CN110448378A - A kind of immersion intervention operation overall-in-one control schema platform - Google Patents
A kind of immersion intervention operation overall-in-one control schema platform Download PDFInfo
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- CN110448378A CN110448378A CN201910745395.0A CN201910745395A CN110448378A CN 110448378 A CN110448378 A CN 110448378A CN 201910745395 A CN201910745395 A CN 201910745395A CN 110448378 A CN110448378 A CN 110448378A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/743—Keyboards
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Abstract
The invention discloses a kind of immersions to intervene operation overall-in-one control schema platform, for indoor DSA and portion, the robot progress remote control of performing the operation；Console is set to out operating-room；Viewing area includes multiple display screens, and is mounted on the table top of console, for feeding back indoor real-time imaging of performing the operation；Control area includes the button and control rocking bar of the control terminal electric connection in multiple groups and DSA and portion, robot, and is mounted on the table top of console, for manipulating DSA and portion, robot；Foot pedal portion is mounted on the bottom of console, and the exposure for controlling DSA；Control cabinet is set to out operating-room, is electrically connected respectively with DSA, portion, robot, viewing area, control area and the control terminal in foot pedal portion.The present invention can be realized remotely to DSA and robot control, greatly improved the feeling of immersion that intervention doctor remotely controls, ease for use and safety, changed traditional intervention diagnosis and therapy process, and the intervention operation under " zero " dose of radiation is realized.
Description
Technical field
The present invention relates to Minimally Interventional Therapy technical field, more particularly to a kind of immersion intervention operation one
Change console.
Background technique
Interventional minimally-invasive treatment is that one developed rapidly in recent years has merged diagnostic imaging and clinical treatment in one
New branch of science.It is under the guidance and monitoring of the image documentation equipments such as digital subtraction angiography machine, using puncture needle, conduit and its
He intervenes equipment, and specific instrument is imported human lesion position by human body natural duct or small wound and carries out minimally invasive control
A series of general name for the technologies treated.The intervention operation of traditional form needs doctor to stand by catheter bed, radiates in conjunction with real-time
The framing information collected carries out catheter guide wire corresponding operating, and typical operating time of intervening was at 40 minutes to 1 half
Hour, doctor be difficult to avoid that it is continual receive X-radiation, it is a large amount of to intervene doctor's overwork, amount for surgical especially in China
It is the several times of American-European doctor or more, since long-term a large amount of radiation result in white blood cell reduction, immunocompromised, a large amount of duty such as alopecia
Industry disease, and it is added significantly to leucocyte, the disease incidence of the diseases such as cancer, serious threat intervention doctor's health.
In order to solve the problems, such as above-mentioned X-ray excess radiation, intervention operation robot research in recent years is risen, it passes through mould
Intending the hand motion of doctor to realize every movement of catheter guide wire, doctor remotely manipulates, without being completed by catheter bed,
Ray radiation problem is avoided, there is earthshaking clinical value.
The popularization that robot is intervened in spite of huge benefit, but in actual clinical is unsatisfactory, to find out its cause, on the one hand
It is that intervention robot manipulation process needs to improve precision, on the other hand the technical problems such as reliability are not fully consider intervention hand
The complexity of art real-time process causes ease for use too poor.
The operation for intervening the delivery process and interventional imaging equipment such as DSA of surgical catheters seal wire is combined closely, alternately,
Catheter bed evolution is such as repeated, the transformation of C arm machine rack position, the control of harness device, image control etc., intervention robot is only
Long-range control catheter guide wire is only realized, a series of above-mentioned DSA operations can not accomplish that remotely, this just brings greatly not convenient
Property, so that doctor is there is still a need for frequently entering by equipment to operate, so that operating time generally extends or so 1 hour, into
And it greatly reduces doctor and uses the enthusiasm of intervention robot.
Operation is intervened simultaneously as the higher invasive surgical of risk, safety be it is most important consider, doctor is in conduit
Bed operation can use itself eyes, and ear identifies that, once becoming to remotely operate, it is integrated that there is an urgent need to acousto-optic-electrics to risk
Building environment, abundant simulation of interventional process conduit room environmental, give doctor's comprehensive information.
Technology there is a problem of following aspects at present:
(1) DSA and traditional equipment can not be controlled remotely, all kinds of motor functions, and exposure function needs complete by DSA equipment
At；
(2) control of intervention robot and DSA control are mutually indepedent, lack cooperation；
(3) during intervening remote operation, patient's video image, wound image, the auxiliary informations such as voice, which lack, to be integrated.
Therefore, how a kind of console that can remotely realize to DSA and robot control is provided, is those skilled in the art
The problem of member's urgent need to resolve.
Summary of the invention
In view of this, the present invention provides a kind of immersions to intervene operation overall-in-one control schema platform, can remotely realize to DSA
It is controlled with robot, greatly improves the feeling of immersion that intervention doctor remotely controls, ease for use and safety, change traditional intervention
Diagnosis and treatment process realizes the intervention operation under " zero " dose of radiation.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of immersion intervention operation overall-in-one control schema platform, it is long-range for being carried out to the indoor DSA of operation and portion, robot
Manipulation；It include: console, viewing area, control area, foot pedal portion and control cabinet；
The console is set to the out operating-room；
The viewing area includes multiple display screens, and is mounted on the table top of the console, for feeding back the operation
Indoor real-time imaging；
The control area includes button and the control of the control terminal electric connection in multiple groups and the DSA and the portion, robot
Rocking bar, and be mounted on the table top of the console, for manipulating the DSA and the portion, robot；
The foot pedal portion is mounted on the bottom of the console, and the exposure for controlling the DSA；
The control cabinet is set to the out operating-room, respectively with the DSA, the portion, robot, the viewing area,
The control terminal in the control area and the foot pedal portion is electrically connected.
Through the above technical solutions, the present invention, for intervening in operation, doctor can be in out operating-room to DSA and intervention hand
Art robot is controlled individually or simultaneously as required；The overall-in-one control schema platform it is multiple functional, operating room may be implemented
Interior whole control functions to DSA and robot, have built complete intervention operating room environment, and it is remote to greatly improve intervention doctor
The feeling of immersion of process control, ease for use and safety change traditional intervention diagnosis and therapy process, realize Jie under " zero " dose of radiation
Enter operation.
Preferably, in a kind of above-mentioned immersion intervention operation overall-in-one control schema platform, the console include control table top,
Sound equipment and microphone, the sound equipment and the microphone are arranged on the control table top, and are electrically connected with the control cabinet.Energy
The communication inside and outside operating room is enough realized, to build complete intervention operating room environment.
Preferably, in a kind of above-mentioned immersion intervention operation overall-in-one control schema platform, the viewing area includes: realtime graphic
Display screen, for observing the blood vessel situation of patient；Reference picture display screen, for carrying out image comparison analysis；Robot information
Display screen, for showing the location information in the portion, robot；DSA manipulates information display screen, for showing the operation feelings of DSA
Condition；Camera display screen, for monitoring the real-time status of patient；Physical signs display screen, for showing the physical signs of patient.
Can indoor situation of performing the operation be monitored and be manipulated in real time.
Preferably, in a kind of above-mentioned immersion intervention operation overall-in-one control schema platform, the control area includes: exposure instruction
Area, for controlling switch machine and display working condition；DSA-C arm control zone, it is mobile for controlling the fuselage in the DSA
With the movement of C-arm；Catheter bed control zone, for controlling the back-and-forth motion up and down of catheter bed；Image control area, for adjusting figure
The functional parameter of picture；Robot control zone, for controlling control of portion, the robot completion to catheter guide wire.Manipulation is more just
Victory, using more convenient.
Preferably, in a kind of above-mentioned immersion intervention operation overall-in-one control schema platform, the exposure instruction area, the DSA-
C-arm control zone, the catheter bed control zone, described image control zone and the robot control zone button be multiple.
Control effect is stronger.
Preferably, in a kind of above-mentioned immersion intervention operation overall-in-one control schema platform, the button of the control area and control
The structure of rocking bar includes: that physical button, silica gel press keycap, button circuit board, master control circuit board, button mounting plate；The entity
It is acquired by the button circuit board by key pressing information and is passed through the first control cable and be sent to the master control circuit board；Rocking bar one
Rocking bar striker can trigger the contact-making switch closure of corresponding direction after a direction is pressed, and corresponding information passes through the first control electricity
Cable is sent to the master control circuit board.Convenient for the control to button and manipulation rocking bar.
Preferably, in a kind of above-mentioned immersion intervention operation overall-in-one control schema platform, the foot pedal portion includes protective cover,
Expose pedal and perspective pedal；The protective cover is stepped on for anti-error；The exposure pedal carries out higher dose for controlling the DSA
Amount has an X-rayed and records image, observes image repeatedly for doctor；The perspective pedal is saturating for controlling the DSA progress relatively low-dose
Depending on, for doctor observe catheter guide wire in vivo the case where.It is controlled by foot, the practicability of operation is stronger.
Preferably, in a kind of above-mentioned immersion intervention operation overall-in-one control schema platform, the exposure is foot-operated and the perspective
Foot-operated internal structure is identical: pedal front cover triggers pedal switch closure, and corresponding signal is sent to control by the second control cable
Mechanism.Structure is simple, easy to use.
Preferably, in a kind of above-mentioned immersion intervention operation overall-in-one control schema platform, the operating room is inside and outside to pass through lead glass
The isolation of glass window.Convenient for the situation in observation operating room, to make emergency processing.
Preferably, in a kind of above-mentioned immersion intervention operation overall-in-one control schema platform, including being used in the control cabinet
Control the control zone of the DSA and the portion, robot.Control effect is stronger.
It can be seen via above technical scheme that compared with prior art, the present disclosure provides a kind of interventions of immersion
Operation overall-in-one control schema platform, has the advantages that
1, a kind of immersion intervention operation overall-in-one control schema platform provided by the invention is integrated with using integrated design
DSA and operating robot be controlled on a platform, needs to be difficult to control simultaneously in effective solution doctor's actual operation
The problem of both equipment.
2, a kind of immersion intervention operation overall-in-one control schema platform provided by the invention, can help to be reduced as far as entering
In operating room, to bring conveniently to doctor, it is well adapted for true surgical environments demand.
3, a kind of immersion intervention operation overall-in-one control schema platform provided by the invention, by being controlled outside robot and the room DSA,
The risk for receiving X-ray in surgical is greatly reduced, there is important protective effect to the health of medical staff.
4, the equipment can cooperate the communication apparatus such as 5G in outdoor control DSA, may be implemented remotely to intervene operation, to move
It moves difficult patient and brings Gospel.
5, the equipment uses module design, facilitates installation and maintenance, multiple functional, easy to operate.There is specific instruction,
It is easy to upper hand.In addition, there is auditory tone cues, the miscellaneous functions such as error protection and prompt, can be effectively protected the safety of patient out.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 attached drawing is a kind of overall structure of the immersion intervention operation overall-in-one control schema platform provided by the invention in operating room
Schematic diagram；
Fig. 2 attached drawing is a kind of structural schematic diagram of immersion intervention operation overall-in-one control schema platform provided by the invention；
Fig. 3 attached drawing is a kind of schematic layout pattern of immersion intervention operation overall-in-one control schema platform provided by the invention；
Fig. 4 attached drawing is a kind of immersion intervention operation overall-in-one control schema platform control area schematic diagram provided by the invention；
Fig. 5 attached drawing is a kind of immersion intervention operation overall-in-one control schema platform schematic diagram of control area structure provided by the invention；
Fig. 6 attached drawing is a kind of immersion intervention operation overall-in-one control schema table foot pedal part-structure signal provided by the invention
Figure；
Fig. 7 attached drawing is a kind of circuit controling drawing of immersion intervention operation overall-in-one control schema platform key provided by the invention.
Wherein:
1- console；
101- controls table top；102- sound equipment；103- microphone；
2- controls cabinet；
201- lead glass window；202- operating room；203- cable；
The part 3-DSA；
301- catheter bed；302-C arm；
Portion, 4- robot；
401- mechanical arm；402- propulsive mechanism；403- catheter guide wire；
The viewing area 5-；
501- Real-time image display screen；502- reference picture display screen；503- robot information display screen；504-DSA behaviour
Control information display screen；505- camera display screen；506- physical signs display screen；
The control area 6-；
601- exposure instruction area；602-DSA-C arm control zone；603- catheter bed control zone；604- image control area；
605- robot control zone；606- power on button；607- power-off button；608- scram button；609-C arm moves rocking bar one；
610-C arm moves rocking bar two；611- exposure dose selection key；612- road map button；613- exposes enabled button；614-C exposes
Light visual field switching push button；615- catheter bed vertically moves rocking bar；616- catheter bed transverse shifting rocking bar；The rising of 617- catheter bed is pressed
Button；618- catheter bed declines button；619- beam-defining clipper direction controlling rocking bar；620- beam-defining clipper iris controls rocking bar；621- camera shooting
Head adjustment rocking bar；622- camera adjusts button；623- image size adjusts button；624- picture contrast adjusts button；
625- brightness of image adjusts button；626- image broadcasting/pause adjusts button；627- robotic catheter controls rocking bar；628- machine
Device people's seal wire controls rocking bar；629- sacculus release button；630- injects contrast agent button；
7- foot pedal portion；
701- foot pedal is anti-error to step on protective cover；702- exposes pedal；703- has an X-rayed pedal.
801- physical button；802- silicon rubber cup；The control area 803- shell；804- button circuit board；805- master control circuit board；
806- first controls cable；807- rocking bar striker；808- contact-making switch；809- rocking bar control-rod；810- work station；811- interface
Plate；812- image processing unit.
901- pedal front cover；902 pedal switch；903- spring；904- second controls cable.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to attached drawing 1 to attached drawing 6, the embodiment of the invention discloses a kind of immersions to intervene operation overall-in-one control schema platform, uses
In to the DSA3 and the progress of portion, robot 4 remote control in operating room 202；It include: console 1, viewing area 5, control area 6, foot
Tread portion 7 and control cabinet 2；
Console 1 is set to outside operating room 202；
Viewing area 5 includes multiple display screens, and is mounted on the table top of console 1, for feeding back the reality in operating room 202
When image；
Control area 6 includes the button and control rocking bar of the control terminal electric connection in multiple groups and DSA3 and portion, robot 4, and pacifies
On the table top of console 1, for manipulating DSA3 and portion, robot 4；
Foot pedal portion 7 is mounted on the bottom of console 1, and the exposure for controlling DSA3；
Control cabinet 2 is set to outside operating room 202, respectively with DSA3, portion, robot 4, viewing area 5, control area 6 and foot-operated
The control terminal in plate portion 7 is electrically connected.
In order to further optimize the above technical scheme, console 1 includes control table top 101, sound equipment 102 and microphone 103, sound
Sound 102 and the setting of microphone 103 are electrically connected on control table top 101, and with control cabinet 2.
In order to further optimize the above technical scheme, viewing area 5 includes: Real-time image display screen 501, for observing patient
Blood vessel situation；Reference picture display screen 502, for carrying out image comparison analysis；Robot information display screen 503, for showing
Show the location information in portion, robot；DSA manipulates information display screen 504, for showing the operating condition of DSA；Camera display screen
505, for monitoring the real-time status of patient；Physical signs display screen 506, for showing the physical signs of patient.
In order to further optimize the above technical scheme, control area 6 includes: exposure instruction area 601, for controlling switch machine
And display working condition；DSA-C arm control zone 602, for controlling the mobile movement with C-arm of the fuselage in DSA3；Conduit
Bed control zone 603, for controlling the back-and-forth motion up and down of catheter bed；Image control area 604, the function for adjusting image are joined
Number；Robot control zone 605, for controlling control of the completion of portion, robot 4 to catheter guide wire.
In order to further optimize the above technical scheme, exposure instruction area 601, DSA-C arm control zone 602, catheter bed control
The button in area 603 processed, image control area 604 and robot control zone 605 is multiple.
In order to further optimize the above technical scheme, the structure of the button of control area 6 and control rocking bar includes: physical button
801, silica gel presses keycap 802, button circuit board 804, master control circuit board 805；Physical button 801 presses information by button circuit board
804 acquire and are sent to master control circuit board 805 by the first control cable 806；Rocking bar striker after one direction of rocking bar is pressed
807 contact-making switches 808 that can trigger corresponding direction are closed, and corresponding information is sent to master control circuit by the first control cable 806
Plate 805.
In order to further optimize the above technical scheme, foot pedal portion 7 includes protective cover 701, exposes pedal 702 and perspective is stepped on
Plate 703；Protective cover 701 is stepped on for anti-error；Exposure pedal 702 is used to control DSA3 and carries out higher dosage perspective and record image,
Image is observed repeatedly for doctor；Perspective pedal 703 carries out relatively low-dose perspective for controlling DSA3, observes catheter guide wire for doctor
In vivo the case where.
In order to further optimize the above technical scheme, exposure foot-operated 702 is identical with foot-operated 703 internal structures are had an X-rayed: pedal
Front cover 901 triggers pedal switch 902 and is closed, and corresponding signal is sent to control mechanism by the second control cable 904.
In order to further optimize the above technical scheme, operating room 202 is inside and outside is isolated by lead glass window 201.
In order to further optimize the above technical scheme, controlling in cabinet 2 includes control for controlling DSA3 and portion, robot 4
Area processed.
It should be further noted that:
Doctor operates outside operating room 202, and the situation in operating room 202 can be observed by lead glass window 201.
Control cabinet 2 is transmitted on DSA3 and portion, robot 4 for handling the operation information received, it and console 1
It is connected by cable 203.DSA3 and portion, robot 4 are placed in operating room 202.C-arm 302 and catheter bed 301 cooperate
It uses, when patient undergos surgery, will lie on catheter bed 301.Mechanical arm 401 is fixedly mounted on the bed board of catheter bed 301, it
Bed body can be followed to move together, to ensure that the opposing stationary of the propulsive mechanism 402 of catheter bed 301 and robot.It promotes
Mechanism 402 is fixed on mechanical arm 401, by adjusting mechanical arm 401, can be chosen suitable angles and positions, be carried out machine
People intervenes operation.Catheter guide wire 403 is mounted on propulsive mechanism 402, and doctor can be controlled by the control to propulsive mechanism 402
Catheter guide wire processed enters human body and performs the operation.
Sound equipment 102 and microphone 103 are additionally provided on console 1, sound equipment 102 is such as set for transmitting conduit room's internal sound
Received shipment row sound, warning, patient is in indoor voice etc. of performing the operation.Microphone 103 is for sending sound to operation interior, example
Such as, doctor needs the case where inquiring patient etc..
Single channel DVI cable, by treated, realtime graphic shows control cabinet 2 in the form of video flowing schemes in real time
On picture display screen 501, doctor can observe the blood vessel situation of patient from here, and similarly, control cabinet 2 passes through single channel DVI electricity
Cable shows reference picture on reference picture display screen 502 in the form of video flowing, facilitates doctor to carry out image and compares
Analysis.Control cabinet 2 is shown the information such as robot location in the form of video flowing DVI cable to be shown in robot information
On screen 503, the operating condition of DSA can be shown on DSA manipulation information display screen 504.Camera is mounted on C-shaped in operating room
Arm 302, the case where for monitoring patient on catheter bed in real time, video information is back to control cabinet 2 by DVI, controls cabinet 2
Relevant information is shown on camera display screen 505 by DCI cable after treatment.The information of physiological monitor passes through same
Shaft cable or Ethernet cable are transferred to control cabinet 2, and control cabinet 2 will be sick by DVI cable after handling information
The various physical signs such as the heartbeat of people are shown on physical signs display screen 506.
Exposure instruction area 601 is for controlling switch machine and display working condition.It include power on button 606, shutdown by
Button 607 and scram button 608, are provided with indicator light on these buttons.DSA-C arm control zone 602 is for controlling in DSA
The mobile movement with C-arm of fuselage, is exposed for choosing more suitable angle.Rocking bar is controlled for specifically controlling C-arm
All directions it is mobile, button 609-614 is for controlling exposure correlation function, comprising: the mobile rocking bar 1 of C arm；The movement of C arm is shaken
Bar 2 610；Exposure dose selection key 611；Road map button 612；Expose enabled button 613；C exposes visual field switching push button 614.
Catheter bed control zone 603 is used to control the back-and-forth motion up and down of catheter bed.Rocking bar and button 615-618 are controlled for specifically executing
Control, comprising: catheter bed vertically moves rocking bar 615；Catheter bed transverse shifting rocking bar 616；Catheter bed rising button 617；Conduit
Bed declines button 618.Image control area 604 is for adjusting the states such as size, the brightness of image, light beam flux, camera control
Etc. the function in relation to image.Beam-defining clipper direction controlling rocking bar 619 and beam-defining clipper iris control rocking bar 620 control x-ray flux.Control
Rocking bar and button 621-626 processed is for specifically executing image control, comprising: camera adjusts rocking bar 621；Camera adjusts button
622；Image size adjusts button 623；Picture contrast adjusts button 624；Brightness of image adjusts button 625；Image broadcasting/temporarily
Stop adjusting button 626.Robot control zone 605 is used to control the propulsive mechanism 402 of robot, completes the control to catheter guide wire
System.Robotic catheter control rocking bar 627 control conduit propulsion, robot guide wire control rocking bar 628 control seal wire rotation and
It promotes.Sacculus release button 629 can accelerate the propulsion catheter guide wire speed of robot, and injection contrast agent button 630 can be to
Human body breaks contrast agent, for facilitating observation vascular morphology.
It should be noted that the structure of the signal control circuit of key of the invention, rocking bar and pedal is all the same, with key
Control circuit for, referring to attached drawing 7, trigger signal is transferred to button circuit board 804, button circuit board by physical button 801
804 transmit signals to master control circuit board 805, and signal is passed sequentially through work station 810,811 and of interface board by master control circuit board 805
Image processing unit 812 is transmitted, and realizes the control to corresponding construction.The control structure of rocking bar and pedal is same, In
This is repeated no more.
805 polling mode of master control circuit board acquires all keys and rocking bar information, sends interval with 5ms and passes through the first control
Cable 806 is interacted using based on can2.0B agreement with control mechanism.
The to sum up cooperation of various pieces may be implemented doctor and substantially complete blood vessel intervention operation in out operating-room, thus
Damage of the X-ray to medical staff is effectively reduced.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of immersion intervention operation overall-in-one control schema platform, which is characterized in that for in operating room (202) DSA (3) and
Portion, robot (4) carries out remote control；It include: console (1), viewing area (5), control area (6), foot pedal portion (7) and control
Cabinet (2)；
The console (1) is set to the operating room (202) outside；
The viewing area (5) includes multiple display screens, and is mounted on the table top of the console (1), for feeding back the hand
Real-time imaging in art room (202)；
The control area (6) includes the button of the control terminal electric connection in multiple groups and the DSA (3) and the portion, robot (4)
With control rocking bar, and it is mounted on the table top of the console (1), for manipulating the DSA (3) and the portion, robot (4)；
The foot pedal portion (7) is mounted on the bottom of the console (1), and the exposure for controlling (3) the DSA；
The control cabinet (2) is set to the operating room (202) outside, respectively with the DSA (3), the portion, robot (4),
The control terminal of the viewing area (5), the control area (6) and the foot pedal portion (7) is electrically connected.
2. a kind of immersion intervention operation overall-in-one control schema platform according to claim 1, which is characterized in that the console
It (1) include control table top (101), sound equipment (102) and microphone (103), the sound equipment (102) and the microphone (103) setting exist
On the control table top (101), and it is electrically connected with the control cabinet (2).
3. a kind of immersion intervention operation overall-in-one control schema platform according to claim 1, which is characterized in that the viewing area
It (5) include: Real-time image display screen (501), for observing the blood vessel situation of patient；Reference picture display screen (502), for into
The analysis of row image comparison；Robot information display screen (503), for showing the location information in the portion, robot；DSA manipulation letter
It ceases display screen (504), for showing the operating condition of DSA；Camera display screen (505), for monitoring the real-time status of patient；
Physical signs display screen (506), for showing the physical signs of patient.
4. a kind of immersion intervention operation overall-in-one control schema platform according to claim 1, which is characterized in that the control area
It (6) include: exposure instruction area (601), for controlling switch machine and display working condition；DSA-C arm control zone (602),
For controlling the mobile movement with C-arm of the fuselage in the DSA (3)；Catheter bed control zone (603), for controlling catheter bed
Back-and-forth motion up and down；Image control area (604), for adjusting the functional parameter of image；Robot control zone (605), is used for
Control control of portion, robot (4) completion to catheter guide wire.
5. a kind of immersion intervention operation overall-in-one control schema platform according to claim 4, which is characterized in that the exposure refers to
Show area (601), DSA-C arm control zone (602), the catheter bed control zone (603), described image control zone (604)
Button with the robot control zone (605) is multiple.
6. a kind of immersion intervention operation overall-in-one control schema platform according to claim 4 or 5, which is characterized in that the behaviour
The press-button structure for controlling area (6) includes: physical button (801), button circuit board (804), master control circuit board (805)；The entity
Key (801) and the button circuit board (804) are electrically connected；The case circuit board (804) and the master control circuit board
(805) it is electrically connected.
7. a kind of immersion intervention operation overall-in-one control schema platform according to claim 1, which is characterized in that the foot pedal
Portion (7) includes protective cover (701), exposes pedal (702) and perspective pedal (703)；The protective cover (701) is stepped on for anti-error；
The exposure pedal (702) is observed for controlling the DSA (3) progress higher dosage perspective and recording image for doctor repeatedly
Image；The perspective pedal (703) carries out relatively low-dose perspective for controlling the DSA (3), observes catheter guide wire for doctor and exists
Internal situation.
8. a kind of immersion intervention operation overall-in-one control schema platform according to claim 6, which is characterized in that the exposure foot
It is identical with foot-operated (703) internal structure of the perspective to step on (702): pedal front cover (901) triggers pedal switch (902) closure, phase
Induction signal is sent to control mechanism by the second control cable (904).
9. a kind of immersion intervention operation overall-in-one control schema platform according to claim 1, which is characterized in that the operating room
(202) inside and outside to be isolated by lead glass window (201).
10. a kind of immersion intervention operation overall-in-one control schema platform according to claim 1, which is characterized in that the control
It include the control zone for controlling the DSA (3) and the portion, robot (4) in cabinet (2).
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| CN111658154B (en) * | 2020-05-11 | 2021-10-26 | 首都医科大学附属北京天坛医院 | Automatic remote radiography surgical robot system |
| CN112914730A (en) * | 2021-01-19 | 2021-06-08 | 上海市第十人民医院 | Remote interventional therapy system based on VR technology |
| CN113545856B (en) * | 2021-07-05 | 2022-10-14 | 杭州三坛医疗科技有限公司 | Remote orthopedic surgery system based on 5G communication |
| CN113545856A (en) * | 2021-07-05 | 2021-10-26 | 杭州三坛医疗科技有限公司 | Remote orthopedic surgery system based on 5G communication |
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| WO2024016382A1 (en) * | 2022-07-20 | 2024-01-25 | 北京唯迈医疗设备有限公司 | Unmanned interventional surgery room system |
| CN115227409A (en) * | 2022-08-05 | 2022-10-25 | 北京唯迈医疗设备有限公司 | Intervention operation robot system capable of fusing DSA images |
| CN115227409B (en) * | 2022-08-05 | 2024-07-12 | 北京唯迈医疗设备有限公司 | Interventional operation robot system capable of fusing DSA images |
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