CN111658154A - 一种自动远程造影手术机器人系统 - Google Patents
一种自动远程造影手术机器人系统 Download PDFInfo
- Publication number
- CN111658154A CN111658154A CN202010394283.8A CN202010394283A CN111658154A CN 111658154 A CN111658154 A CN 111658154A CN 202010394283 A CN202010394283 A CN 202010394283A CN 111658154 A CN111658154 A CN 111658154A
- Authority
- CN
- China
- Prior art keywords
- information
- display data
- robot
- doctor
- display
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000002601 radiography Methods 0.000 title claims abstract description 49
- 238000002347 injection Methods 0.000 claims abstract description 50
- 239000007924 injection Substances 0.000 claims abstract description 50
- 230000010365 information processing Effects 0.000 claims abstract description 35
- 238000005192 partition Methods 0.000 claims abstract description 26
- 238000000034 method Methods 0.000 claims abstract description 19
- 230000008569 process Effects 0.000 claims abstract description 16
- 238000012544 monitoring process Methods 0.000 claims abstract description 14
- 230000005855 radiation Effects 0.000 claims abstract description 9
- 238000012545 processing Methods 0.000 claims abstract description 7
- 239000002872 contrast media Substances 0.000 claims abstract description 6
- 238000004891 communication Methods 0.000 claims description 19
- 238000001356 surgical procedure Methods 0.000 claims description 8
- 210000004204 blood vessel Anatomy 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000012806 monitoring device Methods 0.000 claims description 5
- 230000006378 damage Effects 0.000 abstract description 7
- 208000027418 Wounds and injury Diseases 0.000 abstract description 3
- 229940039231 contrast media Drugs 0.000 abstract description 2
- 208000014674 injury Diseases 0.000 abstract description 2
- 230000002159 abnormal effect Effects 0.000 description 7
- 238000013461 design Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 208000019155 Radiation injury Diseases 0.000 description 2
- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000002583 angiography Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012805 post-processing Methods 0.000 description 2
- 239000011780 sodium chloride Substances 0.000 description 2
- HTTJABKRGRZYRN-UHFFFAOYSA-N Heparin Chemical compound OC1C(NC(=O)C)C(O)OC(COS(O)(=O)=O)C1OC1C(OS(O)(=O)=O)C(O)C(OC2C(C(OS(O)(=O)=O)C(OC3C(C(O)C(O)C(O3)C(O)=O)OS(O)(=O)=O)C(CO)O2)NS(O)(=O)=O)C(C(O)=O)O1 HTTJABKRGRZYRN-UHFFFAOYSA-N 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000036760 body temperature Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229960002897 heparin Drugs 0.000 description 1
- 229920000669 heparin Polymers 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
- A61B5/02055—Simultaneously evaluating both cardiovascular condition and temperature
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/48—Diagnostic techniques
- A61B6/481—Diagnostic techniques involving the use of contrast agents
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/007—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests for contrast media
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
- A61M5/142—Pressure infusion, e.g. using pumps
- A61M5/145—Pressure infusion, e.g. using pumps using pressurised reservoirs, e.g. pressurised by means of pistons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
- A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
- A61M5/16831—Monitoring, detecting, signalling or eliminating infusion flow anomalies
- A61M5/1684—Monitoring, detecting, signalling or eliminating infusion flow anomalies by detecting the amount of infusate remaining, e.g. signalling end of infusion
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/08—Detecting, measuring or recording devices for evaluating the respiratory organs
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Surgery (AREA)
- Vascular Medicine (AREA)
- Anesthesiology (AREA)
- Cardiology (AREA)
- Hematology (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Biophysics (AREA)
- Physiology (AREA)
- Physics & Mathematics (AREA)
- Radiology & Medical Imaging (AREA)
- Optics & Photonics (AREA)
- Business, Economics & Management (AREA)
- General Business, Economics & Management (AREA)
- Epidemiology (AREA)
- Primary Health Care (AREA)
- High Energy & Nuclear Physics (AREA)
- Pulmonology (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010394283.8A CN111658154B (zh) | 2020-05-11 | 2020-05-11 | 一种自动远程造影手术机器人系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010394283.8A CN111658154B (zh) | 2020-05-11 | 2020-05-11 | 一种自动远程造影手术机器人系统 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111658154A true CN111658154A (zh) | 2020-09-15 |
CN111658154B CN111658154B (zh) | 2021-10-26 |
Family
ID=72383308
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010394283.8A Active CN111658154B (zh) | 2020-05-11 | 2020-05-11 | 一种自动远程造影手术机器人系统 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN111658154B (zh) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112914730A (zh) * | 2021-01-19 | 2021-06-08 | 上海市第十人民医院 | 一种基于vr技术的远程介入治疗系统 |
CN113082367A (zh) * | 2021-04-01 | 2021-07-09 | 李政霞 | 一种肝癌介入治疗肝动脉造影设备 |
CN113787524A (zh) * | 2021-11-18 | 2021-12-14 | 极限人工智能有限公司 | 一种机械臂的控制方法、装置、手术机器人及存储介质 |
CN113855250A (zh) * | 2021-08-27 | 2021-12-31 | 谈斯聪 | 一种医疗用机器人装置、系统及方法 |
CN114074330A (zh) * | 2022-01-19 | 2022-02-22 | 成都博恩思医学机器人有限公司 | 一种机器人控制方法、系统、机器人及存储介质 |
CN114601482A (zh) * | 2022-03-26 | 2022-06-10 | 易度河北机器人科技有限公司 | 一种机器人辅助状态下的自动造影方法 |
CN115252119A (zh) * | 2022-07-20 | 2022-11-01 | 北京唯迈医疗设备有限公司 | 一种导管室主控机器人及其人工监测系统 |
CN117085205A (zh) * | 2023-10-18 | 2023-11-21 | 深圳市禾恩医疗科技有限公司 | 一种用于皮肤注射泵的设备运行管理系统 |
CN117224348A (zh) * | 2023-11-16 | 2023-12-15 | 北京唯迈医疗设备有限公司 | 一种基于介入造影手术的自动调整造影位置的方法及系统 |
WO2024016382A1 (zh) * | 2022-07-20 | 2024-01-25 | 北京唯迈医疗设备有限公司 | 一种介入无人手术室系统 |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102201221A (zh) * | 2010-03-25 | 2011-09-28 | 联想(北京)有限公司 | 显示方法及显示装置 |
CN103249354A (zh) * | 2011-12-02 | 2013-08-14 | 株式会社东芝 | 医用图像观察装置 |
CN104071076A (zh) * | 2014-07-17 | 2014-10-01 | 贵州大学 | 一种车载抬头显示系统及其显示方法 |
CN206063215U (zh) * | 2016-06-27 | 2017-04-05 | 重庆金山科技(集团)有限公司 | 控制装置及具有该控制装置的微创手术机器人 |
CN107126634A (zh) * | 2010-12-22 | 2017-09-05 | 优瑞技术公司 | 系统、计算机实施的方法以及计算机程序制品 |
CN107582168A (zh) * | 2017-09-04 | 2018-01-16 | 合肥龙图腾信息技术有限公司 | 一种远程同步手术系统 |
WO2019148286A1 (en) * | 2018-02-02 | 2019-08-08 | Intellijoint Surgical Inc. | Operating room remote monitoring |
CN110448378A (zh) * | 2019-08-13 | 2019-11-15 | 北京唯迈医疗设备有限公司 | 一种沉浸式介入手术一体化控制台 |
-
2020
- 2020-05-11 CN CN202010394283.8A patent/CN111658154B/zh active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102201221A (zh) * | 2010-03-25 | 2011-09-28 | 联想(北京)有限公司 | 显示方法及显示装置 |
CN107126634A (zh) * | 2010-12-22 | 2017-09-05 | 优瑞技术公司 | 系统、计算机实施的方法以及计算机程序制品 |
CN103249354A (zh) * | 2011-12-02 | 2013-08-14 | 株式会社东芝 | 医用图像观察装置 |
CN104071076A (zh) * | 2014-07-17 | 2014-10-01 | 贵州大学 | 一种车载抬头显示系统及其显示方法 |
CN206063215U (zh) * | 2016-06-27 | 2017-04-05 | 重庆金山科技(集团)有限公司 | 控制装置及具有该控制装置的微创手术机器人 |
CN107582168A (zh) * | 2017-09-04 | 2018-01-16 | 合肥龙图腾信息技术有限公司 | 一种远程同步手术系统 |
WO2019148286A1 (en) * | 2018-02-02 | 2019-08-08 | Intellijoint Surgical Inc. | Operating room remote monitoring |
CN110448378A (zh) * | 2019-08-13 | 2019-11-15 | 北京唯迈医疗设备有限公司 | 一种沉浸式介入手术一体化控制台 |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112914730A (zh) * | 2021-01-19 | 2021-06-08 | 上海市第十人民医院 | 一种基于vr技术的远程介入治疗系统 |
CN113082367B (zh) * | 2021-04-01 | 2022-08-19 | 李政霞 | 一种肝癌介入治疗肝动脉造影设备 |
CN113082367A (zh) * | 2021-04-01 | 2021-07-09 | 李政霞 | 一种肝癌介入治疗肝动脉造影设备 |
CN113855250A (zh) * | 2021-08-27 | 2021-12-31 | 谈斯聪 | 一种医疗用机器人装置、系统及方法 |
CN113787524A (zh) * | 2021-11-18 | 2021-12-14 | 极限人工智能有限公司 | 一种机械臂的控制方法、装置、手术机器人及存储介质 |
CN113787524B (zh) * | 2021-11-18 | 2022-02-15 | 极限人工智能有限公司 | 一种机械臂的控制方法、装置、手术机器人及存储介质 |
CN114074330A (zh) * | 2022-01-19 | 2022-02-22 | 成都博恩思医学机器人有限公司 | 一种机器人控制方法、系统、机器人及存储介质 |
CN114601482A (zh) * | 2022-03-26 | 2022-06-10 | 易度河北机器人科技有限公司 | 一种机器人辅助状态下的自动造影方法 |
CN115252119A (zh) * | 2022-07-20 | 2022-11-01 | 北京唯迈医疗设备有限公司 | 一种导管室主控机器人及其人工监测系统 |
WO2024016382A1 (zh) * | 2022-07-20 | 2024-01-25 | 北京唯迈医疗设备有限公司 | 一种介入无人手术室系统 |
CN117085205A (zh) * | 2023-10-18 | 2023-11-21 | 深圳市禾恩医疗科技有限公司 | 一种用于皮肤注射泵的设备运行管理系统 |
CN117085205B (zh) * | 2023-10-18 | 2023-12-19 | 深圳市禾恩医疗科技有限公司 | 一种用于皮肤注射泵的设备运行管理系统 |
CN117224348A (zh) * | 2023-11-16 | 2023-12-15 | 北京唯迈医疗设备有限公司 | 一种基于介入造影手术的自动调整造影位置的方法及系统 |
CN117224348B (zh) * | 2023-11-16 | 2024-02-06 | 北京唯迈医疗设备有限公司 | 一种自动调整造影位置的系统 |
Also Published As
Publication number | Publication date |
---|---|
CN111658154B (zh) | 2021-10-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN111658154B (zh) | 一种自动远程造影手术机器人系统 | |
JP7325950B2 (ja) | 対話型イベントタイムラインのためのシステム及び方法 | |
US9232982B2 (en) | System for orientation assistance and display of an instrument in an object under examination particularly for use in human body | |
JP6054031B2 (ja) | 蛍光透視データ表示機器 | |
US8121255B2 (en) | Diagnostic imaging system | |
US8335557B2 (en) | System for carrying out and monitoring minimally-invasive interventions | |
JP3550966B2 (ja) | 手術装置 | |
US20170252002A1 (en) | Ultrasonic diagnostic apparatus and ultrasonic diagnosis support apparatus | |
JP2000509626A (ja) | 画像表示システム | |
JP2010269067A (ja) | 治療支援装置 | |
JP2007185514A (ja) | 画像化医療装置および画像化医療装置の動作パラメータの設定方法 | |
KR20140032919A (ko) | 의료 장비 및 영상 생성 방법 | |
JP2006296707A (ja) | X線画像診断装置及びその三次元血流画像構成・表示方法並びにプログラム | |
US20170135654A1 (en) | Automatic or assisted region of interest positioning in x-ray diagnostics and interventions | |
US7724873B2 (en) | X-ray diagnostic apparatus and X-ray diagnostic system | |
JP2001104295A (ja) | 医用画像撮影システム | |
CN213465314U (zh) | 一种远程造影手术机器人系统 | |
US20210330388A1 (en) | Augmented reality user guidance during examinations or interventional procedures | |
EP0830847B1 (en) | Surgical operating apparatus | |
JPH0452143B2 (zh) | ||
JP2002238884A (ja) | X線装置の自動条件設定機構 | |
JP2004081569A (ja) | 血管造影撮影装置 | |
JP2644930B2 (ja) | 心臓血管内視鏡装置 | |
JP2024038841A (ja) | 医用画像処理装置、x線診断装置、及び、医用画像処理プログラム | |
CN117204953A (zh) | 手术机器人的末端定位导向装置及控制方法、手术机器人 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20211202 Address after: 100160 119 South 4th Ring Road West, Fengtai District, Beijing Patentee after: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Address before: No. 119, South 4th Ring Road West, Fengtai District, Beijing 100071 Patentee before: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Patentee before: Li Youxiang Patentee before: Jiang Yuhua |
|
TR01 | Transfer of patent right | ||
CB03 | Change of inventor or designer information |
Inventor after: Jiang Yuhua Inventor before: Li Youxiang Inventor before: Jiang Yuhua |
|
CB03 | Change of inventor or designer information | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20200915 Assignee: Beijing wansi Medical Technology Co.,Ltd. Assignor: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Contract record no.: X2024980004749 Denomination of invention: An automatic remote imaging surgical robot system Granted publication date: 20211026 License type: Exclusive License Record date: 20240422 |
|
EE01 | Entry into force of recordation of patent licensing contract |