CN114984412B - Closed-loop type blood flow control system and control method thereof - Google Patents

Closed-loop type blood flow control system and control method thereof Download PDF

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CN114984412B
CN114984412B CN202210306726.2A CN202210306726A CN114984412B CN 114984412 B CN114984412 B CN 114984412B CN 202210306726 A CN202210306726 A CN 202210306726A CN 114984412 B CN114984412 B CN 114984412B
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blood
balloon
blood flow
blood vessel
control
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CN114984412A (en
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高志峰
段怡
黄文星
杨亚南
崔蕾
张政
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Tsinghua University
Beijing Tsinghua Changgeng Hospital
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Tsinghua University
Beijing Tsinghua Changgeng Hospital
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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
    • A61M25/10—Balloon catheters
    • A61M25/1018—Balloon inflating or inflation-control devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
    • A61B17/12022—Occluding by internal devices, e.g. balloons or releasable wires
    • A61B17/12027—Type of occlusion
    • A61B17/1204—Type of occlusion temporary occlusion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
    • A61B17/12022—Occluding by internal devices, e.g. balloons or releasable wires
    • A61B17/12099—Occluding by internal devices, e.g. balloons or releasable wires characterised by the location of the occluder
    • A61B17/12109—Occluding by internal devices, e.g. balloons or releasable wires characterised by the location of the occluder in a blood vessel
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
    • A61B17/12022—Occluding by internal devices, e.g. balloons or releasable wires
    • A61B17/12131—Occluding by internal devices, e.g. balloons or releasable wires characterised by the type of occluding device
    • A61B17/12136—Balloons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
    • 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
    • A61M25/10—Balloon catheters
    • A61M2025/1043—Balloon catheters with special features or adapted for special applications
    • A61M2025/1068—Balloon catheters with special features or adapted for special applications having means for varying the length or diameter of the deployed balloon, this variations could be caused by excess pressure

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
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Abstract

The invention relates to a closed-loop type blood flow control system and a control method thereof. The system comprises: the image navigation equipment and the robot equipment are designed in a split mode; the robot device comprises a blood vessel plugging device, and controls the operation of the blood vessel plugging device according to the instruction of the image navigation device so as to control the blood flow state of a blood vessel to be plugged; the image navigation equipment is used for monitoring and displaying the blood vessel image to be plugged in real time, receiving the operation of a user to generate the instruction, and transmitting the instruction to the robot equipment in a wireless mode. The split control mechanism and the intelligent automatic mode are combined with the manual mode, so that the accurate placement, plugging and recovery of the vascular plugging device can be performed more intelligently and conveniently, the operation complexity of the system is reduced, and the safety and operability are improved.

Description

Closed-loop type blood flow control system and control method thereof
Technical Field
The invention relates to the technical field of intelligent medical equipment and control thereof, in particular to intelligent operation auxiliary equipment and a control method thereof, and specifically relates to a closed-loop type blood flow control system and a control method thereof.
Background
Surgical implementation of accurate hepatectomy requires clear surgical field support. Current means of reducing bleeding from the surgical field are centered on blocking liver blood flow (e.g., pringle, hemihepatic blood flow blocking, etc.). However, under the condition of blocking the hepatic blood flow from the first hepatic portal or blocking the hepatic blood flow from the regional hepatic portal, more obvious bleeding still exists in the process of separating hepatic parenchyma, and the bleeding mainly comes from hepatic vein wall and hepatic sinus rupture bleeding. Therefore, the hepatic venous blood flow must be reduced simultaneously while the hepatic blood flow is blocked, so as to achieve the purpose of reducing the bleeding at the operation site. However, the hepatic vein pressure can only be indirectly reduced by means of low central venous pressure (low central venous pressure, LCVP), body position regulation and the like, the clinical effect is controversial, and the risk of increasing the occurrence rate of adverse reactions of important organs such as renal insufficiency, air embolism and the like exists.
In the existing medical equipment and the control technology thereof, an elastic tectorial membrane bracket and a control component for controlling the tectorial membrane bracket to open or close are arranged for the hepatic venous blood flow blocking device, namely, the bracket type; three-cavity double-balloon venous catheter, namely balloon type; a non-cavity internal blocking type blocking clamp. These devices and their control techniques either fail to achieve fine blockage and linear regulation, fail to measure pressure and replenish fluid, or are subject to significant vascular damage. In addition, the existing inferior vena cava plugging saccule system still has influence on blood pressure and blood oxygen, can not quantitatively regulate blood flow and monitor blood pressure and blood oxygen when being used in liver intracavity operation, has potential safety hazard, and simultaneously has high manual operation complexity under ultrasonic positioning, and is easy to cause erroneous judgment of operation and poor stability.
Thus, there is a need for a more accurate positioning and manipulation system and corresponding control method to improve surgical safety, stability, and complexity.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims at solving the problems that the existing blood flow control system adopts an integrated design and has inconvenient operation, and on the other hand, the invention aims at solving the problems that the existing blood flow control system cannot be intelligently and automatically controlled and is inconvenient for a user to use in the operation process, and on the other hand, the invention aims at solving the technical problem that the existing blood flow control system is not accurate enough for controlling the blood flow state.
In order to solve the above-mentioned technical problem, a first aspect of the present invention provides a closed-loop blood flow control system, a second aspect of the present invention provides a control method based on the closed-loop blood flow control system, a third aspect of the present invention provides an electronic device, and a fourth aspect of the present invention provides a computer readable medium, wherein the computer readable medium stores one or more programs, and when the one or more programs are executed by a processor, the method of the first aspect is implemented.
A first aspect of the present invention proposes a closed loop blood flow control system, the system comprising: the robot equipment and the image navigation equipment are designed in a split mode; the robot device comprises a blood vessel plugging device and controls the operation of the blood vessel plugging device according to the instruction of the image navigation device so as to control the blood flow state of a blood vessel to be plugged; the image navigation equipment is used for monitoring and displaying the blood vessel image to be plugged in real time, receiving the operation of a user to generate the instruction, and transmitting the instruction to the robot equipment in a wireless mode.
According to one embodiment of the invention, the vascular occlusion device comprises a sensor for monitoring a blood flow parameter of a blood vessel; the robot device wirelessly transmits the blood flow parameters monitored by the sensor to the image navigation device; the image navigation device is also used for displaying the blood flow parameters in real time.
According to one embodiment of the invention, the sensor comprises a blood pressure sensor and a blood oxygen sensor; the parameters include intravascular pressure and blood oxygen saturation monitored by the blood pressure sensor and blood oxygen sensor.
According to one embodiment of the invention, the robotic device further comprises a mechanical arm, which is detachably connected to the vascular occlusion device.
According to one embodiment of the present invention, the vascular occlusion device includes a control box, the control box is configured to establish a wireless connection with the image navigation device, send the blood flow parameter to the image navigation device, and receive the instruction sent by the image navigation device.
According to one embodiment of the invention, the control box has an automatic mode in which it automatically controls the operation of the vascular occlusion device in dependence of the intravascular pressure and the blood oxygen saturation monitored by the sensor.
According to one embodiment of the present invention, the control box has a manual mode in which it controls the operation of the vascular occlusion device according to the instructions sent by the image navigation apparatus.
According to one embodiment of the invention, the operation of the vascular occlusion device comprises an adjustment of the occlusion position and the occlusion rate of the blood vessel.
According to one embodiment of the invention, the vascular occlusion device comprises a balloon, and the adjustment of the occlusion position and the occlusion rate of the blood vessel is a position adjustment of the balloon in the blood vessel and an expansion rate adjustment of the balloon.
Another aspect of the present invention provides a control method based on a closed-loop blood flow control system, including: monitoring and displaying the blood vessel image to be blocked of the blood vessel blocking device in real time, receiving the operation of a user to generate the instruction, and transmitting the instruction in a wireless mode; the instructions are received wirelessly to control operation of the vascular occlusion device to control the blood flow state of the vessel to be occluded.
According to one embodiment of the present invention, further comprising: monitoring blood flow parameters of the blood vessel by the vascular occlusion device; and displaying the blood flow parameters in real time.
According to one embodiment of the invention, the blood flow parameters include intravascular pressure and blood oxygen saturation.
According to one embodiment of the present invention, further comprising: and automatically controlling the operation of the vascular occlusion device according to the intravascular pressure and the blood oxygen saturation.
According to a specific embodiment of the invention, the operation of the vascular occlusion device is controlled in accordance with the instructions.
According to one embodiment of the invention, the operation of the vascular occlusion device comprises an adjustment of the occlusion position and the occlusion rate of the blood vessel.
According to one embodiment of the invention, the vascular occlusion device comprises a balloon, and the adjustment of the occlusion position and the occlusion rate of the blood vessel is a position adjustment of the balloon in the blood vessel and an expansion rate adjustment of the balloon.
Compared with the prior art, the invention can more effectively control the robot device to execute the accurate placement, plugging and recovery of the adjustable balloon plugging catheter along with the displayed parameter change under the guidance of the real-time monitoring and display through the split-type image navigation device (namely the palm-type device or the portable ultrasonic imaging device), reduces the system operation complexity, realizes the display of the real-time image and the dynamic change of the real-time monitoring parameter, and further can carry out more accurate automatic or manual operation on the robot device, so that the control operation is more accurate and stable, and the safety and the operability are also improved.
Further, through real-time supervision and the control adjustment sacculus inflation of system, can in time adjust intravascular pressure and blood oxygen state, therefore, can effectively reduce the local venous system's of liver blood volume in the operation to can effectively reduce the operation field and lose blood, make clinical operation simple and easy, and more laminating accurate liver excision normal form's demand.
Furthermore, by integrating the control function or the control unit of the robot equipment on the image navigation equipment for positioning, the real-time visualization of the images and the real-time control of the robot equipment can be realized, namely misjudgment caused by misoperation and asynchronous images (such as delay and the like) is avoided, so that the complexity of the operation of an operator or an operator (such as a doctor) is effectively reduced, and the stability of the operation is improved.
The split control mechanism and the intelligent automatic mode are combined with the manual mode, so that the accurate placement, plugging and recovery of the adjustable balloon plugging catheter device can be performed more intelligently and conveniently, the operation complexity of the system is reduced, and the safety and operability are improved.
Drawings
In order to make the technical problems solved by the present invention, the technical means adopted and the technical effects achieved more clear, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted, however, that the drawings described below are merely illustrative of exemplary embodiments of the present invention and that other embodiments of the drawings may be derived from these drawings by those skilled in the art without undue effort.
FIG. 1 is a schematic diagram of a closed loop flow control system according to an embodiment of the present invention.
Fig. 2 is a schematic view of an example of an adjustable balloon occlusion catheter of a first embodiment of the present invention.
FIG. 3 is a schematic diagram of an example of an application scenario of the closed loop blood flow control system of the present invention.
Fig. 4 is a flowchart of an example of a control method according to the present invention according to a second embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments are shown, although the exemplary embodiments may be practiced in various specific ways. Rather, these exemplary embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art.
The structures, capabilities, effects, or other features described in a particular embodiment may be incorporated in one or more other embodiments in any suitable manner without departing from the spirit of the present invention.
In describing particular embodiments, specific details of construction, performance, effects, or other features are set forth in order to provide a thorough understanding of the embodiments by those skilled in the art. It is not excluded, however, that one skilled in the art may implement the present invention in a particular situation in a solution that does not include the structures, properties, effects, or other characteristics described above.
The flow diagrams in the figures are merely exemplary flow illustrations and do not represent that all of the elements, operations, and steps in the flow diagrams must be included in the aspects of the invention, nor that the steps must be performed in the order shown in the figures. For example, some operations/steps in the flowcharts may be decomposed, some operations/steps may be combined or partially combined, etc., and the order of execution shown in the flowcharts may be changed according to actual situations without departing from the gist of the present invention.
The block diagrams in the figures generally represent functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The same reference numerals in the drawings denote the same or similar elements, components or portions, and thus repeated descriptions of the same or similar elements, components or portions may be omitted hereinafter. It will be further understood that, although the terms first, second, third, etc. may be used herein to describe various devices, elements, components or portions, these devices, elements, components or portions should not be limited by these terms. That is, these phrases are merely intended to distinguish one from the other. For example, a first device may also be referred to as a second device without departing from the spirit of the invention. Furthermore, the term "and/or," "and/or" is meant to include all combinations of any one or more of the items listed.
As previously mentioned, the lack of direct, quantitative, minimally invasive, precise blood flow control techniques in the prior art results in unclear surgical fields, limiting further popularization of precise medical treatment. Therefore, the invention provides a closed-loop type blood flow control system and a control method thereof, which realize automatic regulation and control of blood flow and provide technical support for equipment and automatic control for the implementation of accurate medical treatment.
Although the following embodiments are described with respect to intra-operative endoluminal hepatic vein occlusion, the closed loop blood flow control system and control method of the present invention is a general system and method that is suitable for any scenario in which intra-operative vascular occlusion is desired.
In general, the present invention employs a robot apparatus and an image navigation apparatus of a split type design. The robot device is used as an operation device for vascular occlusion, and the image navigation device is used as a display and control device. The design enables the operation and control of the vascular occlusion to be separated, and a user can control the robot device in real time on the basis of real-time imaging by holding the image navigation device, so that the operation is more accurate, and the operation of the user is more convenient. The robot device and the image navigation device are preferably connected in a wireless manner, such as by Bluetooth or wifi, so that the system can be further improved in cleanliness, and the operation is facilitated.
Specifically, the robot device comprises a blood vessel plugging device, and controls the operation of the blood vessel plugging device according to the instruction of the image navigation device so as to control the blood flow state of a blood vessel to be plugged. The image navigation equipment monitors and displays the blood vessel image to be blocked in real time, receives the operation of a user to generate the instruction, and sends the instruction to the robot equipment in a wireless mode. The instruction is any instruction for indicating the operation of the machine tool, and can be a single control instruction or a continuous fine tuning instruction based on signal feedback.
Meanwhile, in order to further precisely control the vascular occlusion device, the vascular occlusion device of the present invention comprises a sensor for monitoring blood flow parameters of the blood vessel. Preferably, the sensor comprises a blood pressure sensor and a blood oxygen sensor, and a plurality of sensors are arranged at different positions of the plugging device relative to the blood vessel, so that the system can perform intelligent calculation and intelligent regulation according to a plurality of different parameter values.
More preferably, the robotic device further comprises a mechanical arm detachably connected to the vascular occlusion device. And the vascular occlusion device may comprise a control box for establishing a wireless connection with the image navigation apparatus, transmitting the blood flow parameter to the image navigation apparatus, and receiving the instruction transmitted by the image navigation apparatus. That is, the control of the robotic device over the vascular occlusion device may be accomplished by a control box and a robotic arm together, the control box serving to assume most of the functions of precisely controlling the operation of the vascular occlusion device. Therefore, the invention can adopt the prior mature mechanical arm control technology and is combined with the operation of the special vascular occlusion device, so that the system has stronger portability.
And, more preferably, the control box and the vascular occlusion device are both designed to be disposable for the patient, thereby improving the safety of the operation.
Further preferably, the control box has an automatic mode and a manual mode, in which it automatically controls the operation of the vascular occlusion device according to the intravascular pressure and the blood oxygen saturation monitored by the sensor; in the manual mode, the operation of the vascular occlusion device is controlled according to the instruction sent by the image navigation device.
The composition and technical effects of the present invention will be further illustrated by the following description of examples, with the embodiment of an adjustable balloon occlusion catheter (MAB-lumen) device as a vascular occlusion device. It should be understood, however, that the use of an adjustable balloon occlusion catheter (MAB-lumen) is a preferred mode of the present invention, and the present invention is not limited to the specific vascular occlusion device technology.
[ first embodiment ]
Next, a first embodiment of the closed-loop type blood flow control system of the present invention will be specifically described with reference to fig. 1 and 2. FIG. 1 is a schematic diagram of a first embodiment of a closed loop blood flow control system according to the present invention.
As shown in fig. 1, the closed loop blood flow control system of this embodiment includes at least the following structural components: an image navigation device 1 and a robot device 2 of split design, the robot device 2 comprising an adjustable balloon occlusion catheter (MAB-lumen) device 3. The image navigation equipment 1 is independent of the robot 2 equipment, monitors the state of blood vessels in real time and displays the state in real time; the robotic device 2 locates the blood vessel and various parts of the blood vessel according to the state of the blood vessel displayed in real time, and performs automatic placement and retrieval of an adjustable balloon occlusion catheter (MAB-lumen) device 3 in the blood vessel.
Specifically, the image navigation apparatus 1 further includes a parameter display screen 11, an ultrasound image display area 13 located below the parameter display screen 11, and control buttons 12 located at the sides, the parameter display screen 11 being for displaying the monitored parameters related to the blood vessel in real time, and the control buttons 12 being for performing various control operations.
In a specific embodiment, the image navigation apparatus 1 is an ultrasonic image navigation apparatus, and the ultrasonic image navigation apparatus can monitor and display an ultrasonic image of a blood vessel state in real time and send a control command. The ultrasonic image navigation equipment is used for positioning an operation part and displaying the ultrasonic image of the monitored blood vessel in real time.
For the image navigation apparatus, the image navigation apparatus 1 is optionally manufactured as a portable ultrasound imaging apparatus, or as a palm-type apparatus.
Specifically, the ultrasonic image navigation device comprises a portable ultrasonic monitoring device integrated with an ultrasonic unit, an input/output unit, a control unit and a wireless communication unit. The ultrasonic unit is used for real-time monitoring and displaying the monitored ultrasonic image, and the input-output unit is used for receiving user operation and displaying the ultrasonic image and blood flow parameters (such as intravascular pressure and blood oxygen saturation) of the blood vessel. The control unit is used for controlling the operation of each unit, generating instructions according to the operation of a user, and sending the control instructions in a wireless mode through the control wireless communication unit so as to send the instructions to the robot equipment, so as to control the operation process of the robot equipment.
As an alternative embodiment, the image navigation device 1 is integrated by a portable ultrasonic monitoring device (or a palm ultrasonic monitoring device) and a control unit (or a controller), and is used as an image display and control part of the whole system, wherein the control unit is used for receiving monitoring data related to the operation of the portable ultrasonic monitoring device, data transmitted by the robot device and blood flow parameters monitored by a sensor of the vascular occlusion device, and determining whether to send a control instruction to the robot device to control the operation of the robot device according to the received related data, so that the robot device can be controlled to operate in a manual mode or an automatic mode. Wherein the image display comprises, for example, a real-time image display of the operation of the robotic device 2 on the adjustable balloon occlusion catheter device 3, and a real-time display of blood flow parameters (i.e. the image navigation device is also used for real-time display of the blood flow parameters). And the robot equipment wirelessly transmits the blood flow parameters monitored by the sensor to the image navigation equipment. Thereby, by integrating a control function or a control unit that controls the operation of the robot device 2 into the image navigation device, in the manual mode, an instruction is sent by the image navigation device 1, not the robot device 2 itself performs control; in the automatic mode, a self-feedback operation is performed on the robot device 2.
Therefore, through the image navigation equipment of split type design, under the guide of real-time supervision and demonstration, can more effectively control the robot equipment 2 to carry out corresponding operation, reduce system's operation complexity, realize the demonstration of real-time image and the dynamic change of real-time supervision parameter, and then can carry out more accurate automation or manual operation to the robot equipment for control operation is more accurate stable, has still improved security and maneuverability.
In another alternative embodiment, in the manual mode, the image navigation apparatus 1 is further configured to send specific instructions for controlling the degree of inflation of the balloon of the adjustable balloon occlusion catheter device 3 and/or the operation of advancing and retracting the catheter of the adjustable balloon occlusion catheter device 3.
In another alternative embodiment, the robotic device 2 automatically adjusts the degree of inflation of the balloon of the adjustable balloon occlusion catheter device 3 in accordance with the parameters monitored by the sensor in an automatic mode. In the manual mode, the robot device 2 adjusts the degree of inflation of the balloon of the adjustable balloon occlusion catheter device 3 and/or the advancing and retreating operation of the catheter of the adjustable balloon occlusion catheter device 3 according to the instruction sent by the image navigation device.
Therefore, the invention can realize the real-time visualization of the image and the real-time control of the robot device by integrating part of the control function or the control unit of the robot device 2 on the image navigation device for positioning, namely, the misjudgment caused by misoperation and asynchronous image (such as delay and the like) is avoided, thereby effectively reducing the complexity of the operation of an operator or an operator (such as a doctor) and improving the stability of the blood flow control in the operation.
In this embodiment, the robotic device 2 comprises a robotic arm 4, the robotic arm 4 being detachably connected to an adjustable balloon occlusion catheter device 3, i.e. a vascular occlusion device. However, the present invention is not limited thereto, and in other embodiments, other operation devices may be used, and the above description is merely illustrative of embodiments and is not to be construed as limiting the present invention.
In a specific embodiment, the robot device 2 positions the blood vessel of the subject and each part of the blood vessel according to the blood vessel state displayed in real time, and performs automatic placement and recovery of the adjustable balloon occlusion catheter device 3 in the blood vessel. Typically, the robotic device 2, the adjustable balloon occlusion catheter device 3 are used in cooperation with a consumable part, and the robotic device 2 and the adjustable balloon occlusion catheter device 3 are both detachably mounted with the consumable part.
As a preferred embodiment of the invention, wherein the consumable part also serves as a power part for powering the operation of the adjustable balloon occlusion catheter device 3, for example a control box, and also as consumable part. In the present invention, by consumable is meant that it is disposable for the patient.
Optionally, the adjustable balloon occlusion catheter device 3 (i.e. the vascular occlusion device) comprises a control box for establishing a wireless connection with the image navigation device 1, sending blood flow parameters to the image navigation device and receiving instructions sent by the image navigation device 1.
In particular, the control box has an automatic mode in which it automatically controls the operation of the adjustable balloon occlusion catheter device 3 (i.e. vascular occlusion device) according to the intravascular pressure (sometimes also simply referred to as blood pressure) and the blood oxygen saturation monitored by the sensor, including the adjustment of the occlusion position and occlusion rate of the blood vessel.
In the present invention, the intravascular pressure (sometimes simply referred to as blood pressure) and the blood oxygen saturation are intravascular pressure and blood oxygen saturation in a sealed region of a blood vessel.
Further, the control box has a manual mode in which it controls the operation of the adjustable balloon occlusion catheter device 3 (i.e. vascular occlusion device) according to the instructions sent by the image navigation device.
Fig. 2 is a schematic diagram illustrating one embodiment of an adjustable balloon occlusion catheter of a first embodiment of the present invention.
As shown in fig. 2, the adjustable balloon occlusion catheter device 3 comprises a balloon 31, a sheath 33, and sensors at the top and bottom of the balloon 31 for monitoring blood flow parameters of a blood vessel, the sensors specifically comprising a first sensor 35 (also called an up sensor) at the top and a second sensor 36 (also called a down sensor) at the bottom, the first sensor 35 and the second sensor 36 for monitoring a plurality of parameters of a blood vessel.
In this embodiment, the first sensor and the second sensor are, for example, blood oxygen sensors or blood pressure sensors.
It should be noted that, in the case where blood oxygen and blood pressure need to be monitored simultaneously, the top and bottom of the balloon 31 include blood oxygen sensors and blood pressure sensors, for example, the first sensor and the second sensor are blood oxygen sensors, and further include a third sensor and a fourth sensor, where the third sensor and the fourth sensor are blood pressure sensors, and the above sensors are all used for monitoring blood flow parameters of blood vessels. The foregoing is illustrative only and is not to be construed as limiting the present invention.
Specifically, the blood flow parameters include intravascular pressure, blood oxygen saturation, blood flow velocity of the blood vessel. Such as invasive blood pressure values, intravascular pressure and blood oxygen saturation at the tip and bottom of the balloon, etc.
In a specific embodiment, the robotic device 2 controls the adjustable balloon occlusion catheter 3 catheter device 3 to perform the following operations according to the ultrasound image displayed in real time and the received control command: the balloon 31 of the adjustable balloon occlusion catheter 3 is blocked at a position where a blood vessel needs to be blocked, a sheath tube 33 is placed in the insertion direction of the blood vessel, the balloon 31 of the adjustable balloon occlusion catheter device 3 is blocked at the position where the blood vessel needs to be blocked, and the sheath tube 33 is withdrawn from the blood vessel.
Specifically, the adjustment of the blocking position and the blocking rate of the blood vessel is the adjustment of the position of the balloon in the blood vessel and the adjustment of the expansion rate of the balloon, so as to realize the blocking of the balloon 31 of the adjustable balloon blocking catheter device 3 at the position where the blood vessel needs to be blocked, and the withdrawal of the sheath tube 33 from the blood vessel.
The foregoing description is provided by way of example only and is not to be construed as limiting the invention.
The closed-loop type blood flow control system of the present invention will be described in more detail below in connection with the manner in which the closed-loop type blood flow control system is actually used in a liver surgery scenario.
FIG. 3 is a schematic diagram illustrating an embodiment of an application scenario of the closed-loop type blood flow control system of the present invention.
As shown in fig. 3, in this application scenario, the image navigation apparatus 1 (i.e. the ultrasound image navigation apparatus) is used in cooperation with the adjustable balloon occlusion catheter device 3 to perform liver surgery, wherein the ultrasound apparatus 11 of the portable ultrasound monitoring apparatus in the image navigation apparatus 1 monitors the vascular state of the subject 8 in real time, and monitors the operation process of the adjustable balloon occlusion catheter device 3 in real time.
Specifically, the consumable part is detachably connected to the adjustable balloon occlusion catheter device 3 and the robotic apparatus 2 (in fig. 3, the robotic arm 4), the adjustable balloon occlusion catheter device 3 comprises a consumable part for powering the operation of the adjustable balloon occlusion catheter device 3, the consumable part being for example a control box 5. The consumable part of the present invention is intended to be disposable for the patient.
Optionally, according to the service requirements of different application scenarios, the adjustable balloon blocking catheter device 3 can also be optionally matched with an infusion tube for infusion.
In this application embodiment, the application scenario of assisting the operator to perform the liver surgery using the adjustable balloon occlusion catheter device 3 is, but not limited to this, for example, an application scenario of further including a person operating a control member and automatically controlling the adjustable balloon occlusion catheter device 3 by the control member, which is merely used as an example for explaining the closed loop type blood flow control system, and the present invention is not limited thereto.
In an embodiment, for example, when an operator performs a liver operation using the adjustable balloon occlusion catheter device 3, the ultrasound image of the monitored blood vessel and the related parameters thereof are displayed on the display screen of the image navigation apparatus 1 in real time, and the control unit determines whether to send a control instruction, for example, stopping the implantation, to the robot apparatus 2 according to the ultrasound image and the parameters displayed in real time, and if it is determined that the control instruction is sent to the robot apparatus 2, sends the control instruction to the robot apparatus 2.
Then, the robot device 2 automatically or manually controls the balloon to be blocked at the position where the blood vessel needs to be blocked according to the ultrasonic image displayed in real time and the received control instruction, namely, the operation of inserting the adjustable balloon blocking catheter device 3 is automatically stopped or the operation of manually stopping the operation of an operator.
Specifically, the robot device controls the inflation and deflation degree of the balloon according to the blood oxygen parameter when the portable ultrasonic monitoring device displays the ultrasonic image (specifically, also displays, for example, a blood vessel state, a blood flow parameter, and the like) in real time and the received control instruction, wherein the blood oxygen parameter comprises oxygen saturation of the top end and the bottom of the balloon, intravascular pressure, and the like.
Further, according to the blood flow parameter values of the top end and the bottom of the balloon, whether the position and the expansion degree of the balloon blocking the blood vessel are proper or not is determined.
For example, when the intravascular pressure at the tip and bottom of the balloon is equal to or higher than a predetermined value, it is determined that the balloon is already sealed at a site where the blood vessel needs to be sealed. And when the intravascular pressure at the top and the bottom of the balloon is smaller than a specified value, determining that the balloon is not blocked at the part of the blood vessel, which needs to be blocked.
For another example, when the intravascular pressure at the tip and bottom of the balloon is equal to or greater than a specified value and the oxygen saturation at the tip and bottom of the balloon is equal to or greater than a specified value, it is determined that the balloon has been sealed at a site where sealing of the blood vessel is required. And determining that the balloon is not blocked at a position where the blood vessel needs to be blocked when the intravascular pressure at the top and the bottom of the balloon is smaller than a specified value and the oxygen saturation at the top and the bottom of the balloon is smaller than a specified value.
In the above embodiment, the intravascular pressures at the tip and the bottom of the balloon are monitored by blood pressure sensors at the tip and the bottom of the balloon, and the monitored intravascular pressure values are transmitted to the control unit integrated with the image navigation apparatus 1, and are determined by the control unit to control the operation of the robot apparatus 2.
In another embodiment, in case it is determined to send a control instruction to the robotic device 2, for example to insert a blood vessel, the control instruction is sent to the robotic device 2, and the insertion of the sheath in the desired insertion direction of the blood vessel is controlled automatically or manually.
Further, in the process of controlling the sheath tube to be placed in the insertion direction required by the blood vessel and the balloon to be blocked at the position required by the blood vessel, the flow rate of the water pump and the increase or decrease of the pressure in the blood vessel are controlled so as to control the expansion and contraction size of the balloon.
Specifically, the control box 5 controls the sheath tube to be placed in the insertion direction according to the needs of the blood vessel, so that the balloon is led into the hepatic vein blood vessel to be blocked from the inferior vena cava, receives the control instruction and controls the flow of the water pump and the increase or decrease of the pressure in the blood vessel according to the ultrasonic image displayed in real time by the display control device and the blood flow parameter, so as to further control the expansion and contraction size of the balloon, thereby completing the control process of blocking the balloon at the position of the blood vessel to be blocked.
In yet another embodiment, after the liver operation is finished, the control unit of the image navigation apparatus transmits a control instruction for recovery to the robot apparatus to control the robot apparatus to recover the balloon.
In yet another embodiment, the balloon inflation size is adjusted by real-time monitoring and monitoring by the system to adjust intravascular pressure and blood oxygenation status in time based on the monitored data. Therefore, through the regulation of the intravascular pressure and the blood oxygen state during the operation, the blood volume of a local venous system of the liver in the operation can be effectively reduced, the blood loss in the operation field can be effectively reduced, the clinical operation is simple, and the requirement of an accurate liver resection paradigm is more attached.
In the above embodiment, the manual control means specifically that the operator or the operator may stop the insertion forward (for example, inserting a specified distance or the like) or withdraw backward (for example, withdraw backward by a specified distance or directly withdraw) or the like according to the received control command when operating the mechanical arm 4. In addition, the control process in each embodiment is performed in real time in the display state and displayed, and if necessary, the manual correction process may be performed according to the displayed ultrasound image and the related parameters. The foregoing is illustrative only and is not to be construed as limiting the present invention.
Therefore, through the image navigation equipment of split type design, under the change guide of real-time supervision and display, the user (or operating personnel or operator, for example doctor) manually or automatically controls the robot equipment to carry out the control operations of imbedding, continuing, stopping and the like on the adjustable balloon occlusion catheter, and controls the increase or decrease of the flow rate of the water pump and the pressure in the blood vessel according to the monitored blood oxygen parameter so as to further control the balloon inflation and deflation size, thereby more effectively completing various operation processes, further enabling related operations to reach the optimal state, and avoiding unexpected risks caused by misoperation.
Compared with the prior art, the invention can more effectively control the robot device to execute the accurate placement, plugging and recovery of the adjustable balloon plugging catheter along with the displayed parameter change under the guidance of the real-time monitoring and display through the split-type image navigation device (namely the palm-type device or the portable ultrasonic imaging device), reduces the system operation complexity, realizes the display of the real-time image and the dynamic change of the real-time monitoring parameter, and further can carry out more accurate automatic or manual operation on the robot device, so that the control operation is more accurate and stable, and the safety and the operability are also improved.
Further, through real-time supervision and the control adjustment sacculus inflation of system, can in time adjust intravascular pressure and blood oxygen state, therefore, can effectively reduce the local venous system's of liver blood volume in the operation to can effectively reduce the operation field and lose blood, make clinical operation simple and easy, and more laminating accurate liver excision normal form's demand.
Furthermore, the control function or the control unit of the robot equipment is integrated on the image navigation equipment for positioning, so that the real-time visualization of images and the real-time control of the robot equipment can be realized, namely misjudgment caused by misoperation and asynchronous images (such as delay and the like) is avoided, the complexity of the operation of an operator or an operator (such as a doctor) is effectively reduced, and the stability of the operation is improved.
[ second embodiment ]
Similarly, the present invention provides an embodiment of a control method based on the system, corresponding to the aforementioned system.
An embodiment of the control method of the present invention will be described below with reference to fig. 3 and 4.
Fig. 4 is a flowchart showing an embodiment of a control method according to the present invention of a second embodiment of the present invention.
As shown in fig. 4, the control method specifically includes the following steps.
Step S101, monitoring and displaying the blood vessel image to be blocked by the blood vessel blocking device in real time, receiving the operation of a user to generate the instruction, and transmitting the instruction in a wireless mode.
Step S102, the instruction is received in a wireless mode to control the operation of the vascular occlusion device so as to control the blood flow state of the blood vessel to be occluded.
In the present embodiment, the closed-loop blood flow control system according to the first embodiment executes the control method according to the present embodiment. Note that, since the closed-loop type blood flow control system in the second embodiment is the same as that in the first embodiment, a repetitive description thereof is omitted.
First, in step S101, a blood vessel image to be blocked by the blood vessel blocking device is monitored and displayed in real time, and the user' S operation is accepted to generate the instruction, and the instruction is sent in a wireless manner.
Specifically, through the image navigation equipment independent of the robot equipment, the blood vessel image to be blocked of the blood vessel blocking device is monitored and displayed in real time, the operation of a user is received to generate the instruction, and the instruction is sent in a wireless mode.
The control method of the present invention will be specifically described with reference to an embodiment applied to a liver surgery scene.
In this application example, the image guidance apparatus 1 (i.e., the ultrasound image guidance apparatus) is used in conjunction with the vascular occlusion device 3 to perform liver surgery. The image navigation device 1 comprises a portable ultrasonic monitoring device, and the image navigation device 1 comprises an ultrasonic instrument 11, as can be seen in fig. 3.
Specifically, the blood vessel state of the subject is monitored in real time by the portable ultrasonic monitoring device in the image navigation device 1, the blood vessel state is monitored in real time and displayed, wherein the ultrasonic instrument 11 of the image navigation device 1 monitors the ultrasonic image of the blood vessel state in real time and displays the monitored ultrasonic image in real time. Further, the blood flow parameters of the blood vessel are monitored by the blood vessel occlusion device 3, and displayed in real time by the image navigation apparatus 1.
For example, the vascular occlusion device 3 is an adjustable balloon occlusion catheter device 3. The vascular occlusion device comprises a balloon.
Preferably, the blood flow parameters include intravascular pressure and blood oxygen saturation.
Further, the ultrasonic instrument 11 monitors the operation control process of the adjustable balloon occlusion catheter device 3 in real time, and displays the monitored operation control process in real time.
Optionally, the image navigation device 1 (i.e. the portable ultrasonic monitoring device) is integrated with a control unit, and the image navigation device displays the ultrasonic image monitored in real time by the image navigation device in real time, receives the operation of the user to generate the instruction, and sends the instruction to the robot device in a wireless manner. The instruction is any instruction for indicating the operation of the machine tool, and can be a single control instruction or a continuous fine tuning instruction based on signal feedback.
In another embodiment, the ultrasonic image navigation device comprises a portable ultrasonic monitoring device integrated with an ultrasonic unit, an input-output unit, a control unit and a wireless communication unit. The ultrasonic unit is used for real-time monitoring and displaying the monitored ultrasonic images, and the input-output unit is used for receiving the user operation and displaying the ultrasonic images and blood oxygen flow parameters (such as intravascular pressure and blood oxygen saturation) of the blood vessel. The control unit is used for controlling the operation of each unit, generating an instruction according to the operation of a user, and wirelessly transmitting the control instruction through the control wireless communication unit to the robot equipment so as to control the operation process of the robot equipment.
In particular, the ultrasound image displayed in real time comprises a process of monitoring the adjustment of the occlusion position and occlusion rate of the blood vessel by the robotic device and the vascular occlusion device 3 in real time, for example, comprising the placement of a sheath into the blood vessel, the adjustment of the position of the balloon in the blood vessel and the adjustment of the inflation rate of the balloon.
Preferably, the robotic device 2 comprises a vascular occlusion device 3 and controls the operation of the vascular occlusion device according to instructions of the image navigation device to control the blood flow state of the vessel to be occluded.
In order to further accurately control the vascular occlusion device, the vascular occlusion device of the present invention comprises a sensor for monitoring a blood flow parameter of the blood vessel. Preferably, the sensor comprises a blood pressure sensor and a blood oxygen sensor, and a plurality of sensors are arranged at different positions of the plugging device relative to the blood vessel, so that the system can perform intelligent calculation and intelligent regulation according to a plurality of different parameter values.
In an embodiment, for example, when an operator performs a liver operation using the adjustable balloon occlusion catheter device 3, the ultrasound image of the monitored blood vessel and the related parameters thereof are displayed on the display screen of the image navigation apparatus 1 in real time, and the control unit determines whether the user's operation sends a control instruction to the robot apparatus 2, such as placing the blood vessel, stopping the delivery, placing, recovering, increasing or decreasing the inflation degree of the balloon, or the like, and if it is determined that the control instruction is sent to the robot apparatus 2, the control instruction is sent to the robot apparatus 2 to control the robot apparatus to operate in the manual mode or the automatic mode.
The foregoing is merely illustrative of the present invention and is not to be construed as limiting thereof.
Next, in step S102, the instruction is received wirelessly to control the operation of the vascular occlusion device to control the blood flow state of the blood vessel to be occluded.
Specifically, the robot device 2 automatically performs an operation of performing a vascular occlusion device in a blood vessel according to an instruction, or manually performed by a user, the operation including adjustment of an occlusion position and an occlusion rate of the blood vessel.
The adjustable balloon occlusion catheter comprises a balloon, a sheath tube and a plurality of sensors positioned at the top end and the bottom of the balloon, and blood flow parameters of a blood vessel are monitored through the sensors, wherein the sensors comprise an oxygen sensor and a blood pressure sensor.
In one embodiment, the robotic device automatically controls the inflation and deflation degree (i.e. inflation rate) of the balloon according to the blood flow parameter under the received control command.
In another embodiment, the control command of the robotic device manually controls the process of inserting the sheath tube in the insertion direction required by the blood vessel and plugging the balloon at the position required to be plugged by the blood vessel, and controls the increase or decrease of the flow rate of the water pump and the pressure in the blood vessel so as to control the inflation and deflation size of the balloon, so that the position of the balloon in the blood vessel and the inflation rate of the balloon are adjusted.
For example, when the intravascular pressure at the tip and bottom of the balloon is equal to or higher than a predetermined value, it is determined that the balloon is already sealed at a site where the blood vessel needs to be sealed. And when the intravascular pressure at the top and the bottom of the balloon is smaller than a specified value, determining that the balloon is not blocked at the part of the blood vessel, which needs to be blocked.
For another example, when the intravascular pressure at the tip and bottom of the balloon is equal to or greater than a specified value and the oxygen saturation at the tip and bottom of the balloon is equal to or greater than a specified value, it is determined that the balloon has been sealed at a site where sealing of the blood vessel is required. And determining that the balloon is not blocked at a position where the blood vessel needs to be blocked when the intravascular pressure at the top and the bottom of the balloon is smaller than a specified value and the oxygen saturation at the top and the bottom of the balloon is smaller than a specified value.
In the above embodiment, the intravascular pressures at the tip and the bottom of the balloon are monitored by blood pressure sensors at the tip and the bottom of the balloon, and the monitored intravascular pressure values are transmitted to the control unit integrated with the image navigation apparatus 1, and are determined by the control unit to control the operation of the robot apparatus 2.
In yet another embodiment, after the liver operation is finished, the control unit of the image navigation apparatus transmits a control instruction for recovery to the robot apparatus to control the robot apparatus to recover the balloon.
In yet another embodiment, the balloon inflation size is adjusted by real-time monitoring and monitoring by the system to adjust intravascular pressure and blood oxygenation status in time based on the monitored data. Therefore, through the regulation of the intravascular pressure and the blood oxygen state during the operation, the blood volume of a local venous system of the liver in the operation can be effectively reduced, the blood loss in the operation field can be effectively reduced, the clinical operation is simple, and the requirement of an accurate liver resection paradigm is more attached.
In the above embodiment, the manual control means that, when the operator or the operator operates the mechanical arm, the operator or the operator may stop the insertion forward (for example, inserting a specified distance or the like) or withdraw backward (for example, withdraw backward by a specified distance or directly withdraw) according to the received control command. In addition, the control process in each embodiment is performed in real time in the display state and displayed, and if necessary, the manual correction process may be performed according to the displayed ultrasound image and the related parameters. The foregoing is illustrative only and is not to be construed as limiting the present invention.
Compared with the prior art, the split control mechanism and the intelligent automatic mode are combined with the manual mode, so that the accurate placement, plugging and recovery of the adjustable balloon plugging catheter device can be performed more intelligently and conveniently, the system operation complexity is reduced, and the safety and operability are improved.
Further, through real-time supervision and control adjustment sacculus inflation, can in time adjust intravascular pressure and blood oxygen state, therefore, can effectively reduce the local venous system's of liver blood volume in the operation to can effectively reduce the operation field and lose blood, make clinical operation simple and easy, and the demand of accurate hepatectomy normal form of laminating more.
In addition, the method can realize the real-time visualization of the image and the real-time control of the robot equipment, namely, the misjudgment caused by misoperations and asynchronous images (such as delay and the like) is avoided, thereby effectively reducing the complexity of the operation of an operator or an operator (such as a doctor) and improving the stability of the operation.
The above-described specific embodiments further describe the objects, technical solutions and advantageous effects of the present invention in detail, and it should be understood that the present invention is not inherently related to any particular computer, virtual device or electronic apparatus, and various general-purpose devices may also implement the present invention. The foregoing description of the embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.

Claims (3)

1. A closed loop blood flow control system, characterized by:
the closed-loop type blood flow control system comprises a robot device and an image navigation device which are designed in a split mode;
the image navigation equipment is used for monitoring and displaying the blood vessel image to be plugged in real time, receiving the operation of a user to generate an instruction, and transmitting the instruction to the robot equipment in a wireless mode;
the robotic device comprises a vascular occlusion device comprising a sensor, a control box and a balloon;
the sensor is used for monitoring blood flow parameters of blood vessels, the sensor comprises a blood pressure sensor and a blood oxygen sensor, and the blood flow parameters comprise intravascular pressure and blood oxygen saturation monitored by the blood pressure sensor and the blood oxygen sensor;
the control box is used for establishing wireless connection with the image navigation equipment, wirelessly transmitting the blood flow parameters to the image navigation equipment, receiving the instruction transmitted by the image navigation equipment, and controlling the operation of the balloon according to the instruction so as to control the blood flow state of the blood vessel to be blocked;
the control box is provided with an automatic mode, and in the automatic mode, the position of the balloon in the blood vessel and the expansion rate of the balloon are automatically controlled according to the pressure in the blood vessel and the blood oxygen saturation;
The image navigation device is also used for displaying the blood flow parameters in real time.
2. The closed loop blood flow control system of claim 1, wherein the robotic device further comprises a robotic arm detachably connected to the vascular occlusion device.
3. The closed loop blood flow control system of claim 1, wherein,
the control box is provided with a manual mode, and in the manual mode, the control box controls the operation of the balloon according to the instruction sent by the image navigation equipment.
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