CN104490476B - Multidimensional information monitoring system and display method for auxiliary system for blood vessel interventional operation - Google Patents
Multidimensional information monitoring system and display method for auxiliary system for blood vessel interventional operation Download PDFInfo
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- CN104490476B CN104490476B CN201410817680.6A CN201410817680A CN104490476B CN 104490476 B CN104490476 B CN 104490476B CN 201410817680 A CN201410817680 A CN 201410817680A CN 104490476 B CN104490476 B CN 104490476B
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- 210000004204 blood vessel Anatomy 0.000 title claims abstract description 65
- 238000012544 monitoring process Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 50
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 229920001971 elastomer Polymers 0.000 claims description 46
- 239000000806 elastomer Substances 0.000 claims description 43
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 16
- 229910052802 copper Inorganic materials 0.000 claims description 16
- 239000010949 copper Substances 0.000 claims description 16
- 239000000835 fiber Substances 0.000 claims description 10
- 230000003287 optical effect Effects 0.000 claims description 10
- 231100001261 hazardous Toxicity 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 239000008280 blood Substances 0.000 claims description 4
- 210000004369 blood Anatomy 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
- 238000012856 packing Methods 0.000 description 6
- 241001463139 Vitta Species 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 210000004247 hand Anatomy 0.000 description 3
- 230000003796 beauty Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000013152 interventional procedure Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 238000002627 tracheal intubation Methods 0.000 description 2
- 229930091051 Arenine Natural products 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
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Abstract
The invention provides a multidimensional information monitoring system for an auxiliary system for a blood vessel interventional operation. The system is characterized by comprising an operation catheter impact information sensor unit, a movement position information detecting unit, a serial port arrangement and initialization unit, a micro controller and a display unit. The display method comprises the following steps: initialization, blood vessel stress and position information detection, judgment and adjustment. The display method has the advantages that the force information and the movement information during the operation can be effectively fed back to doctors through vision, the doctors can accurately know the operation conditions in real time, and therefore, the safety of the interventional operation is improved.
Description
(1) technical field：
The invention belongs to technical field of medical equipment, especially a kind of multidimensional for blood vessel intervention operation aid system are believed
Breath monitoring system and display packing.
(2) background technology：
Interventional surgery system is the machine with high security that a kind of auxiliary doctor carries out intubation intervention operation
Device people's system, can be such that operation doctor radiates from X-ray, reduce because doctor's physiology tremble with maloperation the danger that produces.
Due to interventional surgery system using master-slave mode by the way of, be doctor departing from operative site, by
Main side operator realizing intubation intervention, so as to cause doctor perceive catheter movement situation in interventional procedure well
And operation conduit force information size, especially doctor's hand in this process perceive from conduit counteracting force feelings
Condition.The disappearance of some information brings certain difficulty, or even the safety of patient that can be to being performed the operation to doctor's operation
Impact.So, some important informations during the carrying out of operation are fed back to into doctor and is very important, can not only
Ensure the safety of operation technique, moreover it is possible to improve the efficiency of whole interventional procedure.Monitoring system in the past is all shown mostly
The information of power, and the system not only shows the information but also the movable information comprising surgical catheters of power, compares former system
Presentation of information obtains more comprehensive.
(3) content of the invention：
It is an object of the invention to provide a kind of multidimensional information monitoring system for blood vessel intervention operation aid system and
Display packing, it can overcome the deficiencies in the prior art, be a kind of simple structure, easy to operate, can be supplied to doctor in real time
The important feedback information of life, improves the safety of intervention operation, contributes to multidimensional information monitoring system and the display of doctor's operation
Method.
Technical scheme：A kind of multidimensional information monitoring system for blood vessel intervention operation aid system, which is special
Levy is that it includes surgical catheters impact force information sensor unit, movement position information detecting unit, serial port setting and initial
Change unit, micro controller unit and display unit；Wherein, the surgical catheters impact force information sensor unit and motion bit
Put information detecting unit and gather collision force information of the surgical catheters in operation process in blood vessel intervention operation aid system respectively
And the movement position information of conduit；The micro controller unit receives surgical catheters impact force information sensor unit and motion bit
Put the collection information of information detecting unit, and be transferred to display unit, by display unit show conduit collision force information and
The movement position information of conduit；The serial port setting and initialization unit realize the selection to data-interface, openings, closing and
Initialized setting is carried out to display unit；Wherein, the surgical catheters impact force information sensor unit is led installed in operation
Pipe end；The movement position information detecting unit, micro controller unit are arranged on the main side of blood vessel intervention operation system；It is described
The content of display unit will be shown on the PC of blood vessel intervention operation system main side.
The surgical catheters impact force information sensor unit is by surgical catheters front end crash force information sensor and handss
Art duct wall contact force information sensor array is constituted, and gathers the blood vessel that surgical catheters front end is subject in the blood vessel respectively
The contact force information with blood vessel wall that collision force information and side wall are subject in the blood vessel；The surgical catheters front end crash force information
Sensor is arranged on the front end of blood vessel interventional operation conduit；The surgical catheters sidewall contact force information sensor array is uniformly pacified
It is mounted on the side wall of blood vessel interventional operation conduit.
The surgical catheters front end crash force information sensor is mounted in the Fibre Optical Sensor of surgical catheters front end；It is described
Surgical catheters sidewall contact force information sensor array is pressure sensitive elastomer sensor array.
The pressure sensitive elastomer sensor array is made up of copper electrode, pressure sensitive elastomer and wire；Wherein, the pressure sensitive elastomer
It is arranged in 3 × 3 sensor array；The copper electrode is made up of 3 row electrodes and 3 row electrodes；The copper electrode is bonded in
On the pressure sensitive elastomer, the wire is bonded on copper electrode；The pressure sensitive elastomer sensor array is made up of 9 array points,
Respectively array point S1, array point S2, array point S3, array point S4, array point S5, array point S6, array point S7, array point S8
With array point S9；The array point is guided to analog channel gating chip by the row electrode and row electrode of copper electrode and is gated；Its
In, array point S1, array point S4 are connected with same row electrode for one group with the pressure sensitive elastomer of array point S7；The array point
S2, array point S5 are connected with same row electrode for one group with the pressure sensitive elastomer of array point S8；The array point S3, array point S6
It is connected with same row electrode for one group with the pressure sensitive elastomer of array point S9；The array point S1, array point S2 and array point S3
Pressure sensitive elastomer be one group with same row electrode be connected；The pressure sensitive elastomer of the array point S4, array point S5 and array point S6
It is connected with same row electrode for one group；The pressure sensitive elastomer of the array point S7, array point S8 and array point S9 is one group with same
One row electrode is connected；Pressure sensitive elastomer sensor array is bonded on the side wall of surgical catheters, and the Fibre Optical Sensor is bonded in
In the front inner wall of surgical catheters and beyond the distance of catheter proximal end 5-10mm.
The movement position information detecting unit is by surgical catheters axial position information detecting element and surgical catheters footpath
Constitute to positional information detecting element, installed in the main side of blood vessel intervention operation aid system, gather the axle of surgical catheters respectively
To positional information and radial angle information.
The surgical catheters axial position information detecting element adopts linear displacement transducer；The surgical catheters radial direction position
Confidence breath detecting element adopts rotary encoder.
The data-interface is RS232 serial line interfaces；The serial port setting and initialization unit are in blood vessel intervention operation
It is used for unit that is realizing man-machine interaction and being configured with click on the PC of aid system；It is right that it can realize
The selection of RS232 serial line interfaces, opening, close and initialized setting is carried out to display unit.
The display unit is by surgical catheters front end crash force information display module, surgical catheters sidewall contact force information
Display module and movable information display module are constituted；Wherein described surgical catheters front end crash force information display module shows leads
The impact force size that the safety range of pipe front end and blood vessel impact force, warning scope, risk range and real-time detection are arrived；
The surgical catheters sidewall contact force information display module shows the array point value of the contact force sensor on duct wall；It is described
Movable information display module is made up of axial position information display portion and radial angle information display section, is shown respectively and is led
The axial movement position of pipe, unit is mm, and radial motion angle, and unit is degree.
The surgical catheters front end crash force information display module is by a progress bar, a working condition warning strip and
Individual edit box is constituted；Working condition warning strip is used to indicate surgical catheters front end crash power allowed band, including place of safety, warning
Area and hazardous area.
The surgical catheters sidewall contact force information display module is made up of nine array point information display areas；The array
Point information display area is made up of a warning block and an edit box again；Wherein, the warning block is used to indicate sidewall contact
Power allowed band；The edit box is used to show sidewall contact force value size；The edit box and warning block are one-to-one.
The warning block is made up of green, yellow and red three kinds of color blocks；Wherein, green represents that side wall impact force is in
In allowed band；Yellow represents side wall impact force in the range of warning；It is red to represent side wall impact force in risk range.
The surgical catheters axially-movable information display section is made up of a slider control and an edit box；The cunning
Block control is used for the axial movement position for indicating surgical catheters；The edit box is used to show surgical catheters axial movement position value
Size；The surgical catheters radial motion information display section is made up of an indicator and an edit box；Wherein, the finger
Show pin for indicating the angle of surgical catheters rotation, the edit box is used for the angle value size for showing surgical catheters rotation.
The display unit can realize the screen display of the corresponding information of above- mentioned information display module by PC；The micro-control
Device unit processed is the DSP28335 of TI companies, and micro controller unit can gather the sensor detection of the conduit every 100ms
Data.
A kind of monitoring of multidimensional information monitoring system for blood vessel intervention operation aid system and display packing, its feature
It is that it comprises the following steps：
1. by serial port setting and initialization unit to the surgical catheters front end crash force information display module in display unit,
Surgical catheters sidewall contact force information display module and movable information display module are initialized；Select data-interface and beat
Open；
2. by axial position information detecting element, radial position infomation detection element, surgical catheters front end crash force information
Sensor and surgical catheters sidewall contact force information sensor array detect the axial movement position information of conduit respectively, radially transport
Dynamic angle information, catheter proximal end are received the contact force size information of blood vessel wall by the impact force size and duct wall of blood vessel wall；
3. 2. micro controller unit receiving step collects catheter location information and the information of power, are transferred to show
Unit, shows the multidimensional information monitoring situation of blood vessel intervention operation aid system on the display unit；
4. the front end crash power that surgical catheters are subject to by surgical catheters front end crash force information display module carries out screen display；Step
The rapid catheter proximal end collision force information for 2. collecting will be shown in progress bar, it is possible to compareed working condition warning strip, observed
Real-time Collection to front end crash power be in safety range, warning scope or risk range；Doctor can be according to display feelings
The operation of condition revisional operation；The edit box then shows the value of surgical catheters front end crash force information；
5. represent that surgical catheters front end crash power size is being allowed when the show value of impact force progress bar is in place of safety
In the range of, operative doctor can be worked on；
6., when the show value of impact force progress bar is in alert zone, represent surgical catheters front end crash power in warning model
In enclosing, now, operative doctor is very careful when operating, and slowly changing catheter proximal end position is in front end crash power
In allowed band；
7., when the show value of impact force progress bar reaches hazardous area, represent surgical catheters front end crash power in dangerous model
In enclosing, now operative doctor should stop the action for pushing forward conduit immediately, and change catheter proximal end position as early as possible, lead operation
Pipe front end crash power is in allowed band；And when the value of front end impact force reaches hazardous area, blood vessel intervention operation
Aid system can be locked automatically, prevent doctor from continuing to be forwardly inserted conduit, and protection intervention surgical patient blood vessel is not punctured；
8. contact force of the surgical catheters sidewall contact force information display module by surgical catheters side wall with blood vessel carries out screen display,
The duct wall contact force information value that 2. step collects will be shown in edit box, and can compare warning block observation Real-time Collection
To contact force be in safety range, warning scope or risk range；Doctor can be according to display situation revisional operation
Operation；
9. the axial movement position of surgical catheters and radial motion angle information are carried out screen display by movable information display module；
The movable information of the surgical catheters that doctor can be shown according to two parts, determines whether the operation technique of oneself is correct, if need
Adjust.
The step 4. in for indicate the working condition warning strip of surgical catheters front end crash power allowed band by green,
Yellow and red three little color bars are arranged in order composition；Represent that the value of surgical catheters front end crash power is located at safety respectively
Area, alert zone and hazardous area.
The value of the front end crash power that the demarcation line of the green color bar and the yellow color bar represents is 0.3N, the yellow face
The value of the front end crash power that the demarcation line of vitta and beauty's vitta represents is 0.5N, and 0.5N is the blood that clinically doctor is given
The pierced marginal value of tube wall.
The superiority of the present invention：Effectively doctor can be given by visual feedback by force information in operation process and movable information
It is raw, it is that doctor can real-time and accurately understand situation about carrying out of performing the operation, so as to improve the safety of intervention operation.
(4) illustrate：
Fig. 1 is a kind of overall knot of multidimensional information monitoring system for blood vessel intervention operation aid system involved by the present invention
Structure block diagram.
Fig. 2 is a kind of display list of the multidimensional information monitoring system for blood vessel intervention operation aid system involved by the present invention
The overall structure block diagram of unit.
Fig. 3 is a kind of monitoring circle of the multidimensional information monitoring system for blood vessel intervention operation aid system involved by the present invention
The structural representation in face.
Fig. 4 be the monitoring of a kind of multidimensional information monitoring system for blood vessel intervention operation aid system involved by the present invention and
The schematic flow sheet of display packing.
Fig. 5 is a kind of pressure-sensitive rubber of the multidimensional information monitoring system for blood vessel intervention operation aid system involved by the present invention
The scheme of installation of glue sensor array and Fibre Optical Sensor.
Fig. 6 is a kind of pressure-sensitive rubber of the multidimensional information monitoring system for blood vessel intervention operation aid system involved by the present invention
Glue sensor array structure schematic diagram.
Wherein, 1 is copper electrode, and 2 is pressure sensitive elastomer, and 3 is wire, and 4 is Fibre Optical Sensor, and 5 is surgical catheters.
(5) specific embodiment：
Embodiment：A kind of multidimensional information monitoring system (see Fig. 1) for blood vessel intervention operation aid system, its feature exist
Include that surgical catheters impact force information sensor unit, movement position information detecting unit, serial port setting and initialization are single in it
Unit, micro controller unit and display unit；Wherein, the surgical catheters impact force information sensor unit and motion bit confidence
Breath detector unit gathers in blood vessel intervention operation aid system collision force information of the surgical catheters in operation process respectively and leads
The movement position information of pipe；The micro controller unit receives surgical catheters impact force information sensor unit and motion bit confidence
The collection information of breath detector unit, and display unit is transferred to, conduit collision force information and conduit are shown by display unit
Movement position information；The serial port setting and initialization unit are realized the selection to data-interface, opening, are closed and to aobvious
Show that unit carries out initialized setting；Wherein, the surgical catheters impact force information sensor unit is last installed in surgical catheters 5
End；The movement position information detecting unit, micro controller unit are arranged on the main side of blood vessel intervention operation system；The display
The content of unit will be shown on the main side PC of blood vessel intervention operation system.
The data-interface is RS232 serial line interfaces.
The surgical catheters impact force information sensor unit is by surgical catheters front end crash force information sensor and handss
Art duct wall contact force information sensor array is constituted (see Fig. 1), gathers what 5 front end of surgical catheters was subject in the blood vessel respectively
Blood vessel collides the contact force information with blood vessel wall that force information and side wall are subject in the blood vessel；The surgical catheters front end is touched
Force information sensor is hit installed in the front end of blood vessel interventional operation conduit 5；The surgical catheters sidewall contact force information sensor
Array is uniformly on the side wall of blood vessel interventional operation conduit 5.
The surgical catheters front end crash force information sensor be mounted in 5 front end of surgical catheters Fibre Optical Sensor 4 (see
Fig. 5)；The surgical catheters sidewall contact force information sensor array is pressure sensitive elastomer sensor array.
The pressure sensitive elastomer sensor array (see Fig. 6) is made up of copper electrode 1, pressure sensitive elastomer 2 and wire 3；Wherein, institute
State the sensor array that pressure sensitive elastomer 2 is arranged in 3 × 3；The copper electrode 1 is made up of 3 row electrodes and 3 row electrodes；It is described
Copper electrode 1 is bonded on the pressure sensitive elastomer 2, and the wire 3 is bonded on copper electrode；The pressure sensitive elastomer sensor array
(see Fig. 6) is made up of 9 array points, respectively array point S1, array point S2, array point S3, array point S4, array point S5, battle array
Row point S6, array point S7, array point S8 and array point S9；The array point guides to mould by the row electrode and row electrode of copper electrode 1
Intend passage gating chip to be gated；Wherein, the pressure sensitive elastomer of array point S1, array point S4 and array point S7 is one group with same
Individual row electrode is connected；The pressure sensitive elastomer of the array point S2, array point S5 and array point S8 is one group with same row electrode phase
Even；The array point S3, array point S6 are connected with same row electrode for one group with the pressure sensitive elastomer of array point S9；The array
Point S1, array point S2 are connected with same row electrode for one group with the pressure sensitive elastomer of array point S3；The array point S4, array point
S5 is connected with same row electrode for one group with the pressure sensitive elastomer of array point S6；The array point S7, array point S8 and array point
The pressure sensitive elastomer of S9 is one group and is connected with same row electrode；The installation of the pressure sensitive elastomer sensor array and Fibre Optical Sensor
As shown in figure 5, wherein, the pressure sensitive elastomer sensor array is bonded on the side wall of surgical catheters 5 schematic diagram, and the optical fiber is passed
Sensor is bonded in the front inner wall of surgical catheters 5 and beyond the distance of catheter proximal end 5-10mm, is exceeded in the present embodiment
Distance is 5mm.
The movement position information detecting unit is by surgical catheters axial position information detecting element and surgical catheters footpath
Constitute (see Fig. 1) to positional information detecting element, installed in the main side of blood vessel intervention operation aid system, gather operation respectively and lead
The axial position information and radial angle information of pipe.
The surgical catheters axial position information detecting element adopts linear displacement transducer；The surgical catheters radial direction position
Confidence breath detecting element adopts rotary encoder.
The serial port setting and initialization unit (see Fig. 1) are used in fact on the PC of blood vessel intervention operation aid system
Unit that is showing man-machine interaction and being configured with click；It can realize selection to RS232 serial line interfaces, opening,
Close and initialized setting is carried out to display unit.
The display unit (see Fig. 2) is connect by surgical catheters front end crash force information display module, surgical catheters side wall
Touch information display module and movable information display module；Wherein described surgical catheters front end crash force information display module shows
Show the impact force that the safety range of catheter proximal end and blood vessel impact force, warning scope, risk range and real-time detection are arrived
Size；The surgical catheters sidewall contact force information display module shows the array point of the contact force sensor on duct wall
Value；The movable information display module is made up of axial position information display portion and radial angle information display section, point
The axial movement position of conduit do not shown, unit is mm, and radial motion angle, unit is degree.
The surgical catheters front end crash force information display module (see Fig. 3) is by a progress bar, a working condition police
Show that bar and an edit box are constituted；Working condition warning strip is used to indicate 5 front end crash power allowed band of surgical catheters, including peace
The whole district, alert zone and hazardous area.
The surgical catheters sidewall contact force information display module (see Fig. 3) is made up of nine array point information display areas；
The array point information display area is made up of a warning block and an edit box again；Wherein, the warning block is used to indicate
Sidewall contact power allowed band；The edit box is used to show sidewall contact force value size；The edit box and warning block are one
One is corresponding；Nine array point information display area labels described in Fig. 3 and nine pressure sensitive elastomer array piont marks in Fig. 6 are one by one
It is corresponding, wherein, the S1 in the correspondence Fig. 6 of array point 1 in Fig. 3, the S2 in the correspondence Fig. 6 of array point 2 in Fig. 3, in turn, battle array
Row 3 corresponding S3 of point, 4 corresponding S4 of array point, 5 corresponding S5 of array point, 6 corresponding S6 of array point, 7 corresponding S7 of array point, array point 8 pairs
Answer S8,9 corresponding S9 of array point.
The warning block (see Fig. 3) is made up of green, yellow and red three kinds of color blocks；Wherein, green represents that side wall is touched
Hit power to be in allowed band；Yellow represents side wall impact force in the range of warning；It is red to represent side wall impact force in danger
In dangerous scope.
The movable information display module (see Fig. 3) is by surgical catheters axially-movable information display section and surgical catheters
Radial motion information display section is constituted；Wherein, the surgical catheters axially-movable information display section is by a slider control
Constitute with an edit box；The slider control is used for the axial movement position for indicating surgical catheters 5；The edit box is used to show
Show surgical catheters axial movement position value size；The surgical catheters radial motion information display section is by an indicator and one
Individual edit box is constituted；Wherein, the indicator is used for the angle for indicating the rotation of surgical catheters 5, and the edit box is used to show handss
The angle value size of the rotation of art conduit 5.
The display unit (see Fig. 1) can realize the screen display of the corresponding information of above- mentioned information display module by PC；
The micro controller unit is the DSP28335 of TI companies, and microcontroller can gather the sensor inspection of the conduit every 100ms
The data of survey.
A kind of monitoring of multidimensional information monitoring system for blood vessel intervention operation aid system and display packing (see Fig. 3,
Fig. 4), it is characterised in that it comprises the following steps (see Fig. 4)：
1. the surgical catheters front end crash force information in display unit is shown by serial port setting and initialization unit (see Fig. 1)
Show that module, surgical catheters sidewall contact force information display module and movable information display module are initialized；Select interface simultaneously
Open；
2. by axial position information detecting element, radial position infomation detection element, surgical catheters front end crash force information
Sensor and surgical catheters sidewall contact force information sensor array (see Fig. 1) detect the axial movement position letter of conduit respectively
Breath, radial motion angle information, catheter proximal end are received the contact force of blood vessel wall by the impact force size and duct wall of blood vessel wall
Size information；
3. 2. micro controller unit receiving step collects catheter location information and the information of power, are transferred to show
Unit, shows the multidimensional information monitoring situation of blood vessel intervention operation aid system on the display unit；
4. the front end crash power that surgical catheters 5 are subject to by surgical catheters front end crash force information display module (see Fig. 3) is entered
Row screen display；The catheter proximal end collision force information that 2. step collects will be shown in progress bar, it is possible to compare working condition police
Show bar, observe Real-time Collection to impact force be in safety range, warning scope or risk range；Doctor can be according to aobvious
Show the operation of situation revisional operation；The edit box then shows the value of surgical catheters front end crash force information；
5. represent that surgical catheters front end crash power size is being allowed when the show value of impact force progress bar is in place of safety
In the range of, operative doctor can be worked on；
6., when the show value of impact force progress bar is in alert zone, represent surgical catheters front end crash power in warning model
In enclosing, now, operative doctor is very careful when operating, and slowly changing catheter proximal end position is in front end crash power
In allowed band；
7., when the show value of impact force progress bar reaches hazardous area, represent surgical catheters front end crash power in dangerous model
In enclosing, now operative doctor should stop the action for pushing forward conduit immediately, and change catheter proximal end position as early as possible, lead operation
Pipe front end crash power is in allowed band；And when the value of front end impact force reaches hazardous area, blood vessel intervention operation
Aid system can be locked automatically, prevent doctor from continuing to be forwardly inserted conduit, and protection intervention surgical patient blood vessel is not punctured；
8. contact force of the surgical catheters sidewall contact force information display module (see Fig. 3) by surgical catheters side wall with blood vessel is entered
Row screen display, the duct wall contact force information value that 2. step collects will be shown in edit box, and can compare warning block observation
Real-time Collection to contact force be in safety range, warning scope or risk range；Doctor can be repaiied according to display situation
The operation just performed the operation；
9. the axial movement position of surgical catheters 5 and radial motion angle information are shielded by movable information display module
It is aobvious；The movable information of the surgical catheters 5 that doctor can be shown according to two parts, determines whether the operation technique of oneself is correct, is
It is no to need adjustment.
The step 4. in for indicate the working condition warning strip of surgical catheters front end crash power allowed band by green,
Yellow and red three little color bars are arranged in order composition；Represent that the value of surgical catheters front end crash power is located at safety respectively
Area, alert zone and hazardous area.
The value of the front end crash power that the demarcation line of the green color bar and the yellow color bar represents is 0.3N, the yellow face
The value of the front end crash power that the demarcation line of vitta and beauty's vitta represents is 0.5N, and 0.5N is the blood that clinically doctor is given
The pierced marginal value of tube wall.
In the present embodiment, the scope of the power that the progress bar is represented is 0-1N.
In the present embodiment, the position range that slider control is represented is 0-200mm.
Fig. 3, in 4, doctor can be directed to the multidimensional information monitoring system of blood vessel intervention operation aid system to surgical catheters 5
Monitor in real time and show to determine that the action in operation is whether correct, if how incorrect this adjusts：
(1) into after monitoring interface, serial port setting and the initialization button in initialization display module are clicked first, by number
Initialize according to variable and control；
(2) select available serial ports and open serial ports, as the available serial ports of different PCs is different, so passing
Serial ports will be chosen before transmission of data；
(3) surgical catheters front end crash force information is shown in surgical catheters front end crash force information display module, operation is led
The size of surgical catheters front end crash force value, surgical catheters are shown in the edit box of pipe front end crash force information display module lower end
Progress bar in the middle of front end crash force information display module is used to refer to the size of surgical catheters front end crash force value, the operation
The color bar of catheter proximal end impact force information display module upper end is used to refer to the permission at surgical catheters front end crash force value place
Scope；In the present embodiment, the surgical catheters front end crash power is detected by Fibre Optical Sensor.
(4) surgical catheters sidewall contact force information display module shows surgical catheters sidewall contact force information, in this enforcement
In example, there are nine sensor detected value display portions, the sensor inspection in the surgical catheters sidewall contact force information viewing area
Measured value display portion include for show sensor detected value size edit box and indication sensor detected value be located permission
The color alerts block of scope；In the present embodiment, the sidewall contact power is detected by pressure sensitive elastomer sensor array.
(5) surgical catheters axially and radially movable information is shown in movable information display module, in the present embodiment, axially
Positional information is measured by linear displacement transducer, and radial position information is measured by rotary encoder.
As shown in flowchart form in figure 4, its process is the total concept figure of multidimensional information detection and interface display：
First, by axial position information detecting element, radial position infomation detection element, surgical catheters front end crash power
The movable information and conduit and blood of information sensor and surgical catheters sidewall contact force information sensor array detection conduit
The impact force size of tube wall；In the present embodiment, axial position information detecting element uses linear displacement transducer, radially
Positional information detecting element uses rotary encoder, and front end crash force transducer uses Fibre Optical Sensor, and side wall connects
Touch force sensor array uses pressure sensitive elastomer sensor array；
Secondly, the data that each sensor is detected are sent to microcontroller, in the present embodiment, microcontroller is adopted
Be TI companies DSP28335, microcontroller can gather the experimental data of each sensor every 100ms；
Finally, microcontroller sends each data for collecting to PC with specific agreement by serial ports, in this reality
Apply serial ports in example and use mode transmission data that 8 data lengths, baud rate are 9600bps.
Claims (2)
1. a kind of multidimensional information monitoring system for blood vessel intervention operation aid system, it is characterised in that it includes surgical catheters
Impact force information sensor unit, movement position information detecting unit, serial port setting and initialization unit, micro controller unit with
And display unit；Wherein, the surgical catheters impact force information sensor unit and movement position information detecting unit are adopted respectively
The movement position information of collision force information and conduit of the surgical catheters in operation process in blood-collecting tube intervention surgical assistant system；
The micro controller unit receives the collection of surgical catheters impact force information sensor unit and movement position information detecting unit
Information, and display unit is transferred to, the movement position information of conduit collision force information and conduit is shown by display unit；Institute
State serial port setting and initialization unit is realized the selection to data-interface, opening, closes and display unit is initialized
Setting；Wherein, the surgical catheters impact force information sensor unit is arranged on surgical catheters end；The motion bit confidence
Breath detector unit, micro controller unit are arranged on the main side of blood vessel intervention operation system；The content of the display unit will be in blood
Shown on the main side PC of pipe interventional operation system；
The surgical catheters impact force information sensor unit is led by surgical catheters front end crash force information sensor and operation
Tube side wall contact force information sensor array is constituted, and gathers the blood vessel collision that surgical catheters front end is subject in the blood vessel respectively
The contact force information with blood vessel wall that force information and side wall are subject in the blood vessel；The surgical catheters front end crash force information sensing
Device is arranged on the front end of blood vessel interventional operation conduit；The surgical catheters sidewall contact force information sensor array is uniformly arranged on
On the side wall of blood vessel interventional operation conduit；The movement position information detecting unit is detected by surgical catheters axial position information
Element and surgical catheters radial position infomation detection element are constituted, installed in the main side of blood vessel intervention operation aid system, difference
The axial position information and radial angle information of collection surgical catheters；
The surgical catheters axial position information detecting element adopts linear displacement transducer；The surgical catheters radial position letter
Breath detecting element adopts rotary encoder；The surgical catheters front end crash force information sensor is mounted in surgical catheters front end
Fibre Optical Sensor；The surgical catheters sidewall contact force information sensor array is pressure sensitive elastomer sensor array；
The data-interface is RS232 serial line interfaces；The serial port setting and initialization unit are aided in blood vessel intervention operation
It is used for unit that is realizing man-machine interaction and being configured with click on the PC of system；It can realize going here and there RS232
The selection of line interface, opening, close and initialized setting is carried out to display unit；
The display unit is shown by surgical catheters front end crash force information display module, surgical catheters sidewall contact force information
Module and movable information display module are constituted；Before wherein described surgical catheters front end crash force information display module shows conduit
The impact force size that the safety range of end and blood vessel impact force, warning scope, risk range and real-time detection are arrived；It is described
Surgical catheters sidewall contact force information display module shows the array point value of the contact force sensor on duct wall；The motion
Information display module is made up of axial position information display portion and radial angle information display section, shows conduit respectively
Axial movement position, unit is mm, and radial motion angle, and unit is degree；The display unit can be realized by PC
The screen display of the corresponding information of above- mentioned information display module；The micro controller unit is the DSP28335 of TI companies, microcontroller
The data of the sensor detection of the conduit can be gathered every 100ms；
The surgical catheters front end crash force information display module is by a progress bar, a working condition warning strip and a volume
Collect frame to constitute；Working condition warning strip is used to indicate surgical catheters front end crash power allowed band, including place of safety, alert zone and
Hazardous area；The surgical catheters sidewall contact force information display module is made up of nine array point information display areas；The array
Point information display area is made up of a warning block and an edit box again；Wherein, the warning block is used to indicate sidewall contact
Power allowed band；The edit box is used to show sidewall contact force value size；The edit box and warning block are one-to-one；
The warning block is made up of green, yellow and red three kinds of color blocks；Wherein, green represents that side wall impact force is in allowed band
It is interior；Yellow represents side wall impact force in the range of warning；It is red to represent side wall impact force in risk range；The motion
Information display module is by surgical catheters axially-movable information display section and surgical catheters radial motion information display section structure
Into；Wherein, the surgical catheters axially-movable information display section is made up of a slider control and an edit box；The cunning
Block control is used for the axial movement position for indicating surgical catheters；The edit box is used to show surgical catheters axial movement position value
Size；The surgical catheters radial motion information display section is made up of an indicator and an edit box；Wherein, the finger
Show pin for indicating the angle of surgical catheters rotation, the edit box is used for the angle value size for showing surgical catheters rotation.
2. a kind of multidimensional information monitoring system for blood vessel intervention operation aid system according to claim 1, its feature
Be the pressure sensitive elastomer sensor array be to be made up of copper electrode, pressure sensitive elastomer and wire；Wherein, the pressure sensitive elastomer arrangement
Into 3 × 3 sensor array；The copper electrode is made up of 3 row electrodes and 3 row electrodes；The copper electrode is bonded in described
On pressure sensitive elastomer, the wire is bonded on copper electrode；The pressure sensitive elastomer sensor array is made up of 9 array points, respectively
For array point S1, array point S2, array point S3, array point S4, array point S5, array point S6, array point S7, array point S8 and battle array
Row point S9；The array point is guided to analog channel gating chip by the row electrode and row electrode of copper electrode 1 and is gated；Wherein,
Array point S1, array point S4 are connected with same row electrode for one group with the pressure sensitive elastomer of array point S7；The array point S2, battle array
Row point S5 is connected with same row electrode for one group with the pressure sensitive elastomer of array point S8；The array point S3, array point S6 and battle array
The pressure sensitive elastomer of row point S9 is one group and is connected with same row electrode；The pressure of the array point S1, array point S2 and array point S3
Quick rubber is one group and is connected with same row electrode；The pressure sensitive elastomer of the array point S4, array point S5 and array point S6 is one
Group is connected with same row electrode；The pressure sensitive elastomer of the array point S7, array point S8 and array point S9 is one group with same
Row electrode is connected；Pressure sensitive elastomer sensor array is bonded on the side wall of surgical catheters, and the Fibre Optical Sensor is bonded in operation
In the front inner wall of conduit and beyond the distance of catheter proximal end 5-10mm.
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| CN107684459A (en) * | 2017-09-30 | 2018-02-13 | 天津理工大学 | Blood vessel intervention operation robot manipulation's security early warning system and method based on LabView |
| CN111514436A (en) * | 2020-04-28 | 2020-08-11 | 绍兴梅奥心磁医疗科技有限公司 | Method and system for controlling movement of catheter |
| CN111856942B (en) * | 2020-08-03 | 2022-05-20 | 深圳市爱博医疗机器人有限公司 | Time lag and error improvement method for remote intervention operation control system |
| CN111938817B (en) * | 2020-08-05 | 2022-05-24 | 北京唯迈医疗设备有限公司 | Interventional operation robot guide wire action safety early warning method and system |
| CN112075988A (en) * | 2020-09-01 | 2020-12-15 | 北京唯迈医疗设备有限公司 | Interventional operation robot manpower feedback display method and device |
| CN113545855B (en) * | 2021-05-31 | 2022-12-06 | 中国科学院自动化研究所 | Force detection system and method applied to vascular interventional operation |
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