en) * | 2015-02-18 | 2016-09-01 | Siemens Healthcare Gmbh | Dynamic storage of medical device positions |
| CA2975907C (en) * | 2015-02-19 | 2023-10-10 | Covidien Lp | Repositioning method of input device for robotic surgical system |
| WO2017031132A1 (en) * | 2015-08-17 | 2017-02-23 | Intuitive Surgical Operations, Inc. | Unground master control devices and methods of use |
| CN105748148B (en) * | 2016-01-31 | 2018-04-24 | 青岛市肿瘤医院 | Image intervention monitoring operative treatment device |
| CN105816243B (en) * | 2016-03-14 | 2019-01-22 | 哈尔滨工业大学 | A kind of main manipulator console for bone surgery |
| CN205814427U (en) * | 2016-03-16 | 2016-12-21 | 北京理工大学 | A kind of master-slave mode interventional surgery remote operating system |
| CN107049499B (en) * | 2017-06-05 | 2019-10-29 | 上海速介机器人科技有限公司 | Teleoperation vascular intervention surgical robot system and method |
| CN107049500B (en) * | 2017-06-07 | 2019-10-29 | 中科新松有限公司 | A kind of blood vessel intervention operation robot |
| JP2018202032A (en) * | 2017-06-08 | 2018-12-27 | 株式会社メディカロイド | Remote control apparatus for medical equipment |
| CN208610859U (en) * | 2017-07-11 | 2019-03-19 | 北京驰马特图像技术有限公司 | Universal line brake castor mechanism and movable C-shaped arm X-ray machine |
| CN208989131U (en) * | 2017-11-23 | 2019-06-18 | 苏州康多机器人有限公司 | A kind of open surgeon console of 3D applied to laparoscope robotic surgical system |
| AU2019212626A1 (en) * | 2018-01-26 | 2020-08-27 | Mako Surgical Corp. | End effectors, systems, and methods for impacting prosthetics guided by surgical robots |
| CN108814715B (en) * | 2018-04-17 | 2021-09-14 | 成都博恩思医学机器人有限公司 | Sound effect control method and system for pedal of laparoscopic surgery robot |
| CN108514447A (en) * | 2018-06-11 | 2018-09-11 | 沈阳尚贤微创医疗器械股份有限公司 | Endoscopic surgery robot control terminal and robot system |
| CN209004045U (en) * | 2018-08-24 | 2019-06-21 | 深圳华大智造科技有限公司 | Doctor terminal console and long-range ultrasonic testing system |
| CN109223183A (en) * | 2018-09-30 | 2019-01-18 | 深圳市精锋医疗科技有限公司 | Starting method, readable access to memory and the operating robot of operating robot |
| CN109044388A (en) * | 2018-10-17 | 2018-12-21 | 北京唯迈医疗设备有限公司 | A kind of C-arm and X-ray equipment |
| CN109907834B (en) * | 2019-02-20 | 2024-03-29 | 广州乔铁医疗科技有限公司 | Robot external vision mirror with 3D function |
-
2019
- 2019-08-13 CN CN201910745395.0A patent/CN110448378B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110448378A (en) | 2019-11-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110448378B (en) | Immersive intervention operation integrated console | |
| JP4296278B2 (en) | Medical cockpit system | |
| CN111658154B (en) | Automatic remote radiography surgical robot system | |
| WO2022027938A1 (en) | Method and system for safety early-warning of movement of guide wire of interventional surgery robot | |
| CN106102633A (en) | For remotely operating the structural adjustment system and method for medical system | |
| US20220370048A1 (en) | Portable oropharyngeal swab smart collection device | |
| KR102365859B1 (en) | Repositionable Remote Control Medical System | |
| CN109431602A (en) | A kind of porous minimally invasive robot system and its application method based on flexible surgical arm | |
| CN113397712B (en) | Surgical robot based on ball-and-socket joint and tactile feedback | |
| CN218305110U (en) | DSA physical controller | |
| JPS6384514A (en) | Electronic endoscope | |
| CN111513855B (en) | Interventional catheter operation system for cardiology department and application method thereof | |
| CN212037555U (en) | Remote control system of CT equipment | |
| CN102018572A (en) | Manipulator for vascular intervention operation | |
| US20150235354A1 (en) | Multifunctional interface for medical imaging | |
| CN113939794A (en) | Processing of periods of transmitted data in a medical device system | |
| CN112206008A (en) | Non-contact nasopharynx inspection robot | |
| CN114081631B (en) | Health monitoring system and surgical robot system | |
| JP3499946B2 (en) | Diagnostic imaging device | |
| CN114587614A (en) | Operation panel system of ERCP surgical robot | |
| RU2757957C1 (en) | Robotic system and method for endovascular surgery | |
| CN210205513U (en) | Remote control injection device | |
| CN111407301A (en) | Remote positioning system for CT system | |
| WO2019066737A2 (en) | Joystick controlled hand unit and wireless data transmission technology and method for endoscopy devices | |
| JP2002238884A (en) | Automatic condition setting mechanism of x-ray device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |