CN109431606B

CN109431606B - Vascular intervention operation robot combination system and use method thereof

Info

Publication number: CN109431606B
Application number: CN201811175035.3A
Authority: CN
Inventors: 徐凯; 董天来; 张树桉; 卢景曦; 唐奥林; 赵江然
Original assignee: Beijing Surgerii Technology Co Ltd
Current assignee: Beijing Surgerii Robot Co Ltd
Priority date: 2018-10-09
Filing date: 2018-10-09
Publication date: 2021-03-09
Anticipated expiration: 2038-10-09
Also published as: CN112842533A; CN109431606A; CN112842533B

Abstract

The invention discloses a vascular intervention operation robot combination system which comprises a main control trolley, an equipment trolley, an operation trolley, a radiography imaging device, a puncture cannula and a flexible operation tool. The combined system of the invention utilizes a flexible continuum operation structure, and has replacement flexibility compared with the traditional vascular intervention operation robot; the active flexible section and the passive flexible section of the flexible continuum structure can control the bending motion of the surgical tool under the guidance of angiography more accurately, and the bending motion comprises a bending direction and a bending radian, so that the force to the blood vessel of an operator is reduced, the surgical precision is improved, and the surgical risk is reduced.

Description

Vascular intervention operation robot combination system and use method thereof

Technical Field

The invention belongs to the field of medical instruments, and relates to a vascular intervention operation robot combination system and a use method thereof.

Background

The blood vessel interventional operation is a minimally invasive image guided diagnosis and treatment method. In a non-open manner, with a puncture needle penetrating the skin to the internal organs or other tissues, for the treatment of cardiovascular diseases and tumors, etc. Typically in vascular interventions, a medical device is introduced into a blood vessel of a patient by needle puncture. Vascular interventions have the benefit of ease of introduction of the device into the patient without the use of large incisions, significantly reducing the patient's pain and the potential for bleeding or infection. The vascular access incision is smaller, so that the vascular access incision is easier to seal and the healing is fast after the operation.

The surgical tools of the existing vascular interventional robots are all composed of a single superelastic alloy wire or catheter, a small bend is formed at the distal end of the surgical tool, and the vascular interventional surgical tool can be moved to a lesion site along a predetermined path through a bifurcated vessel, a bent vessel and the like by controlling the feeding and the rotation of the surgical tool. Existing robotic assisted systems for vascular intervention assist the operator in spatial positioning and orientation of the end-effector and the instrument with US (B-ultrasound), CT or MRI (magnetic resonance imaging) images.

The prior surgical tool can only control the freedom of motion of forward and backward feeding and rotation in blood vessels, and has limited capability of accurately positioning and accurately moving under the guidance of contrast for complex blood vessel environments. Although the pre-bent catheter or the super-elastic alloy wire can enter a bent blood vessel and a blood vessel bifurcation through pre-bending guidance, the risk of operation is increased because a certain contact force is generated on the blood vessel when the pre-bending radian is inconsistent with the blood vessel radian.

Therefore, there is a need to develop a robot system for vascular intervention surgery to further improve the flexibility of surgical tools, to improve the accuracy of surgery and to reduce the risk of surgery.

Disclosure of Invention

In order to solve the problems, the invention applies the continuum surgical arm to the vascular intervention treatment, and compared with the traditional vascular intervention surgical robot, the flexibility of the surgical tool can be improved. The flexible continuum structure of the invention can more accurately control the bending movement of the surgical tool under the visual guidance of angiography, including the bending direction and the bending radian, so as to reduce the force generated to the blood vessel of the patient, improve the surgical precision and reduce the surgical risk.

Accordingly, in a first aspect, the present invention provides a vascular interventional surgical robot assembly (hereinafter, sometimes simply referred to as "the system of the present invention") comprising a master cart, a device cart, a surgical cart, a radiographic imaging device, a puncture cannula and a flexible surgical tool, wherein

The main control trolley comprises a control device, a first display and an industrial personal computer, wherein a receiving module and a signal conversion module are arranged in the industrial personal computer;

the equipment trolley comprises a cabinet, a second display, a cable, an optical tracker and a HUB (HUB), wherein the HUB is mounted in the cabinet, and the display is fixed on the cabinet; the optical tracker is fixed on the machine cabinet through a lockable fixing bracket; the cables comprise a surgical trolley cable and a master-slave connecting cable; the main control trolley is connected with the equipment trolley through the main and auxiliary connecting cables, and the operation trolley is connected with the equipment trolley through the operation trolley cable;

the operation trolley comprises a trolley chassis, a positioning mechanical arm, a linear module, a driving module, a flexible operation tool, an optical positioning identifier, a sleeve isolating device and a tool isolating device; the linear module is carried on the positioning mechanical arm, and the driving module is arranged on the linear module and can move back and forth along the longitudinal axis of the linear module; the flexible surgical tool comprises a drive transmission unit and a flexible continuum structure, and a vascular interventional surgical tool is carried at the far end of the flexible continuum structure; the flexible continuum structure comprises a proximal passive flexible segment and a distal active flexible segment, wherein the motion of the active flexible segment is controlled by a steering device of the master trolley; the far end of the driving module is connected with a driving transmission unit of the flexible surgical tool and controls the action of the flexible continuum structure;

the cannula spacer is mounted at the distal end of the linear die set and is provided with a through hole such that the flexible surgical tool can pass through the through hole; the tool isolation device is arranged on the driving module; the optical positioning mark is arranged on the sleeve isolating device;

the puncture cannula has a lumen for receiving the flexible surgical tool therethrough and is configured to connect with the cannula isolation device;

the contrast imaging device is configured to contrast image a target location and transmit and display contrast image signals to and on the first and second displays, respectively; and

the control equipment is configured to receive a control signal of an operator and send the control signal to a receiving module of an industrial personal computer, the receiving module sends the control signal to the signal conversion module, the signal conversion module converts the control signal into driving quantity parameter information, sends the driving quantity parameter information to a hub on the equipment trolley, and then sends the driving quantity parameter information to a driving module on the operation trolley through the hub; the driving module pushes and controls the flexible continuum structure to move according to the driving quantity parameter information so as to drive the vascular interventional operation tool to move.

In a second aspect, there is provided a method of assembling a vascular interventional surgical robotic assembly system of the present invention, the method comprising the steps of:

(1) installing the casing isolation device at the distal end of the linear die set and the tool isolation device on the drive die set;

(2) locking a trolley chassis of the operation trolley, adjusting the posture of a positioning mechanical arm of the operation trolley to enable a through hole of the sleeve isolating device to be axially aligned with a cavity channel of the puncture sleeve, and connecting the puncture sleeve with the sleeve isolating device;

(3) mounting a flexible continuum structure on a tool isolation device of the surgical trolley and advancing the flexible surgical tool through the cannula isolation device towards the distal end of the puncture cannula; and

(4) mounting an optical locating marker on the cannula isolation device and adjusting the lockable carriage so that the optical tracker can view the optical locating marker of the surgical trolley.

In a third aspect, there is provided a method of use of the system of the invention, the method comprising the steps of:

(4) mounting an optical locating marker on the cannula isolation device and adjusting the lockable support such that the optical tracker can view the optical locating marker of the surgical trolley;

(5) starting the radiography imaging equipment to irradiate a target position and obtaining a radiography image of the target position;

(6) displaying the contrast images obtained in the step (2) on the first display and the second display, and operating the control equipment by an operator under the guidance of the contrast images so as to generate a control signal and send the control signal to a receiving module of the industrial personal computer; and

(7) the receiving module sends a control signal to the signal conversion module, the signal conversion module converts the control signal into driving quantity parameter information, and sends the driving quantity parameter information to a hub on the equipment trolley, and then the driving quantity parameter information is sent to a driving module on the operation trolley by the hub; and the driving module pushes and controls the bending and the direction of the active flexible section of the flexible continuum structure according to the driving quantity parameter information.

In a fourth aspect, there is provided a method of performing a vascular interventional procedure using the system of the invention, the method comprising the steps of:

(1) adjusting the operated object to a proper body position, and calibrating a puncture part;

(2) puncturing a puncture cannula into the blood vessel of the puncture part of the operated object calibrated in the step (1);

(3) moving the operation trolley according to the position of the puncture cannula and executing the assembling method;

(4) advancing the flexible continuum structure of the flexible surgical tool in an in vivo direction of the operated object until the vascular interventional surgical tool enters a blood vessel of the puncture site;

(5) starting the radiography imaging device to irradiate a vascular interventional puncture site and obtain a radiography image of the vascular interventional puncture site; and

(6) displaying the contrast images obtained in step (2) on the first display and the second display, wherein an operator operates the control device under the guidance of the contrast images to control the bending and the direction of the active flexible segment of the flexible continuous body structure and feed the vascular interventional tool to an operation area.

The invention has the advantages of

1. The system of the present invention utilizes a continuum surgical arm with a degree of flexibility in replacement compared to conventional vascular interventional surgical robots.

2. The active flexible section and the passive flexible section of the flexible continuous body structure adopted by the system can more accurately control the bending movement of the operation tool under the guidance of angiography, and the bending movement comprises the bending direction and the bending radian, so that the force on the blood vessel of the operated object is reduced, the operation precision is improved, and the operation risk is reduced.

3. Various devices in the system can be flexibly placed in an operating room according to different operation modes, and the system has stronger environmental adaptability.

4. The system of the present invention is applicable to various vascular interventional procedures, such as cardiovascular interventional procedures, cerebrovascular interventional procedures, and neoplastic interventional procedures, among others.

Drawings

FIG. 1 is a schematic diagram of the composition and arrangement of one embodiment of the system of the present invention.

Fig. 2 is a side schematic view of the master truck of fig. 1.

Fig. 3 is a schematic front view of an equipment trolley in the system of fig. 1.

Fig. 4 is a side schematic view of an equipment trolley in the system of fig. 1.

Fig. 5 is a schematic structural view of a surgical trolley in the system of fig. 1.

Fig. 6 is a detailed structural schematic diagram of the flexible surgical tool of fig. 5.

FIG. 7 is a schematic representation of the puncture site and puncture cannula location of example 1.

FIG. 8 is a schematic representation of the puncture site and puncture cannula position in example 2.

Fig. 9 is a schematic layout of the system of the present invention in example 2.

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings, and it will be understood by those skilled in the art that the embodiments or examples described below with reference to the drawings are only illustrative of the best modes for carrying out the invention, and do not limit the scope of the invention to these embodiments. The present invention may be modified and varied in many ways based on the embodiments described below. Such modifications and variations are intended to be included within the scope of the present invention. Like reference numerals refer to like parts throughout the various embodiments of the invention shown in the figures.

Detailed Description

Definition of

Distal or distal end: in this specification, when referring to "distal side or end", the term refers to a side relatively close to the surgical site of the subject to be operated or an end relatively far from the surgical cart.

Proximal or proximal end: in this specification, when referring to "proximal or near end", the term refers to a side relatively far from the operation site of the object to be operated, and an end relatively near to the operation trolley.

Front and rear: in the present specification, as described above, when "front" and "rear" are referred to, both of the directions are relative directions, where it is specified that a side relatively close to the surgical site to be operated is front and a side relatively far from the surgical site to be operated is rear.

The invention relates to a robot combination system for vascular intervention operation

The system comprises a main control trolley, a device trolley, an operation trolley, a radiography imaging device, a puncture cannula and a flexible operation tool, wherein

the equipment trolley comprises a cabinet, a second display, a cable, an optical tracker and a concentrator, wherein the concentrator is installed in the cabinet, and the display is fixed on the cabinet; the optical tracker is fixed on the machine cabinet through a lockable fixing bracket; the cables comprise a surgical trolley cable and a master-slave connecting cable; the main control trolley is connected with the equipment trolley through the main and auxiliary connecting cables, and the operation trolley is connected with the equipment trolley through the operation trolley cable;

the contrast imaging device is configured to image a vascular interventional operation region in a contrast mode and transmit and display contrast image signals to and on the first display and the second display respectively; and

In the invention, the main control trolley realizes the functions of providing a platform for an operator to remotely control a flexible surgical tool and observe surgical field images in the operation. The operation trolley is used for controlling the movement of the flexible operation tool in the body of an operated object and simultaneously plays a role in supporting and positioning the flexible operation tool. The equipment trolley is used as a concentrator, an optical tracker, auxiliary equipment (such as an electrotome generator and a safety management module) and the like, receives driving quantity parameter information sent by the main control trolley through the concentrator, and sends the driving quantity parameter information to a driving module on the operation trolley so as to push and control the movement of the flexible continuum.

In the system of the invention, a positioning mechanical arm is carried on a trolley chassis of the operation trolley, a linear module is carried on the positioning mechanical arm, and a driving module can move back and forth along the linear module. The function of platform truck chassis is to realize the removal and the locking of operation platform truck in the operating room, and the function of location arm is used for adjusting the gesture thereby the position and the pointing direction of control flexible operation instrument after platform truck chassis locking. After the positioning mechanical arm is locked, the front and back movement of the flexible operation tool can be adjusted through the linear module, and the driving module is used for driving the bending and multi-degree-of-freedom movement of the flexible continuum structure.

In particular, the flexible continuum structure includes a passive flexible segment located proximal to the flexible continuum structure and an active flexible segment located distal to the flexible continuum structure. The passive flexible section can be freely bent passively according to the bent shape of the blood vessel, and the active flexible section can be controlled by the main controller to be bent with 4-degree-of-freedom (comprising two bending directions, one rotation direction and one feeding direction) so as to better conform to the bending and branching of the blood vessel. Thus, in a preferred embodiment, the active flexible segment of the flexible continuum structure may be configured to bend in space with 4 degrees of freedom under the control of the steering device of the master trolley, the 4 degrees of freedom comprising two bending directions, one rotation direction and one feed direction.

In the present invention, the flexible surgical tool can be retrofitted with commercially available surgical robots, so long as the flexible continuum structure adopts the design of the flexible continuum structure of the present invention and is capable of adapting to the system of the present invention.

In the present invention, the vessel intervention tool carried on the flexible operation tool may include various operation tools that may be used in the vessel intervention, for example, a stent placement tool, a vessel expansion tool, an electro-operation tool, and the like.

In the present invention, the design of the cannula and tool isolation devices is mainly based on the requirements of surgical sterile operation, and the function of the cannula and tool isolation devices is to serve as a barrier for isolating sterilized surgical tools or endoscopes from mechanical structures or devices such as drive modules and linear modules which cannot be sterilized, thereby ensuring the sterility of the surgical field. Those skilled in the art will appreciate that the cannula isolation device and the tool isolation device may be implemented in many ways, for example, a device that can be attached or fitted with a sterile plastic garment or drape (e.g., a sterile barrier as disclosed in another patent application publication No. CN106377315A of the present applicant, the entire contents of which are incorporated herein by reference) that can cover and isolate all non-sterile sections on a surgical cart, so long as it can achieve the purpose of isolating sterile and non-sterile sections, and the implementation of the device in the present invention is not limited.

In the present invention, the puncture cannula may be a puncture trocar, a puncture cannula device, or the like, which is commonly used in vascular interventional surgery, as long as it can achieve the puncture of a blood vessel and can receive a flexible surgical tool in the system of the present invention into the surgical field. The puncture cannula and cannula spacer can be attached by any suitable mechanical attachment means including, but not limited to, mechanical snaps, nested locks, etc.

In the present invention, the master-slave connection cable may be a composite cable or a plurality of cables, and the form thereof is not limited, and the types thereof include but are not limited to: video transmission cable, optical fiber, equipment common ground wire and control signal transmission cable. The surgical trolley cable may also be a composite cable or a plurality of cables including, but not limited to, a 24V power cable, a device common ground, a CAN communication cable, an emergency stop switch cable, etc. In addition, the system of the present invention requires other commonly used cables, such as ac cables, for connecting the master and equipment trolleys to the hospital power supply. Cables among the main control trolley, the equipment trolley and the operation trolley are flatly paved on the ground of the operating room. The radiography imaging equipment, the main control trolley and the equipment trolley can be provided with video signal connection, and the connection mode and the interface are determined according to the selected radiography imaging equipment.

As described above, the driving module moves back and forth on the linear module, and the flexible surgical tool moves under the control of the driving module, so that the positions of the vascular intervention surgical tool and the flexible continuum structure relative to the linear module can be directly obtained by the sensor, but the relative position of the linear module in space cannot be directly obtained. Therefore, in order to obtain the spatial relative position of the linear module and further understand the three-dimensional spatial positioning of the flexible surgical tool, the system of the present invention may further comprise an optical tracker and one or more optical positioning markers, wherein the optical tracker may be fixed on the cabinet of the equipment trolley by a lockable fixing bracket; the optical locating marker may be mounted on a cannula spacer on the surgical trolley.

In the present invention, the optical tracker and the optical positioning markers can be implemented using various optical tracking devices and positioning means known in the art. For example, the optical tracker comprises an infrared emitting device, one or more cameras and an image analysis device, while the optical locating markers consist of a plurality of reflecting spheres made of a special material. In the operation process, the infrared emitting device emits infrared light, the camera receives the infrared light reflected by the optical positioning identifier, and the image analysis device can analyze the optical information reflected by the optical positioning identifier through an image algorithm so as to obtain the positioning information of three coordinates and a space direction in a space. Because the optical positioning mark is arranged on the sleeve isolating device, the positioning information of the optical positioning mark reflects the spatial position information of the flexible surgical tool. The spatial relative position parameters of the flexible surgical tool can be obtained by three-dimensionally positioning the optical positioning identifier, and the spatial relative position parameters can be further used in a remote control operation algorithm of the flexible surgical tool to realize the accurate control of the flexible surgical tool.

In one embodiment, the system of the present invention further comprises an operating table. In this context, the operating table may be any operating table known in the art as long as it can carry the object to be operated and can be used with the system of the present invention.

In a preferred embodiment, said first and said second display are preferably 3D displays. In one embodiment, the first display is a 3D display and the second display is a 2D display for providing the support personnel with surgical images, operational reminders and input instructions during the surgical procedure.

In the present invention, the contrast imaging apparatus is used to visualize a blood vessel injected with a contrast agent, so that any apparatus capable of visualizing and imaging the blood vessel injected with the contrast agent can be used in the present invention, including but not limited to a B-ultrasonic apparatus, a CT apparatus (computed tomography apparatus), an MRI apparatus (magnetic resonance imaging apparatus), and a digital subtraction angiography apparatus (DSA).

In the present invention, the industrial personal computer may be implemented by selecting a commercially available corresponding device or software or hardware attached to a commercially available robotic surgery system according to the corresponding function mentioned in the present specification, or may be developed or obtained by itself based on the commercially available corresponding device or software or hardware, as long as it can implement the corresponding function mentioned in the present invention.

FIG. 1 is a schematic diagram of the composition and arrangement of one embodiment of the system of the present invention. In the embodiment of fig. 1, the system of the present invention is comprised of a master control cart 001, a device cart 002, an operation cart 003 disposed beside an operation bed 004, and a contrast imaging device 005. Fig. 2 is a side schematic view of the master control trolley. As shown in fig. 1 and 2, the main control trolley 001 includes a control device 103 and a first display 102, wherein the operator 101 observes the real-time image of the blood vessel displayed on the first display 102, and operates the control device 103 to generate a control signal (note: for simplicity, components hidden in fig. 1 are not labeled, such as an industrial personal computer, and the functions of these components are described above). As can also be seen from fig. 1, the equipment trolley 002 has mounted thereon an optical tracker 205. The assistant 104 stands beside the operation bed 004, and observes the operation field image 204 during the operation displayed on the second display 201 on the equipment trolley, and provides related assistant work in time. Fig. 2 also shows a master slave connection cable 401 and an ac cable 403 of the master trolley 001.

Fig. 3 is a schematic front view of an equipment trolley in the system of fig. 1, and fig. 4 is a schematic side view of the equipment trolley in the system of fig. 1. As shown in fig. 3, the equipment trolley 002 includes a cabinet 208, a hub 202, a second display 201, a master-slave connection cable 401, a trolley cable 402, and an ac cable 403, wherein the hub 202 is installed in the cabinet 208, and the cabinet 208 may further include other auxiliary equipment 203, such as an electric knife, which is connected to the industrial personal computer; the safety management module is used for monitoring the state of the whole system and cutting off the power supply of the driving module when abnormality occurs; the power supply module is used for supplying power to all equipment; the video processor is used for processing video signals. As shown in fig. 3, the display 201 is fixed on the cabinet 208, and the display 201 can display a 2D image 204 of the surgical field during the operation. Fig. 4 shows that the optical tracker 205 is connected to the device trolley 002 via a lockable support 207.

As shown in fig. 3 and 4, the master cart 001 and the facility cart 002 are connected to each other by a master-slave connection cable 401. The operation cart 003 and the device cart 002 are connected to each other by an operation cart cable 402. The main control trolley 001 and the equipment trolley 002 are connected with a hospital power supply through a 220V alternating current cable 403 respectively. Cables between the main control carriage 001, the equipment carriage 002, and the operation carriage 003 are laid on the floor of the operating room.

Fig. 5 is a schematic structural view of a surgical trolley in the system of fig. 1. Fig. 6 is a detailed structural schematic diagram of the flexible surgical tool of fig. 5. As shown in fig. 5 and 6, the surgical cart 003 includes a cart chassis 306, a positioning robot 305, a linear module 303, a drive module 302, a flexible surgical tool 300, a cannula isolator 3021 and a tool isolator 3031, wherein the positioning robot 305 is mounted on the cart chassis 306, the positioning robot 305 is mounted on the linear module 303, and the drive module 302 can move back and forth along the longitudinal axis of the linear module 303. The flexible surgical tool 300 includes a flexible continuous body structure 301 and a vascular interventional surgical tool 310 mounted on a distal end of the flexible continuous body structure 301. Flexible surgical tool 300 is coupled to tool isolation device 3021 mounted on drive module 302. The trolley chassis 306 can realize the movement and locking of the operation trolley 003 in an operating room, the positioning mechanical arm 305 can adjust the posture to control the position and the direction of the vascular interventional operation tool after the trolley chassis 306 is locked, the linear module 303 can adjust the front-back movement of the vascular interventional operation tool 310 after the positioning mechanical arm 305 is locked, and the driving module 302 can drive the flexible operation tool 301 to bend to complete the spatial multiple-degree-of-freedom movement (preferably three-degree-of-freedom movement) of the vascular interventional operation tool 310.

As shown in fig. 6, a tool isolation device 3021 and a cannula isolation device 3031 are provided on the surgical trolley 003 for isolating non-sterilized parts of the surgical trolley from the operated object, wherein the cannula isolation device 3031 is installed at the distal end of the linear module 303, and a through hole (not shown) is provided in the center of the cannula isolation device 3031 so that the flexible surgical tool 300 can pass through the through hole; a tool isolation device 3021 is mounted on the drive module 302 and a flexible surgical tool 300 is mounted on the tool isolation device 3021. In addition, the cannula isolation device 3031 is provided with an optical positioning mark 206 for positioning the operation trolley 003. In addition, fig. 5 and 6 also show that the optical locating mark 206 is mounted on the sleeve isolation device 3031.

As shown in fig. 6, the flexible continuous body structure 301 includes passive flexible segments 3011 and active flexible segments 3012, the passive flexible segments 3011 being located proximal to the flexible continuous body structure 301 and the active flexible segments 3012 being located distal to the flexible continuous body structure 301. The passive flexible segment 3011 can passively bend freely following the curved shape of the blood vessel, while the active flexible segment 3012 is controlled by the main controller to bend with 4 degrees of freedom in space (including two bending directions, one rotation direction and one feeding direction).

The invention relates to an assembly method of an endoscopic surgery robot combined system

The assembling method of the vascular intervention operation robot combined system can comprise the following steps:

The method for assembling the endoscopic surgical robotic assembly system of the present invention prior to performing a surgery is described below with the aid of the embodiment illustrated in fig. 1-6:

1. mounting the cannula isolation device 3031 at the distal end of the linear module 303 and the tool isolation device 3021 on the drive module 302;

2. locking a trolley chassis 306 of the operation trolley 003, adjusting the posture of the positioning mechanical arm 305 to enable the through hole of the sleeve isolation device 3031 to be axially aligned with the cavity of the puncture sleeve 308, and connecting the puncture sleeve 308 with the sleeve isolation device 3031;

3. the flexible surgical tool 300 is mounted on the tool isolation device 3021 already in place and the flexible surgical tool 300 is advanced through the lumen of the cannula isolation device 3031 and the penetrating cannula 308 towards the distal end of the penetrating cannula 308.

4. The lockable support 207 is adjusted so that the optical tracker 205 can view the optical positioning indicia 206 of the surgical cart 003.

Method of use of the system of the invention

The method of using the system of the present invention may comprise the steps of:

Vascular intervention operation method

Vascular interventional procedures may be performed with the system of the invention, the method may comprise the steps of:

(1) and adjusting the operated object to a proper pose, and calibrating the puncture position.

(2) And (2) puncturing a puncture cannula into the blood vessel of the puncture part of the operated object calibrated in the step (1).

(3) Local anesthesia is performed on the puncture site.

(4) And moving the operation trolley according to the position of the puncture cannula, and executing the assembling method.

(5) And advancing the flexible continuous body structure of the flexible surgical tool towards the internal direction of the operated object until the vascular intervention surgical tool enters the blood vessel of the puncture site.

(6) And starting the contrast imaging equipment to irradiate the vascular interventional puncture site and obtain a contrast image of the vascular interventional puncture site.

(7) Displaying the contrast images obtained in step (2) on the first display and the second display, wherein an operator operates the control device under the guidance of the contrast images to control the bending and the direction of the active flexible segment of the flexible continuous body structure and feed the vascular interventional tool to an operation area.

In a preferred embodiment, the contrast imaging device may be selected by the operator as appropriate according to the site of the operation, the kind of disease, the nature of the lesion, and the like, and may be selected from devices including, but not limited to, B-mode ultrasound devices, CT devices, MRI devices, and digital subtraction angiography devices.

In a preferred embodiment, the active flexible segment of the flexible continuum structure may be configured to bend in space with 4 degrees of freedom under the control of the steering device of the master trolley, and the 4 degrees of freedom may include two bending directions, one rotation direction and one feed direction.

In a preferred embodiment, the first and the second display may both be 3D displays.

In a preferred embodiment, the vascular interventional procedure may be selected from the group consisting of a cardiovascular interventional procedure, a cerebrovascular interventional procedure, and a neoplastic interventional procedure.

A method for performing a vascular interventional procedure using the vascular interventional procedure robot assembly system of the present invention is explained below with the aid of embodiment 1 and embodiment 2.

Example 1

In this embodiment, a method of performing cardiovascular interventional procedures using the system of the present invention is illustrated.

The configuration illustrated in fig. 1 and the arrangement thereof are employed in the present embodiment.

As shown in fig. 7, the puncture cannula 308 is inserted into the blood vessel via the femoral artery or vein of the operator, with the operator 105 in a supine position. The operation is carried out according to the following steps:

1. calibrating the puncture site 106;

2. cables connecting the main control trolley 001, the equipment trolley 002 and the operation trolley 003;

3. the main control trolley 001 and the equipment trolley 002 are started, and the surgical robot performs self-checking;

4. mounting the cannula insulation 3031 and the tool insulation 3021 on the surgical trolley 003, and mounting the optical positioning indicator 206 on the cannula insulation tool 3031;

5. assistant 104 pierces puncture cannula 308 into the blood vessel through puncture site 106;

6. the assistant personnel 104 performs local anesthesia on the punctured part of the operator, pushes the operation trolley 003 to the side of the operation bed 004, locks the trolley chassis 306, adjusts the positioning mechanical arm 305 to enable the flexible operation tool 300 and the puncturing cannula 308 to have the same direction, and connects the puncturing cannula 308 with the cannula isolating device 3031 after aligning the positions;

7. connecting and locking the flexible surgical tool 300 with the driving module 303, and then feeding the flexible continuum structure 301 towards the direction in the body of the operator until the tail end of the flexible continuum structure enters the blood vessel;

8. the assistant person 104 adjusts the lockable support 207 so that the position of the optical tracker 205 can observe the optical positioning marker 206 on the surgical trolley 003;

9. the assistant staff 104 turns on the CT machine 005 to start irradiating the puncture site 106;

10. the operator 101 feeds the flexible continuous body structure 301 to the lesion area along a predetermined path under the guidance of the contrast image displayed by the CT machine 005. In the process, the operator 101 operates the control device 103 on the main control trolley 001 to control the bending and the direction of the active flexible section 3012, so that the active flexible section 3012 can follow the bending of the blood vessel and enter the branched blood vessel, and the passive flexible section 3011 follows the bending of the blood vessel to bend passively;

11. after the operation is finished, the operator 101 operates to withdraw the flexible continuum structure 301 to an extravascular position;

12. assistant personnel 104 completely withdraw flexible surgical tool 300 from the body of the operator, disconnect puncture cannula 308 from cannula spacer 3031, and remove surgical trolley 003;

13. unlatching and removing the flexible surgical tool 300 from the drive module 302;

14. hemostasis is applied to the puncture site 106.

Example 2

In this embodiment, a method of performing a cerebral thromboembolic intervention procedure using the system of the present invention is illustrated.

The present embodiment adopts the configuration and arrangement illustrated in fig. 9. FIG. 8 is a schematic illustration of the position of the body being manipulated by the operator and the location of the puncture site 106 and puncture cannula 308.

As shown in fig. 8, the puncture cannula 308 is inserted into the blood vessel via the carotid artery of the operator, with the operator 105 in a supine position.

The specific procedure is basically the same as in embodiment 1, except that a CT machine 005 is disposed on the side of the head of the operator 105 so as to irradiate the blood vessels from the neck to the brain of the operator 105.

While particular embodiments of the present invention have been illustrated and described, it would be obvious to those skilled in the art that various other changes and modifications can be made without departing from the spirit and scope of the invention. It is therefore intended to cover in the appended claims all such changes and modifications that are within the scope of this invention.

Claims

1. A robot combination system for vascular intervention operation is characterized in that the system comprises a main control trolley, a device trolley, an operation trolley, a radiography imaging device, a puncture cannula and a flexible operation tool, wherein

the operation trolley comprises a trolley chassis, a positioning mechanical arm, a linear module, a driving module, a flexible operation tool, an optical positioning identifier, a sleeve isolating device and a tool isolating device; the linear module is carried on the positioning mechanical arm, and the driving module is arranged on the linear module and can move back and forth along the longitudinal axis of the linear module; the flexible surgical tool comprises a drive transmission unit and a flexible continuum structure, and a vascular interventional surgical tool is carried at the far end of the flexible continuum structure; the flexible continuum structure comprises a proximal passive flexible segment and a distal active flexible segment, wherein the motion of the active flexible segment is controlled by a steering device of the master trolley; the passive flexible section is passively bent along the bending shape of the blood vessel;

the far end of the driving module is connected with a driving transmission unit of the flexible surgical tool and controls the action of the flexible continuum structure;

2. The system of claim 1, wherein the contrast imaging device is selected from the group consisting of a B-mode ultrasound device, a CT device, an MRI device, and a digital subtraction angiography device.

3. The system of claim 1, wherein the flexible continuum structure is configured to bend in space in 4 degrees of freedom under control of a steering device of the master trolley, the 4 degrees of freedom comprising two bending directions, one spinning direction, and a feeding direction.

4. The system of claim 1, wherein the manipulation device is a joystick telemanipulator.

5. The system of claim 1, wherein the vascular interventional surgical tool comprises a stenting tool, a vasodilator tool, and an electrosurgical tool.

6. The system of claim 1, wherein the first display is a 3D display and the second display is a 2D display.

7. The system of claim 1, wherein said cable further comprises a video transmission cable, an optical fiber, a device common ground, and a control signal transmission cable.

8. The system of claim 1, wherein said puncture cannula and said cannula spacer are connected by a mechanical snap or a nested lock.

9. The system of claim 1, wherein the equipment trolley further comprises auxiliary equipment, the auxiliary equipment comprising an electrotome, the electrotome being connected to the industrial personal computer.

10. Method of assembling a vascular interventional surgical robotic assembly system according to any one of claims 1-9, the method comprising the steps of: