CN101926680B

CN101926680B - PTCD (Percutaneous transhepatic cholangiodrainage) auxiliary machinery automatic device

Info

Publication number: CN101926680B
Application number: CN2010102442836A
Authority: CN
Inventors: 曹罡; 刘阳; 宋永春
Original assignee: Individual
Current assignee: Individual
Priority date: 2010-08-02
Filing date: 2010-08-02
Publication date: 2012-01-11
Anticipated expiration: 2030-08-02
Also published as: CN101926680A

Abstract

The invention relates to a PTCD (Percutaneous transhepatic cholangiodrainage) auxiliary machinery automatic device. In the clinical PTCD process, medical workers are damaged by X rays, thus the invention provides a manipulator which assists to complete the PTCD. The PTCD auxiliary machinery automatic device consists of an apparatus control platform, a mechanical arm, a photographing device, a special cable, a pressure sensor and a control terminal. When the PTCD auxiliary machinery automatic device is in use, the apparatus for fixing the PTCD remotely controls the mechanical arm in a corresponding position of a control support through a control system after the puncture is carried out manually so that the mechanical arm clamps, relaxes, moves forwards and backwards and do various actions which are usually carried out under X-ray monitoring to assist and complete the PTCD operation. In the invention, the relevant apparatuses for various PTCD are fixed by the mechanical device to complete the motion of the apparatus through the mechanical arm so that the medical workers can remotely control to realize a long-cherished wish that the medical workers can protect themselves against hurt by X rays in the PTCD process.

Description

PTCD Aided Machine automation equipment

Technical field

The present invention relates to the medical equipment that surgical operation is used.Specifically, be a kind of mechanical automation device that can assist completion percutaneous transhepatic biliary drainage (percutaneous transhepatic cholangial drainage PTCD), remote control is accomplished PTCD.

Background technology

PTCD is a kind of clinical operating technology commonly used, is mainly used in the pernicious obstruction of biliary tract that late tumor causes, the drain of appeasing property of row biliary tract; Prepare before degree of depth jaundice patient's the art; Acute biliary infection, like acute obstructive suppurative cholangitis, row emergency case biliary tract decompression drainage transfers emergency operation to choose date for operation etc.Yet in the process that is the patient treatment disease, the medical personnel need be exposed under the X line for a long time, has paid own healthy cost.Research shows: be engaged in the personnel of intervention radiation work, its body receives the overdose ionizing radiation continuously or discontinuously in the long period, can produce various ill-effects, as injures skin, crystalline lens, gonad and myeloid tissue etc.Document announcement is arranged, and X ray can make in the air gas excite ionization to produce harmful substances such as nitrogen oxide, ozone, free radical, and repeatedly contacting lonizing radiation on a small quantity can make gene accumulation damage so that carcinogenic or teratogenesis because of cumulative action.The X line can also cause dizziness, alopecia, organ impaired, suppress bone marrow hematogenesis, make leukopenia; The long-term low dose roentgenization can make human lens muddy, and can finally develop into radiational cataract.Therefore, how in the process of benefiting for the patient, can medical worker self not caused damage, be the difficult problem of pendulum in face of the intervention worker for these years always.

Summary of the invention

The objective of the invention is to, need be exposed to the present situation under the X for a long time, a kind of mechanical automation device is provided to medical personnel in the PTCD process, can remote control, auxiliaryly accomplish PTCD, thereby the medical personnel is thoroughly freed from the environment of X line.

Basic ideas of the present invention are: in the PTCD process; When needs X line supervisory work; The application machine fixture with required various apparatuses, is fixed on the position that its space should be in; Control the motion of various apparatuses afterwards through the motor-driven mechanical arm of fine motion, make it complete operation.Use software kit, and combine custom-designed control circuit, use private cable to connect simultaneously.Guidance panel is placed outside the environment of X line exposure, and the remote control mechanical hand.

The present invention is achieved in that

Mainly form by apparatus controlling platform, mechanical arm, camera head, private cable, pressure transducer, control terminal.Mechanical arm, camera head, pressure transducer are connected in respectively on the apparatus controlling platform directly or indirectly, and camera head, pressure transducer are electrically connected with motor, and motor is connected with mechanical arm.Control terminal is made up of master controller, man-machine interface, power-switching circuit, conversion of signals Acquisition Circuit, driving output circuit, image display, and power-switching circuit is electrically connected with master controller, man-machine interface, driving output circuit, conversion of signals Acquisition Circuit respectively; The signal that conversion of signals Acquisition Circuit collection pressure transducer is passed back is changed amplification, transfers to master controller and judges, and duty is shown in man-machine interface; Man-machine interface receives user's concrete operations information; Pass to master controller, its operation information to user's input is judged, and will be received the sensor information that the conversion of signals Acquisition Circuit is collected; Carry out COMPREHENSIVE CALCULATING, processing with user's operation information; Output control signals to the driving output circuit, instruction is amplified thereupon, convert motor drive signal into and realize the motion of mechanical arm to drive each motor.Control terminal links to each other with the motor electricity of apparatus controlling platform through private cable.

Said apparatus controlling platform is the moveable platform structure, and the top is equipped with a plurality of fixtures, and the shooting that is used for fixing that wherein has is equipped; What have is used for fixing mechanical arm, drives through motor a, motor b, makes mechanical arm accomplish clamping movement and seesaw; What have is used for fixing syringe, and links to each other with motor c, and control is accomplished and injected medicine.

During use the medical personnel at first under the guiding of B ultrasonic, lancet puncture is gone into stones in intrahepatic bile duct, puncture needle connects syringe.Afterwards puncture needle and syringe are fixed in the relevant position of devices hold, at this moment, the medical worker can withdraw to X line operation room, and the remote control mechanical arm makes syringe push away medicine and accomplishes radiography.Again as required, artificial corresponding apparatus is fixed in the relevant position on the devices hold, and through the control man-machine interface, the remote control mechanical hand is accomplished and is inserted the operating procedure that tradition such as seal wire, expansion, drainage tube are inserted, support is inserted need the monitoring of X line to accomplish down.

The present invention can accomplish the various operations that generally need completion under the X line by mechanical assistance in the diagnosis and treatment process of medical personnel's row PTCD.The present invention compares with traditional operating process as a kind of PTCD Aided Machine automation equipment, can thoroughly the medical personnel be freed from the working environment of ray, has protected doctor's health.

Description of drawings

Fig. 1. the organigram of the embodiment of the invention;

Fig. 2. the control terminal schematic block circuit diagram of the embodiment of the invention.

The specific embodiment

Below in conjunction with embodiment of accompanying drawing narration, the present invention is further specified.

Fig. 1 shows the present embodiment unitary construction.Mainly form by apparatus controlling platform, private cable and control terminal.

Three fixtures are installed on the apparatus controlling platform.Various apparatuses or seal wire when first fixture is used for fixing various PTCD;

Second fixture structure designs according to syringe shape, is used for fixing syringe.Its tip designs has the push jack device, and connects motor c.Make it motion by motor c effect push jack, accomplish the medicine that pushes away of syringe;

The 3rd the terminal mechanical arm that connects of fixture can make mechanical arm be fixed in optional position, arbitrarily angled within the specific limits;

Mechanical arm is terminal for tong-like designs, and controls mechanical arm completion clamping, loosening up respectively and moves forward and backward action through motor a and the motor b that is installed on the platform; Mechanical arm and fine motion motor movement direction between the detection part of pressure inductor is installed, and its detectable signal is fed back to control terminal.

In addition, camera head is installed also on the apparatus controlling platform, in order to real-time collection mechanical motion state.

All motors, camera head and pressure inductor in the controlling platform are connected with control terminal through private cable.

In a control terminal arrangement and the remote-control box, include master controller, man-machine interface, power-switching circuit, sensor signal conversion Acquisition Circuit, drive output circuit, image display.

After power-switching circuit is changed foreign current in the control terminal, offer master controller, man-machine interface, driving output circuit, conversion of signals Acquisition Circuit, image display power supply respectively; The conversion of signals Acquisition Circuit is then changed amplification to the signal that pressure transducer is passed back, feeds back to master controller and judges; Man-machine interface is a touch display screen curtain; When information display functions such as mechanical arm current location, angle, seal wire contact pressure are provided; Also possess the function that the user operates input interface, be used to receive user's concrete operations information, pass to master controller and control with implementation and operation; The driving output circuit requires the control instruction of master controller output is driven amplification according to the driving of motor, converts motor drive signal into and realizes the control to mechanical arm to drive each motor; Master controller can be judged the operation information of user's input, and sensor information that collects and user's operation information are carried out COMPREHENSIVE CALCULATING, processing under the software kit support, the output control signal, thus accurately control controling object; Image display then receives the signal in real time display image of camera head.

Fig. 2 shows the control terminal circuit theory of present embodiment.At control terminal; After the sampling of conversion of signals Acquisition Circuit is surveyed and outputed signal to pressure transducer; Sensor informations such as pressure, position are shown on the display screen, can its information be carried out COMPREHENSIVE CALCULATING simultaneously and handle, surpass certain threshold value like the signal of being gathered; Then send control instruction to driving output circuit, and then send motor drive signal.

The user can send operational order to controller in man-machine interface and judge, sends command information again and carries out after COMPREHENSIVE CALCULATING handles, and sends control instruction to driving output circuit, and then sends motor drive signal, control motor movement and make the mechanical arm motion.

Claims

1. PTCD Aided Machine automation equipment; It is characterized in that: form by apparatus controlling platform, mechanical arm, camera head, private cable, pressure transducer, control terminal; Mechanical arm, camera head, pressure transducer are connected on the apparatus controlling platform respectively directly or indirectly; Camera head, pressure transducer are electrically connected with motor, and motor is connected with mechanical arm; Control terminal is made up of master controller, man-machine interface, power-switching circuit, conversion of signals Acquisition Circuit, driving output circuit, image display, and power-switching circuit is electrically connected with master controller, man-machine interface, driving output circuit, conversion of signals Acquisition Circuit respectively; The conversion of signals Acquisition Circuit is gathered the signal that pressure transducer is passed back, and changes amplification, transfers to master controller and judges; And duty is shown in man-machine interface, man-machine interface receives user's concrete operations information, passes to master controller; Its operation information to user's input is judged; And will receive the sensor information that the conversion of signals Acquisition Circuit is collected, and carry out COMPREHENSIVE CALCULATING, processing with user's operation information, output control signals to the driving output circuit; Instruction is amplified thereupon, convert motor drive signal into and realize the motion of mechanical arm to drive each motor; Control terminal links to each other with the motor electricity of apparatus controlling platform through private cable.

2. according to the said PTCD Aided Machine of claim 1 automation equipment, it is characterized in that: said apparatus controlling platform is the moveable platform structure, and the top is equipped with a plurality of fixtures, and the shooting that is used for fixing that wherein has is equipped; What have is used for fixing mechanical arm, drives through motor a, motor b, makes mechanical arm accomplish clamping movement and seesaw; What have is used for fixing syringe, and links to each other with motor c, and control is accomplished and injected medicine.