CN112155735A

CN112155735A - Interventional operation control box

Info

Publication number: CN112155735A
Application number: CN202011078488.1A
Authority: CN
Inventors: 黄韬
Original assignee: Beijing Wemed Medical Equipment Co Ltd
Current assignee: Beijing Wemed Medical Equipment Co Ltd
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2021-01-01

Abstract

The invention relates to an interventional operation control box, which comprises a shell, a first clamping device and a second clamping device, wherein the shell comprises an upper shell and a lower shell which are connected with each other; an installation groove is formed on one side of the upper shell, which is close to the lower shell; a touch screen is arranged in the mounting groove; the control circuit board electrically connected with the touch screen is arranged in the lower shell; the top of the lower shell is embedded with a catheter propulsion simulation rocker, a guide wire rotation simulation rocker and a guide wire propulsion simulation rocker which are electrically connected with the control circuit board; the lower shell corresponding to the catheter propulsion simulation rocker, the guide wire rotation simulation rocker and the guide wire propulsion simulation rocker is provided with a light guide plate; a power interface, a communication interface and a debugging interface are arranged on the lower shell or the upper shell; and the upper shell or the lower shell is provided with a control box switch electrically connected with the control circuit board. The invention is suitable for interventional operations, can independently control the advancing and rotating of the catheter and the guide wire, is greatly convenient for advancing and rotating operations, improves the accuracy of the operations, and displays the real-time data of the robot on the touch screen to remind doctors of the operations.

Description

Interventional operation control box

Technical Field

The invention relates to the technical field of minimally invasive vascular interventional operations, in particular to an interventional operation control box.

Background

Nearly 3000 million people die of cardiovascular and cerebrovascular diseases every year around 30% of all diseases, wherein the number of people suffering from cardiovascular and cerebrovascular diseases in China is nearly 3 hundred million. Cardiovascular and cerebrovascular diseases become one of three main causes of human disease death, and seriously affect national health and normal life of people.

The minimally invasive interventional therapy of the cardiovascular and cerebrovascular diseases is a main treatment means aiming at the cardiovascular and cerebrovascular diseases. Compared with the traditional surgical operation, has the obvious advantages of small incision, short postoperative recovery time and the like. The cardiovascular and cerebrovascular interventional operation is a process in which a doctor manually sends a catheter, a guide wire, a stent and other instruments into a patient to finish treatment.

The interventional operation has the following 2 problems, firstly, in the operation process, because DSA can emit X-rays, the physical strength of a doctor is reduced quickly, the attention and the stability are also reduced, the operation precision is reduced, accidents such as endangium injury, perforation and rupture of blood vessels and the like caused by improper pushing force are easy to happen, and the life risk of a patient is caused. Second, the cumulative damage of long-term ionizing radiation can greatly increase the probability of doctors suffering from leukemia, cancer and acute cataract. The phenomenon that doctors accumulate rays continuously because of interventional operation becomes a problem that the occupational lives of the doctors are damaged and the development of the interventional operation is restricted to be neglected.

The problem can be effectively solved by means of the robot technology, the precision and the stability of the operation can be greatly improved, meanwhile, the injury of the radioactive rays to the interventional doctor can be effectively reduced, and the occurrence probability of accidents in the operation is reduced. Therefore, the assisted robot for cardiovascular and cerebrovascular interventional surgery is more and more concerned by people and gradually becomes a key research and development object in the field of medical robots in all the science and technology strong countries at present. The control of the interventional operation robot in China has the following problems: (1) there is no control device specifically adapted for use with interventional surgical robots; (2) the guide wire catheter is inconvenient to operate, especially in the process of rotating and propelling simultaneously; (3) the control end has no real-time data feedback; (4) remote operation control cannot be realized; (5) no emergency braking device; (6) the device is heavy and has poor convenience; (7) the misoperation is easy to occur due to the fact that the rocker is not controlled by the rocker.

Therefore, how to provide a main control box for interventional operation is a problem that needs to be solved by those skilled in the art.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the prior art.

Therefore, an object of the present invention is to provide an interventional operation control box, which solves the problems of the prior art that no special interventional operation robot control device exists, the operation of the catheter guide wire is inconvenient, and particularly the rotation and the propulsion are controlled simultaneously.

The invention provides an interventional operation control box, which comprises:

the shell comprises an upper shell and a lower shell which are connected with each other; an installation groove is formed on one side of the upper shell, which is close to the lower shell;

the touch screen is arranged in the mounting groove;

the control circuit board is electrically connected with the touch screen and is arranged in the lower shell; the top of the lower shell is embedded with a catheter propulsion simulation rocker, a guide wire rotation simulation rocker and a guide wire propulsion simulation rocker which are electrically connected with the control circuit board; the lower shell corresponding to the catheter propulsion simulation rocker, the guide wire rotation simulation rocker and the guide wire propulsion simulation rocker is provided with a light guide plate; a power interface, a communication interface and a debugging interface are arranged on the lower shell or the upper shell;

and the control box switch is electrically connected with the control circuit board and is arranged on the upper shell or the lower shell.

Compared with the prior art, the technical scheme has the advantage that the interventional operation control box is specially suitable for interventional operations and can independently control the catheter and the guide wire. The guide wire is pushed and rotated separately, so that the guide wire can be pushed and rotated conveniently, and the operation accuracy is improved. Real-time data of the robot can be displayed through the touch screen, operation reminding is given to a doctor, and safety of a patient is protected.

Further, the upper shell comprises a front shell integrally connected with the lower shell and a shell back plate which is detachable from the front shell; the bottom of the lower shell is provided with a detachable shell bottom plate.

Further, the bottom plate of the shell is made of a steel plate with the thickness of 4-6mm, and therefore the bottom of the bottom plate of the shell is used as a counterweight of the upper shell.

Furthermore, the top of the catheter pushing simulation rocker, the guide wire rotating simulation rocker and the guide wire pushing simulation rocker are respectively and correspondingly connected with a catheter pushing simulation rocker handle, a guide wire rotating simulation rocker handle and a guide wire pushing simulation rocker handle; thereby facilitating the operation of each analog rocker.

Furthermore, a decorative plate is bonded on the top of the lower shell, and through holes are formed in the positions corresponding to the guide pipe pushing simulation rocker, the guide wire rotating simulation rocker and the guide wire pushing simulation rocker. The decorative board can be acrylic board.

Furthermore, the upper shell or the lower shell is provided with an emergency stop switch electrically connected with the control circuit board, so that when an emergency occurs, the emergency stop switch can be pressed down in time to avoid accidents.

Furthermore, a plurality of cushion pads bonded with the lower shell are distributed at the bottom of the lower shell, so that the buffer effect can be achieved.

Furthermore, the swing paths of the catheter pushing simulation rocker and the guide wire pushing simulation rocker are both left and right; the guide wire rotates to simulate the swing path of a rocker to move up and down; and the light guide plate is arrow-shaped and is arranged on the top of the lower shell according to the swinging directions of the catheter pushing simulation rocker, the guide wire rotating simulation rocker and the guide wire pushing simulation rocker. The operation modes of the 3 simulation rocking rods are that the catheter is pushed to move left and right, the catheter is pushed to enter the human body to the left, and the catheter is withdrawn to leave the human body to the right; the guide wire rotates to move up and down, the rotating guide wire rotates clockwise upwards, and the rotating guide wire rotates anticlockwise downwards; the guide wire is pushed to move left and right, the guide wire is pushed to enter the human body to the left, and the guide wire is withdrawn to leave the human body to the right; the design accords with the operation direction in the actual operation like this, and the doctor of being convenient for operates.

Furthermore, the catheter pushing simulation rocker, the guide wire rotating simulation rocker and the guide wire pushing simulation rocker are all provided with vibrators electrically connected with the control circuit board.

Furthermore, a buzzer electrically connected with the control circuit board is installed in the lower shell.

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 perspective view (using a front view) of an interventional procedure control box provided by the present invention;

FIG. 2 is a perspective view (rear view) of the interventional procedure control box provided by the present invention;

FIG. 3 is an exploded view of the interventional procedure control box provided by the present invention;

in the figure: 101-a housing; 102-a touch screen; 103-housing backplane; 104-housing floor; 105-a control circuit board; 106-catheter propulsion analog rocker handle; 107-wire rotation simulating rocker handle; 108-guide wire advancing analog rocker handle; 109-a light guide plate; 110-a decorative panel; 111-emergency stop switch; 112-control box switch; 113-power-in interface; 114-an output power interface; 115-a communication interface; 116-a debug interface; 117-copper plate; 118-a cushion; 119-catheter advancing analog rocker; 120-wire rotation simulation rocker; 121-guidewire advancement mimic rocker.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1 and 2, the present invention provides an interventional procedure control box, comprising:

a housing 101, the housing 101 including an upper housing and a lower housing connected to each other; an installation groove is formed on one side of the upper shell, which is close to the lower shell;

the touch screen 102 is arranged in the mounting groove;

a control circuit board 105, wherein the control circuit board 105 electrically connected with the touch screen 102 is arranged in the lower shell; the top of the lower shell is embedded with a catheter pushing simulation rocker 119, a guide wire rotating simulation rocker 120 and a guide wire pushing simulation rocker 121 which are electrically connected with the control circuit board 105; the lower shell corresponding to the catheter pushing simulation rocker 119, the guide wire rotating simulation rocker 120 and the guide wire pushing simulation rocker 121 is provided with a light guide plate 109; a power interface, a communication interface 115 and a debugging interface 116 are arranged on the lower shell or the upper shell;

and a control box switch 112, wherein the control box switch 112 electrically connected with the control circuit board 105 is installed on the upper shell or the lower shell.

The control circuit board has a plurality of interfaces, which are correspondingly connected with the power input interface 113, the power output interface 114, the communication interface 115 and the debugging interface 116 through a copper sheet 117. The touch screen 102 is connected to the control circuit board 105 through a flat cable.

In one embodiment of the present invention, the upper case includes a front case integrally coupled with the lower case, and a case back plate 103 detachable from the front case; the bottom of the lower housing has a removable housing floor 104.

Advantageously, the housing floor 104 is made of steel plate having a thickness of 4-6 mm. Whereby the bottom plate of the housing acts as a counterweight for the upper housing at the bottom.

Referring to fig. 3, a catheter advancing analog rocker 119, a guide wire rotation analog rocker 120, and a guide wire advancing analog rocker 121 are respectively connected to the tops of the catheter advancing analog rocker handle 106, the guide wire rotation analog rocker handle 107, and the guide wire advancing analog rocker handle 108.

Wherein, the top of the lower shell is bonded with a decorative plate 110, and through holes are arranged at the positions corresponding to the guide pipe pushing simulation rocker 119, the guide wire rotating simulation rocker 120 and the guide wire pushing simulation rocker 121. The decorative board can be acrylic board.

In one embodiment of the present invention, an emergency stop switch 111 electrically connected to the control circuit board 105 is mounted on the upper case or the lower case. The upper consideration of the operation can be arranged on the lower shell, and when an emergency occurs, the lower shell can be pressed in time to avoid accidents.

Advantageously, the bottom of the lower housing is distributed with a plurality of cushions 118 bonded thereto.

In the embodiment of the invention, the swing paths of the catheter advancing simulation rocker 119 and the guide wire advancing simulation rocker 121 are both left and right; the guide wire rotates to simulate the swing path of the rocker 120 to move up and down; and the light guide plate 109 is arrow-shaped and is arranged on the top of the lower case according to the swing direction of the catheter advancing analog stick 119, the guide wire rotation analog stick 120, and the guide wire advancing analog stick 121. The operation modes of the 3 simulation rocking rods are that the catheter is pushed to move left and right, the catheter is pushed to enter the human body to the left, and the catheter is withdrawn to leave the human body to the right; the guide wire rotates to move up and down, the rotating guide wire rotates clockwise upwards, and the rotating guide wire rotates anticlockwise downwards; the guide wire is pushed to move left and right, the guide wire is pushed to enter the human body to the left, and the guide wire is withdrawn to leave the human body to the right; the design accords with the operation direction in the actual operation like this, and the doctor of being convenient for operates.

In one embodiment of the present invention, the catheter advancement analog rocker 119, the guide wire rotation analog rocker 120, and the guide wire advancement analog rocker 121 are each mounted with a vibrator electrically connected to the control circuit board 105.

In another embodiment of the present invention, a buzzer electrically connected to the control circuit board 105 is installed in the lower housing.

The method for using the control box comprises the following steps: first, one end of the power line and the communication line is inserted into the corresponding interface at the back of the control box, and the other end is connected to the corresponding robot component. Then, a control switch on the control box is turned on to start the device. After the computer is started, the system state information, force feedback and other data can be seen on the touch screen. After the system is ready, the simulated joystick can be operated to perform the surgery. There are the operating information of 3 simulation rockers on the touch-sensitive screen, click the simulation rocker that corresponds on the screen, can control the enabling state of simulation rocker, close the simulation rocker that temporarily does not use, can avoid the maloperation. 3 simulation rockers respectively control the advancing of the catheter, the rotation of the guide wire and the advancing of the guide wire. The 3 analog rockers are mutually independent and can be controlled simultaneously. For example, if it is desired to simultaneously rotate and advance the guidewire to move, the corresponding analog rocker may be moved simultaneously. The simulation rocker adopts analog quantity, and the rotating speed of the robot motor can be controlled by adjusting the swing amplitude of the simulation rocker during operation, so that the propelling rotation speed of the guide wire catheter is controlled. The operation modes of the 3 simulation rocking rods are that the catheter is pushed to move left and right, the catheter is pushed to enter the human body to the left, and the catheter is withdrawn to leave the human body to the right; the guide wire rotates to move up and down, the rotating guide wire rotates clockwise upwards, and the rotating guide wire rotates anticlockwise downwards; the guide wire is pushed to move left and right, the guide wire is pushed to enter the human body to the left, and the guide wire is withdrawn to leave the human body to the right; the design accords with the operation direction in the actual operation like this, and the doctor of being convenient for operates. When any simulation rocker is operated, a signal of the middle plate of the simulation rocker circuit is fed back to the control circuit board, and the indicator lamp on the control circuit board in the movement direction of the simulation rocker can light blue light so as to indicate the working state of the simulation rocker. Real-time robot data information is displayed on the touch screen, so that doctors can be effectively guided to complete interventional operations by robot operation in time. In operation, the guide wire catheter is pushed to a proper position by combining with the image given by the DSA. The stress condition of the guide wire can be displayed on the touch screen. The remote operation can be realized by matching with the communication module on the circuit board, and the related information of the communication can be displayed on the touch screen. The buzzer on the control box has a prompt sound with the frequency of 1 time/second when the analog rocker is operated. When the control box receives a danger signal sent by the robot, the frequency of the prompt tone is increased, and the vibration of the vibrator on the rocker is simulated, so that a doctor is prompted to need to operate carefully. After the robot is used for completing the operation, the switch on the side surface of the control box is pressed down to shut down the robot. In addition, in the event of any accident during surgery, the emergency stop switch may be depressed, which will cut off power to the motor. After the problem is solved, the emergency stop can be released, and the system can work normally.

The device has the advantages of simple integral structure, plug-in line connection mode, convenient installation, good stability, small volume, light weight and convenient placement and transfer, and accords with human engineering design.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. Interventional procedure control box, characterized in that it comprises:

a housing (101), the housing (101) comprising an upper housing and a lower housing connected to each other; an installation groove is formed on one side, close to the lower shell, of the upper shell;

the touch screen (102) is arranged in the mounting groove;

the control circuit board (105) is mounted inside the lower shell and electrically connected with the touch screen (102); a catheter pushing simulation rocker (119), a guide wire rotation simulation rocker (120) and a guide wire pushing simulation rocker (121) which are electrically connected with the control circuit board (105) are embedded in the top of the lower shell; the lower shell corresponding to the catheter pushing simulation rocker (119), the guide wire rotating simulation rocker (120) and the guide wire pushing simulation rocker (121) is provided with a light guide plate (109); a power supply interface, a communication interface (115) and a debugging interface (116) are arranged on the lower shell or the upper shell;

and the control box switch (112) is arranged on the upper shell or the lower shell and is electrically connected with the control circuit board (105).

2. The interventional procedure control box of claim 1, wherein the upper housing comprises a front shell integrally connected with the lower housing, and a housing back plate (103) detachable from the front shell; the bottom of the lower shell is provided with a detachable shell bottom plate (104).

3. The interventional procedure control box of claim 2, wherein the housing base plate (104) is made of steel plate having a thickness of 4-6 mm.

4. The interventional procedure control box according to claim 1, wherein a catheter advancement simulation rocker handle (106), a guide wire rotation simulation rocker handle (107) and a guide wire advancement simulation rocker handle (108) are respectively connected to the tops of the catheter advancement simulation rocker (119), the guide wire rotation simulation rocker (120) and the guide wire advancement simulation rocker (121).

5. The interventional procedure control box according to claim 1, wherein a decorative plate (110) is bonded to the top of the lower housing, and through holes are provided corresponding to the catheter advancing simulation rocker (119), the guide wire rotation simulation rocker (120) and the guide wire advancing simulation rocker (121).

6. The interventional procedure control box according to claim 1, wherein an emergency stop switch (111) electrically connected to the control circuit board (105) is mounted on the upper case or the lower case.

7. Interventional procedure control box according to any of claims 1-6, characterized in that the lower housing bottom is distributed with a plurality of cushions (118) glued thereto.

8. Interventional procedure control box according to any one of claims 1-6, wherein the catheter advancement emulating rocker (119) and the guide wire advancement emulating rocker (121) are both left and right moved in their swing path; the guide wire rotates to simulate the swing path of a rocker (120) to move up and down; and the light guide plate (109) is arrow-shaped and is arranged on the top of the lower shell according to the swinging direction of the catheter pushing simulation rocker (119), the guide wire rotating simulation rocker (120) and the guide wire pushing simulation rocker (121).

9. The interventional procedure control box of claim 8, wherein the catheter advancement analog rocker (119), the guide wire rotation analog rocker (120) and the guide wire advancement analog rocker (121) are each provided with a vibrator electrically connected to the control circuit board (105).

10. Interventional procedure control box according to any one of claims 1-6, characterized in that a buzzer electrically connected to the control circuit board (105) is mounted in the lower housing.