CN106580476A - Robot for cerebrovascular operations and operating device and system of robot - Google Patents
Robot for cerebrovascular operations and operating device and system of robot Download PDFInfo
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- CN106580476A CN106580476A CN201710044765.9A CN201710044765A CN106580476A CN 106580476 A CN106580476 A CN 106580476A CN 201710044765 A CN201710044765 A CN 201710044765A CN 106580476 A CN106580476 A CN 106580476A
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Abstract
The invention provides a robot for cerebrovascular operations as well as an operating system and an operating system of the robot, and relates to the field of medical apparatuses. The robot comprises a soft hose and a magnetic induction portion, wherein the soft hose is provided with a cavity for mounting various functional devices; and the magnetic induction portion is arranged at the end of the soft hose, so as to drive the soft hose to move conveniently under the action of an external magnetic field. With the application of the robot provided by the invention, a craniotomy can be prevented to a certain degree, so that the detection/diagnosis or treatment of such vascular diseases as cerebral infarction, cerebral hemorrhage and the like is implemented rapidly and simply; and the shortcomings of a conventional technology which is long in duration, high in risks, obvious in sequelae, not high in cure success rate, relatively serious in brain damage and the like due to the implementation of the craniotomy.
Description
Technical field
The present invention relates to medical instruments field, more particularly to a kind of robot and its manipulation for treating cerebrovascular operation
Device.
Background technology
Cerebral infarction, cerebral hemorrhage are that have the high-risk sufferer of significant threat to human health, while being also to form plant man, paralysis
Paralysis, apoplexy, the key factor of senile dementia.Blood clotting, ecchymosiss are sent directly into cerebrovascular, short time by heart when to cerebral blood supply
It is interior to constitute the obstruction of large area cerebrovascular, can cause brain large area edema (cerebral hernia) if removing not in time, or even directly
Life-threatening safety, existing tomoscan CT, nuclear magnetic resonance, NMR, angiography can understand, accurately orient focus
Position, but be intended to treat it, need to carry out operation of opening cranium, time length, the risk due to formulating operation of opening cranium scheme
Greatly and with obvious sequela shape, healing success rate is not high, larger to brain damage.
Therefore, it is necessary to Special surgical robot is pointedly researched and developed, so as to be improved to the deficiencies in the prior art.
The content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.
For this purpose, according in a first aspect, a kind of robot for cerebrovascular operation of present invention offer, the robot can be real
In the case of not opening cranium now cerebral blood vessel is carried out to detect/diagnose or treat.
In one of which embodiment, the robot includes flexible pipe, and the flexible pipe has inner chamber, for installing each work(
Can device；And magnetic strength portion, the magnetic strength portion is arranged on the end of flexible pipe, to drive flexible pipe to move under outside the action of a magnetic field
It is dynamic.
Further, the magnetic strength portion includes being arranged on the magnetic metal material and/or magnetic material film of flexible pipe periphery.
Further, the inner chamber of the flexible pipe is provided with demarcation strip, and the demarcation strip is separated into the inner chamber of flexible pipe at least
Two from first to last extend and separate functional chamber, and wherein at least one functional chamber is illumination cavity, for installing illumination dress
Put；At least one functional chamber is photosensitive chamber, for installing image collecting device.
Further, also including the illuminator, the illuminator is installed in illumination intracavity, for providing illumination light
Source；And image collecting device, to lead as optical fiber, the picture optical fiber of leading is arranged on photosensitive intracavity to described image harvester.
Further, the functional chamber includes at least one additional function chamber, the additional function intracavity be provided with for
Realization is drawn water, sprays water, injecting, heating, medication, fulguration, machine cut, in bonding and laser transmission any function additional function
Device.
According to second aspect, the present invention provides a kind of actuation means for Manipulation of the machine people movement, is filled by the manipulation
Putting can realize the control of the direct of travel to robot in human external.
In one of which embodiment, the actuation means include：
Adjustment ring, is first axial to cross the adjustment ring center of circle and perpendicular to the direction of adjustment ring place plane, with perpendicular to
First axially and to cross the direction of diameter be second axially, with first axially and the second axial direction direction perpendicular to each other is as the 3rd axle
To the adjustment ring at least can be around the second one and the first axial rotation axially and in the 3rd axial direction；
And for producing the magnetic field generation mechanisms in magnetic field, the magnetic field generation mechanisms are arranged on adjustment ring either direction
Diametrically, and can move with adjustment ring, to change magnetic direction driven machine people movement.
Further, the magnetic field generation mechanisms include the coil for diametrically winding, and after the coil electricity N is formed
The magnetic field in the center of circle is diametrically pointed in pole or S poles.
Further, the magnetic field generation mechanisms include electric magnet, and the N poles or S poles of the electric magnet diametrically refer to
Arrange to the center of circle.
Further, the adjustment ring includes the rotating part of installation portion and annular, and the rotating part is pivotally
On installation portion, there is the first drive mechanism that can export rotary motion, first driving machine on the installation portion
The structure portion of being rotated rotates；The adjustment ring also includes that second drive mechanism and the 3rd driving machine of rotary motion can be exported
Structure, the installation portion is driven the rotation realized around the second axial direction, the installation portion and the second drive mechanism by the second drive mechanism
In the 3rd drive mechanism, it is driven around the 3rd axial-rotation by the 3rd drive mechanism.
According to the third aspect, present invention also offers a kind of system for cerebrovascular operation, the system causes above-mentioned machine
Device people forms the treatment system of complete set with actuation means, realizes cerebral blood vessel disease is controlled in the case where cranium is not opened
Treat.
In one of which embodiment, the system includes above-mentioned robot, and the robot is used to stretch in human body
Performed the operation；Above-mentioned actuation means, the actuation means build a magnetic field, and to control robot motion side is changed in human body
To or it is mobile；And graphics processing unit, described image processing unit is connected with the image collecting device in robot, for showing
Show the real time imaging in human body in robot moving process.
Beneficial effects of the present invention：The present invention is based on magnetic induction phenomenon, using in the actuation means of outer body
Magnetic field generation mechanisms construct magnetic field, and using adjustment ring the orientation in magnetic field is changed, then can be changed by the effect in magnetic field and be in
Stressing conditions of the magnetic strength portion of hose end in above-mentioned magnetic field, so as to manipulate direct of travel of the flexible pipe in human vas until
Affected area is reached, realize just can carry out detecting/diagnosing or treat by flexible pipe to the disease in blood vessel, be advantageously implemented
Minimally-invasive or non-invasive are performed the operation, and are particularly suited for the treatment of the angiopathys such as cerebral infarction, cerebral hemorrhage.
Description of the drawings
Fig. 1 is the structural representation of the robot in the embodiment of the present invention for cerebrovascular operation；
Fig. 2 is the structural representation of the robot strap end portion in the embodiment of the present invention for cerebrovascular operation
Fig. 3 is another structural representation of the robot in the embodiment of the present invention for cerebrovascular operation；
Fig. 4 a-4f are the cross section of all kinds of different structures of the robot in the embodiment of the present invention for cerebrovascular operation
Figure；
Fig. 5 is the schematic diagram of the actuation means in the embodiment of the present invention for Manipulation of the machine people movement；
Fig. 6 is the functional-block diagram of the system in the present embodiment for cerebrovascular operation
Fig. 7 is a kind of structural representation of guiding piece in the embodiment of the present invention.
Wherein, 100- robots, 200- actuation means, the external control devices of 300-, 400- observation in vitro and display device,
500- guiding pieces, 110- flexible pipes, 120- magnetic strengths portion, 130- demarcation strips, 210- electric magnet, 220- rotating parts, 111- functional chambers,
The little demarcation strips of 131-, 221- first axles, the axles of 222- second, the axles of 223- the 3rd.
Specific embodiment
Accompanying drawing is combined below by specific embodiment to be described in further detail the present invention.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or it is integral；Can be that machinery connects
Connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to concrete feelings
Condition understands above-mentioned term concrete meaning in the present invention.
In describing the invention, it is to be understood that term " interior ", " outward ", " radial direction ", " head " and " afterbody " etc. refers to
The orientation or position relationship for showing is, based on orientation shown in the drawings or position relationship, to be for only for ease of the description present invention and simplify
Description, rather than indicate or imply that the device or element of indication must be with specific orientation, with specific azimuth configuration and behaviour
Make, therefore be not considered as limiting the invention.
Embodiment one
The present embodiment one provides a kind of robot for cerebrovascular operation.
Fig. 1-4 are refer to, the robot 100 includes flexible pipe 110 and illuminator and photoreceptor cartridge inside flexible pipe 110
Put, flexible pipe 110 is inserted in the cerebral vessels of human body, multiple functional chambers 111 are limited inside flexible pipe 110, in functional chamber 111
Can be by inserting other treatment devices to form different treatment meanss, such as hot melt, fulguration, illuminator is then used for soft
The inside of pipe provides light source to form light, and photosensitive device is used to gathering light and feeds back to outside and carry out image and shows.
Functional chamber 111 can also have at least one additional function chamber, can be by inserting other treatment devices to be formed
Different treatment meanss, draw water, spray water, injecting, heating, medication, fulguration, machine cut, any work(in bonding and laser transmission
The additional functional device of energy.
Thus, flexible pipe 110 and inner structure are integrally flexible, can advance along blood vessel or tract.When by above-mentioned machine
When flexible pipe 110 in people 100 is placed in the affected area of cerebral blood vessel, for example, can be pierced into by Cervical Vessels, it is possible to outside human body
Affected area is treated by rational selection or treatment meanss of arranging in pairs or groups in portion.
In actual application, above-mentioned robot 110 can be selected according to practical situation to be inserted into tremulous pulse or vein
Until affected area, treats to focus then in blood vessel.
Further, can advance towards affected area along assigned direction or route to ensure flexible pipe 110, such as Fig. 2 institutes
Show, in the present embodiment, robot 100 also includes magnetic strength portion 120, and magnetic strength portion 120 arranges and in soft around the periphery of flexible pipe 110
The end of pipe 110, so that flexible pipe 110 can be turned to or mobile under the guiding of external magnetic field.
Produce because the effect of magnetic force does not need directly contacting with each other for object, so work as being set in the end of flexible pipe 110
After putting magnetic strength portion 120, it is possible to by the guiding function for passing through magnetic force in the outside of human body, and by flexible pipe 110 according to CT/ cores
Magnetic/B ultrasonic/angiography/X-ray/other obtain the particular location of affected area, along assigned direction or route accurately towards disease
Advance at stove and go directly affected area.
In the present embodiment, magnetic strength portion 120 can be formed by applying magnetic metal material in the periphery of flexible pipe 110.At other
In embodiment, can also be formed by pasting magnetic material film in the periphery of flexible pipe 110.
The concrete material for being used in magnetic strength portion 120 is not construed as limiting in the application, i.e., any acceptable magnetic force guiding
Material is suitable for.Preferably, can be selecting the material of magnetic material layer 120 according to the material of actually used flexible pipe 110
Material, can bind as optimal between bi-material.So, being attached to of on the one hand ensure that magnetic strength portion 120 can consolidate is soft
The periphery of pipe 110, so as to improve the service life of flexible pipe 110, on the other hand when magnetic strength portion 120 is tightly bonding on flexible pipe 110,
Relative slip will not occur between the two, by when moving towards of magnetic force guided robot 100, magnetic strength portion 120 can when in vitro
The traveling of accurately, stable drive flexible pipe 110, prevents the hidden danger for deviateing route in traveling process.
In the present embodiment, the inner chamber of flexible pipe 110 is provided with demarcation strip 130, and demarcation strip 130 divides the inner chamber of flexible pipe 110
Be cut at least two from first to last extend and separate functional chamber, wherein at least one functional chamber be illumination cavity, above-mentioned photograph
Bright device is arranged on illumination intracavity, and at least one functional chamber is photosensitive chamber, and above-mentioned photosensitive device is arranged on photosensitive intracavity.
With further reference to Fig. 1 or 3, the inside of flexible pipe 110 limits multiple functional chambers 111.Functional chamber 111 can enter one
Step is divided into necessary functions chamber and additional function chamber.Wherein above-mentioned necessary functions intracavity portion is provided with aforementioned illumination apparatus and image
Harvester, to form lighting unit and image transmission unit, is that illumination and image transmission provide basis；Then may be used in additional function chamber
With including the unit that draws water, water spray unit, injecting unit, fuse unit, medication unit, fulguration unit, machine cut unit, bonding
Unit and laser delivery unit etc., the formation of above-mentioned each functional unit can be by being built into possessing corresponding in corresponding functional chamber
The miscellaneous function device of function.For example, medication unit, corresponding functional chamber insert required for medical material or medicated powder or
The injected system of liquid medicine, and for example, water spray unit inserts sprinkler head in corresponding functional chamber, while in outside by water pump control
The size of discharge.
To sum up, different treatment meanss can be formed by the functional chamber 111 required for rational selection in the present embodiment
Different treatments are carried out to focus.
The setting of multiple functional chambers 111 enable human external selected by robot 100 different mode or
The combination of person's different modes to focus treating.For example, can individually select in necessary functions chamber and additional function chamber
It is a kind of that focus is treated, such as when medication unit is selected, it is possible to be directly sprayed onto relative medicine in the method for medication
Focus is injected into intralesional；Fuse unit can also be selected while medication unit is selected, blood is melted by melt process
Pipe plug plug thing is simultaneously equipped with medicine and is treated.
The above is only how to provide a kind of example using functional chamber 111, is not offered as the use of functional chamber 111
It is only capable of in the manner described above arranging in pairs or groups, i.e. the selection of functional chamber 111 can arbitrarily arrange in pairs or groups according to practical situation, to complete to focus
Treatment.Additionally, the type in above-mentioned additional function chamber is also not limited to above-mentioned cited, present inventive concept is to provide one kind to be available for
The flexible pipe 110 with multifunctional cavity 111 for selecting, under this inventive concept, when configurable or customize and various can be used in what is treated
Functional chamber 111.
By the above, the present invention by the effect of external magnetic field in human external by controlling robot 100
In the steering in the blood vessel of flexible pipe 110 or moving direction, flexible pipe 110 can be accurately arrived at may cause cerebral infarction or brain
The affected area of hemorrhage, then focus is completely cut off or is eliminated by rational selection function chamber 111, the purpose for the treatment of is reached,
It is advantageously implemented minimally-invasive or non-invasive operation.Further, in the angiopathy such as cerebral infarction and cerebral hemorrhage, tradition is substituted
Operation of opening cranium in mode so that the detection/diagnosis or treatment to angiopathys such as cerebral infarction, cerebral hemorrhages is simplified, and solves
Using operation of opening cranium, caused time length, risk are big and with obvious sequela shape in conventional art, cure success rate
It is not high, the defect such as larger to brain damage solve that traditional craniotomy operating time length, risk be big, sequela is obvious and success rate not
High defect.
Further, in the present embodiment, aforementioned demarcation strip 130 is combined by the little demarcation strip 131 of polylith, demarcation strip
130 cross section can be divided into round, linear type or chiasma type by composition arrangement mode, i.e., by multiple little demarcation strips 131
Mutually surround, straight line splicing or intersection are spliced so that after above-mentioned demarcation strip 130 is axially located at into 110 inside of flexible pipe,
Demarcation strip 130 can surround multiple functional chambers 111 with the inwall of flexible pipe 110.
So far, after flexible pipe 110 is placed in blood vessel into simultaneously close affected area, it is possible to reasonable by selecting in human external
Functional chamber carrying out detecting/diagnosing or treat to focus.
Specifically, when only needing to that focus is carried out detecting/diagnosing, image transmission unit and lighting unit are now only selected
.Accordingly, cross section may be selected for round or linear demarcation strip 130.As shown in fig. 4 a, when selecting round,
Demarcation strip 130 is presented hollow cylinder shape, and its hollow position limits image transmission unit, then the outer wall of hollow cylinder shape and flexible pipe
Lighting unit is limited between inside, the cooperation of two above functional unit can complete the detection/diagnosis to focus；Such as Fig. 4 b
Shown, when linear type is selected, multiple straight lines of little demarcation strip 131 are spliced into plane demarcation strip 130, and the demarcation strip 130 is firm
It is good adaptable with the diameter of flexible pipe 110, when its along flexible pipe 110 it is axial arranged when, can be by one point of the inner space of flexible pipe 110
For two, so as to form image transmission unit and lighting unit, the detection/diagnosis to focus is completed then.
When needing to treat focus, in addition to needing to select image transmission unit and lighting unit, in addition it is also necessary to
Select in aforementioned additional function chamber one or more, the demarcation strip of chiasma type now may be selected, it is many as shown in Fig. 4 c-4f
The individual intersection of little demarcation strip 131 is spliced into demarcation strip 130, and multiple functional chambers of three and more than three are limited to inside hose
111, while completing the carrying out to focus and detecting/diagnose, can with human external by selecting rational functional chamber pair
Focus is treated.
It should be noted that the position in above-mentioned functions chamber 111 and size can according to demand depending on, such as above-mentioned image is passed
Unit and lighting unit is sent to be used alternatingly or can selectively use, in the same manner, other additional function chambers can also be with
As upper type is used, additionally, for taking different therapeutic modalities, above-mentioned additional function chamber to can also be without same using method.
When take need to select two or more above-mentioned additional function chambers and meanwhile treated mode when, can be with
From the flexible pipe 110 for possessing four or four function above chambers；Need to be carried out according to the therapeutic modality of a certain order when taking
During treatment, the internal flexible pipe 110 for possessing at least three functional chambers is can select, wherein the 3rd functional chamber 111 is additional function chamber,
Can use according to treatment sequence alternate, for example, first can use the unit as fuse unit, after the completion of hot melt, then will hot melt
Unit replacement into fulguration unit, then by fulguration unit replacement into machine cut unit.It is convenient and reliable using process, it is greatly reduced
Traditional craniotomy operation is brought the shortcoming and danger that time-consuming.
In the present embodiment, aforementioned illumination apparatus or photosensitive device are formed by multiple leading as optical fiber bonding connects, then will be by
Lead as the optical fiber illuminator that connects of bonding or photosensitive device are placed in vertically the functional chamber of inside hose can be before formation
Image transmission unit and lighting unit described in text.
Specifically, it is above-mentioned to lead as optical fiber can customize into imaging moiety and lighting part, two parts be used interchangeably or
Person can selectively use, and optical fiber head is one-to-one with afterbody functional areas, if head root optical fiber is such as defined as shining
Bright part, then its be placed in certain functional chamber from head to afterbody to form lighting unit area, afterbody connects lighting source input；Together
Reason, if head root optical fiber is such as defined as photosensitive part, it is placed in certain functional chamber to form image biography from head to afterbody
Cellular zone is sent, then afterbody is image output interface end.
It should be noted that in the present embodiment, above-mentioned leading is cut as optical fiber can be bonded into required form according to practical situation
The cylinder in face, independent optical fiber itself circle (being shaped like hairline, diameter a few micrometers are to some tens of pm) in the majority, usage quantity from
Tens of to tens thousand of, required cross sectional shape is bonded into according to practical situation, most quantity are accommodated with unit volume interior energy
It is preferred (or same number accounts for volume minimum and is preferred), local is near cellular.
When it is 120 degree fan-shaped to need section, it is assumed that 3000 are led as optical fiber can meet demand, by 3000 optical fiber in spy
It is dipped in glue water, then one 120 degree of fan-shaped tubular articles are filled in, it is 120 degree that section is obtained by cylindric thing is removed after glue is dry
Fan-shaped section bodies, then i.e. shape is wrapped in outside each functional chambers such as image transmission unit area, lighting unit area with covering material
Into required robot.In addition above-mentioned section bodies and demarcation strip, functional chamber together can also be vertically inserted in flexible pipe, you can
Complete to lead the arrangement as optical fiber in flexible pipe 110.
Certainly, lead as the cross sectional shape of optical fiber is not limited to above-mentioned sector, circle, triangle etc., when can be according to reality
Demand and make various different shapes, now, be enclosed within and lead as the flexible pipe of outer fiber also should be designed accordingly and be led as optical fiber phase
What is matched is variously-shaped.
Embodiment two
The present embodiment two provides a kind of actuation means for Manipulation of the machine people movement.
Fig. 5 is refer to, above-mentioned actuation means 200 include adjustment ring, and the adjustment ring can be rotated around its diameter or the center of circle.
Further, above-mentioned actuation means 200 also include the magnetic field generation mechanisms for producing magnetic field, magnetic field generation mechanisms
Installed in adjustment ring either direction diametrically, and can move with adjustment ring, to change magnetic direction driven machine people movement.
Thus, adjustment ring can adjust its position in cubic space, and magnetic field generation mechanisms then can be with adjustment ring
Rotation and change its generation magnetic field direction, so as to guided robot movement in the blood vessel.
Specifically, in the present embodiment, magnetic field generation mechanisms include the coil being diametrically wrapped in adjustment ring
210, coil 210 forms the magnetic field that the center of circle is diametrically pointed in N poles, the line being wrapped in adjustment ring diametric(al) after being powered
Circle forms energization solenoid, then can produce magnetic field, N, S pole in being formed as shown in Figure 5 by applying electric current to coil.Magnetic field
After generation, change size of current, magnetic field size can be changed.By the rotation direction of operation adjustment ring in vitro, it is possible to control
The direction in magnetic field processed, so as to the Impact direction of the magnetic strength portion 120 in above-mentioned magnetic field of guided robot 100, guides machine then
The direct of travel in vivo of people 100.
Certainly, Fig. 5 is refer to, in other embodiments, it is also possible to directly arrange at least in the diametric(al) of adjustment ring
Diametrically point to center of circle setting, another bare electromagnet in a pair of bare electromagnets, the N poles of one of bare electromagnet
S poles diametrically point to the center of circle setting, so by setting bare electromagnet be formed with it is aforementioned by coil electricity after
The magnetic force identical magnetic field of formation.In this application, the control of the direction of rotation of adjustment ring can be by automatically side
Completing, in order to realize rotation of the adjustment ring around its diameter or the center of circle, above-mentioned adjustment ring can be wrapped for formula or manual mode
The rotating part 220 of installation portion and annular is included, rotating part 220 is rotatably mounted on installation portion.When using side automatically
During formula, to cross the center of circle of rotating part 220 and perpendicular to the direction of rotating part diameter place plane as the first axial direction 221, with vertical
In first axially 221 and to cross the direction of diameter be second axially 222, with first axially 221 and second axially 222 vertical two-by-two
Direction be the 3rd axially 223, by the drive mechanism for being connected to the Automated condtrol that can export rotary motion, you can realize
Adjustment ring 200 at least axially 221 can be rotated around in the second axial direction 222 and the 3rd axial direction 223 and first.In this reality
In applying example, the center of circle being located in adjustment ring 200 and diameter place plane choose two orthogonal X-axis and Z axis, so as to build
Into XZ planes, and Y-axis is then extended perpendicularly out from above-mentioned plane, and the intersection point of X-axis, Z axis and Y-axis is above-mentioned then in the center of circle of adjustment ring
Second axially 222 axially 223 is respectively equivalent to X, Z axis with the 3rd, and above-mentioned first axial 221 is equal in Y-axis, above-mentioned coil or
Above-mentioned electric magnet can just along X-axis, either Z-direction arranges or is arranged at X-axis or diametric two ends that Z axis are located, such as
Shown in Fig. 5.
Specifically, operating steadily due to motor, and position can be held well, therefore, above-mentioned driving
Mechanism is preferably motor.In order to realize above-mentioned rotation, can install on installation portion can export the of rotary motion
One drive mechanism, first drive mechanism is rotated portion 220 and rotates, you can realize the turning around the first axial direction 221 of rotating part 220
It is dynamic, that is, realize rotation of the adjustment ring around diameter.Additionally, again by above-mentioned installation portion by the second driving machine that can export rotary motion
Structure drives, you can realizes rotation of the rotating part 220 around the second axial direction 222, that is, realizes rotation of the adjustment ring around diameter.Finally by
The 3rd drive mechanism that rotary motion can be exported drives and above-mentioned turns including overall including the second drive mechanism and installation portion
It is dynamic, you can to realize rotation of the rotating part 220 around the 3rd axial direction 223, that is, realize rotation of the adjustment ring around the center of circle.
Thus, the rotation of adjustment ring rotates around Y-axis, and the rotation that adjustment ring diametrically goes up then becomes around X-axis
Or Z axis are rotated, the position that adjustment ring is located in real time can be more accurately grasped by constructing space coordinates, it is ensured that machine
Device people 100 can be in the blood vessel be smoothed out.
So far, robot 100 is transported near focus by operating above-mentioned actuation means 200 just can reach in vitro
Place, then impose detection/diagnosis or treatment.Simple structure, it is easy to operate, quickly focus can be treated.
Embodiment three
The present embodiment three provides a kind of robot for cerebral blood vessel operation.
Fig. 7 is refer to, the robot mainly includes internal body portion and signal negotiation occurs or operates with internal body portion to hand over
The outer body for relating to.
Wherein, internal body portion is placed in the internal blood vessel of human body, mainly includes robot 100, and outer body then mainly includes
To actuation means 200, external control device 300 and the observation in vitro and display device 400 that control robot course.
Robot 100 is the robot in embodiment one, be will not be described here.
Actuation means 200 are the actuation means in embodiment two, be will not be described here.
As shown in fig. 7, actuation means 200 and observation in vitro are connected to robot 100 with display device 400, in vitro
Control device 300 is then connected by actuation means 200 with robot 100, wherein external control device 300 is used for robot
100 be controlled and control coil in electric current break-make, the size of electric current is adjusted, robot 100 is controlled
Selection of course and functional chamber 111 including robot 100 etc., now, external control device 300 can be by manipulation
Device 200 carries out Automated condtrol to robot 100；Observation in vitro is then used to show in real time positioned at blood with display device 400
The relevant information collected by robot 100 in pipe, such as image, blood vessel information wall, and can be believed according to different time points
Lingering dyspnea point forms required 3D steric informations.
Additionally, above-mentioned external control device 300 also can be joined directly together respectively with actuation means 200 with robot 100, this
When, manually robot 100 can be controlled using actuation means 200.
Specifically, also include interval selection intelligent cell inside above-mentioned external control device 300, by interval selection intelligence
One or more of the customizable functional chamber hereinbefore of selection of energy unit.
Observation in vitro includes that hardware lighting unit, graphics processing unit, display unit and positioning are visited with display device 400
Survey/diagnosis unit.Hardware lighting unit can be arbitrary light source for lighting, and such as LED, can also be further ultraviolet
Lamp, infrared lamp etc., for meeting the demand of special circumstances light.Graphics processing unit is used to be placed in image transmission unit area
The content that the image collecting device in portion is viewed is reduced into image and is sent to display unit, then in the external appearance of human body
Out.Coordinate detection/diagnosis unit is then mainly used in detecting the position of focus, and its primary structure is supersonic sounding system
System, compatible X-ray, CT, nuclear-magnetism, angiography system etc..
In addition to the above, in order to more smooth and easily above-mentioned robot 100 is inserted in blood vessel, such as Fig. 7 institutes
Show, the robot in the present embodiment also includes guiding piece 500, guiding piece 500 is hollow needle object, at least can be accommodated inside it
Above-mentioned robot 100 passes through, and should also be avoided and the direction of insertion of robot 100 is misled.The tail end of guiding piece 500 can connect
In the end of robot 100, at the beginning of robot 100 is inserted into into blood vessel, can be first with guiding piece 500 in the corresponding position of blood vessel
Place is pierced into, and is internally hollow due to guiding piece 500, and the now insertion for robot 100 provides a guide space, only needs
The head end of robot 100 is inserted along the hollow part of above-mentioned guiding piece 500.Preferably, above-mentioned guiding piece 500 is selected
Incision pin.
So far, the main construction and its annexation of robot clearly explained, by the operation to the robot
The treatment to cerebrovascular disease such as cerebral infarction, cerebral hemorrhages is capable of achieving, it has visualized operation, automation mechanized operation, operation are accurate
Really, easily and efficiently advantage.Solve big and with bright using operation of opening cranium and caused time length, risk in conventional art
Aobvious sequela shape, healing success rate is not high, the defect such as larger to brain damage.
General introduction is made below in conjunction with the use process to the present invention described previously.
First, detection/diagnosis focus：Coordinate detection i.e. in human external is by observation in vitro and display device 400/
Diagnosis unit detects the particular location of focus；
Secondly, flexible pipe 110 is inserted：First it is needled into (other blood vessels also may be selected) with cutting in Cervical Vessels relevant position,
The head end of flexible pipe 110 is stretched in the space that incision Aculeata is limited again；
Thirdly, the direct of travel of flexible pipe 110 is controlled by external control device 300, until it reaches affected area simultaneously will place
The information viewed in the image acquisition part of function intracavity shows in real time, mainly leads as optical fiber is passed including head
Video image, ultrasonic detection system and X-ray, CT, nuclear magnetic resonance, NMR, angiography for sending etc.；
Subsequently, treat：Diagnosed or treated using corresponding measure according to the practical situation of focus：Wherein, can pass through
Select rational functional chamber 111 to select therapeutic modality, wherein therapeutic modality mainly includes in medication method that relative medicine is straight
Connect be sprayed onto focus or be injected into focus, extract out blood clotting speckle, solid blood clotting speckle is broken up with appropriate pressure, then extract out, with heat
Method melt blood vessel blockage thing, with adhesive bonding method bonding wound hole, tissue, with machine cut tamper, extraction with dredging vascellum；With
Wound is burnt crust or laser transmission ablation blood vessel blockage thing, is extracted out with dredging vascellum by fulguration method.
Finally, robot is withdrawn from：After with X-ray, CT, nuclear magnetic resonance, NMR, angiography therapeutic effect, then from cervical region blood
Each functional chamber is withdrawn from progressively, item by item in pipe.
Finally it should be noted that the present invention is applicable not only to the treatment of cerebral infarction, cerebral hemorrhage, other organs are applied also for
Outside treatment in blood vessel and tract.
Additionally, the present invention can be used on the inside of cerebral vessels, as described above using process；In addition, this
It is bright to be first needled into cutting in Cervical Vessels relevant position, naturally it is also possible to select it to use on the outside of blood vessel, for example
Its blood vessel, then according to above-mentioned steps are carried out successively, can be disconnected with soft silk system on the outside of blood vessel after flexible pipe 110 reaches affected area
Desired nutritional is supplied or with mechanical clamp blocking focus such as cerebral aneurysm desired nutritional supply.
It should be noted that what embodiments described above was merely exemplary, and it is not intended to limit the present invention.Additionally, with
In lower description, the same or analogous part being indicated with like reference numerals in different accompanying drawings will be adopted.It is described below not
With the different characteristic in embodiment, can be bonded to each other, to form the other embodiment in the scope of the invention
Use above specific case is illustrated to the present invention, is only intended to help and understands the present invention, not to limit
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make some simple
Deduce, deform or replace.
Claims (10)
1. a kind of robot for cerebrovascular operation, it is characterised in that include：
Flexible pipe, the flexible pipe has inner chamber, for installing each functional device；
And magnetic strength portion, the magnetic strength portion is arranged on the end of flexible pipe, to drive flexible pipe movement under outside the action of a magnetic field.
2. robot as claimed in claim 1, it is characterised in that the magnetic strength portion includes being arranged on the metal material of flexible pipe periphery
Material and/or magnetic material film.
3. robot as claimed in claim 1 or 2, it is characterised in that the inner chamber of the flexible pipe is provided with demarcation strip, described point
The inner chamber of flexible pipe is separated at least two and is from first to last extended and separate functional chamber by dividing plate, wherein at least one function
Chamber is illumination cavity, for installing illuminator；At least one functional chamber is photosensitive chamber, for installing image collecting device.
4. robot as claimed in claim 3, it is characterised in that also include：
Illuminator, the illuminator is installed in illumination intracavity, for providing lighting source；
And image collecting device, to lead as optical fiber, the picture optical fiber of leading is arranged on photosensitive intracavity to described image harvester.
5. robot as claimed in claim 4, it is characterised in that the functional chamber includes at least one additional function chamber,
The additional function intracavity is provided with for realizing drawing water, spray water, injecting, heating, medication, fulguration, machine cut, bonding and laser
The additional functional device of any function in transmission.
6. it is a kind of for Manipulation of the machine people movement actuation means, it is characterised in that include：
Adjustment ring, to cross the adjustment ring center of circle and perpendicular to the direction of adjustment ring place plane as the first axial direction, with perpendicular to first
Axially and cross diameter direction be second axially, with first axially and second axially direction perpendicular to each other as the 3rd axial direction,
The adjustment ring at least can be around the second one and the first axial rotation axially and in the 3rd axial direction；And
For producing the magnetic field generation mechanisms in magnetic field, the magnetic field generation mechanisms are arranged on adjustment ring either direction diametrically,
And can move with adjustment ring, to change magnetic direction driven machine people movement.
7. actuation means as claimed in claim 6, it is characterised in that the magnetic field generation mechanisms include diametrically winding
Coil, the magnetic field that the center of circle is diametrically pointed in N poles or S poles is formed after the coil electricity.
8. actuation means as claimed in claim 6, it is characterised in that the magnetic field generation mechanisms include electric magnet, the electricity
Center of circle setting is diametrically pointed in the N poles or S poles of Magnet.
9. actuation means as any one of claim 6-8, it is characterised in that
The adjustment ring includes the rotating part of installation portion and annular, and the rotating part is rotatably mounted to installation portion
On, there is the first drive mechanism that can export rotary motion on the installation portion, first drive mechanism is rotated portion
Rotation；
The adjustment ring also includes exporting second drive mechanism and the 3rd drive mechanism of rotary motion, the installation portion by
Second drive mechanism drives the rotation realized around the second axial direction, the installation portion and the second drive mechanism to be arranged on the 3rd driving machine
On structure, it is driven around the 3rd axial-rotation by the 3rd drive mechanism.
10. a kind of system for cerebrovascular operation, it is characterised in that include:
Robot as any one of claim 1-5, the robot is used to stretch in human body to be performed the operation；
Actuation means as any one of claim 6-9, the actuation means build a variable magnetizing field, to control
Robot changes the direction of motion or movement in human body；
And graphics processing unit, described image processing unit is connected with the image collecting device in robot, for showing machine
Real time imaging in device people's moving process in human body.
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| CN201710044765.9A CN106580476A (en) | 2017-01-20 | 2017-01-20 | Robot for cerebrovascular operations and operating device and system of robot |
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| CN201710044765.9A CN106580476A (en) | 2017-01-20 | 2017-01-20 | Robot for cerebrovascular operations and operating device and system of robot |
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