CN113262046B - Soft lens stone crushing system based on magnetic force induction remote positioning - Google Patents
Soft lens stone crushing system based on magnetic force induction remote positioning Download PDFInfo
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- CN113262046B CN113262046B CN202110524941.5A CN202110524941A CN113262046B CN 113262046 B CN113262046 B CN 113262046B CN 202110524941 A CN202110524941 A CN 202110524941A CN 113262046 B CN113262046 B CN 113262046B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
- A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
- A61B18/26—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor for producing a shock wave, e.g. laser lithotripsy
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
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Abstract
The invention relates to a soft lens lithotripsy system based on magnetic induction remote positioning, which comprises: a magnetic induction operating mechanism, a control handle, a foot switch and an audio-video device; the magnetic induction operating mechanism comprises a data acquisition card, a magnetic field space and an operating rod; the front end of the operating rod is provided with a magnetic sensor, and the operating rod is propelled and/or rotated in the magnetic field space; the data acquisition card acquires current signals generated by the simulation of the propelling and/or rotating operation of the soft mirror by the operating rod in real time to obtain pose signals of the operating rod; the mechanical arm acquires a pose signal of the operating rod and acts in real time; the end part of the mechanical arm is provided with a soft lens operating mechanism; the control handle controls the action of the soft lens operating mechanism; the foot switch controls the on-off operation of the laser machine; the audio and video device acquires medical audio and image data, the operation precision is high, the stability is good, and the safety and reliability of the remote guidance soft-lens lithotripsy operation are improved.
Description
Technical Field
The invention belongs to the technical field of teleoperation robots, and particularly relates to a soft lens lithotripsy system based on magnetic induction remote positioning.
Background
The laser lithotripsy has the advantages of small wound, less bleeding, high calculus removal rate and few complications. The electromagnetic positioning technology is increasingly applied to the fields of space target detection, military target positioning, mobile equipment navigation and medical treatment due to the characteristics of small volume, stable signal, difficulty in external interference, high precision and the like. With the improvement of medical science and technology, remote interactive medical treatment is commonly applied.
At present, most of the existing remote modes are that experts guide the remote end to carry out medical operation in a video and audio mode; however, the operation difficulty is higher, and the operation or medical examination which has higher requirements on the professional technology of doctors, such as ultrasonic examination, positioning puncture, soft lens related operation and the like, because the medical resources in China are highly concentrated, the experts with the skill are mostly distributed in the first-line cities of the wide and deep north, and the like, and the doctors of the vast primary medical unit rarely have very high medical skills; this necessarily affects the timely treatment of local patients.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide a soft-lens lithotripsy system based on magnetic force sensing remote positioning, so as to solve the problem that the existing soft-lens lithotripsy equipment cannot be remotely controlled.
The purpose of the invention is realized as follows:
a soft lens lithotripsy system based on magnetic force induction remote location, comprising: the magnetic induction operating mechanism, the control handle, the foot switch and the audio-video device;
the magnetic induction operating mechanism comprises a data acquisition card, a magnetic field space and an operating rod; the front end of the operating rod is provided with a magnetic sensor, and the operating rod is propelled and/or rotated in the magnetic field space; the data acquisition card acquires current signals generated by the simulation of the propelling and/or rotating operation of the soft mirror by the operating rod in real time to obtain pose signals of the operating rod; the mechanical arm acquires a pose signal of the operating rod and acts in real time;
the end part of the mechanical arm is provided with a soft lens operating mechanism; the control handle controls the action of the soft lens operating mechanism;
the foot switch controls the on-off operation of the laser machine;
the audio and video device acquires medical audio and image data.
According to a preferred embodiment of the invention, the magnetic force induction operating mechanism comprises a magnetic signal emission source and an operating box body, wherein a sliding rail is arranged in the operating box body, a sliding block seat is arranged on the sliding rail in a sliding manner, and an operating rod is rotationally clamped with the sliding block seat; the operation box body is a magnetic field space.
In a preferred embodiment of the present invention, a damping mechanism is disposed between the operating rod and the operating box or the slide rail.
According to a preferred embodiment of the invention, the operation box body, the sliding rail and the sliding block are all made of acrylic materials, and the operation rod is made of wood materials.
In a preferred embodiment of the present invention, the robot arm is mounted on the handling frame in an inverted manner.
In a preferred embodiment of the present invention, the soft lens operating mechanism includes a handle body, and a first driving motor and a second driving motor provided on the handle body; the first driving motor controls the bending of the soft lens part at the slave end, and the second driving motor controls the in and out of the optical fiber end.
In a preferred embodiment of the present invention, the soft mirror operating mechanism further includes a rotation driving mechanism, the rotation driving mechanism is disposed at a terminal of the robot arm, and an output end of the rotation driving mechanism is connected to a rear end of the soft mirror operating mechanism.
In a preferred embodiment of the invention, the soft lens operating mechanism is detachably arranged on the rotary driving mechanism through a clamp or a quick joint;
the quick-change connector comprises a first connecting column, a rotary lantern ring and a second connecting column;
the first end of the first connecting column is connected with the handle body, the rotating sleeve ring is rotatably sleeved on the first connecting column, and the rotating sleeve ring is provided with internal threads;
the first end of the second connecting column is connected with the rotary driving mechanism, a convex ring is arranged on the outer circumference of the second connecting column, an external thread is arranged on the convex ring, and the external thread of the convex ring is matched with the internal thread of the rotary sleeve ring.
The invention further comprises a first workstation and a second workstation, wherein the first workstation and the second workstation are in interconnected communication through 5G; first workstation transmits magnetic force induction operating device, brake valve lever, foot switch's control signal to second workstation, control signal to arm, soft mirror operating device and laser machine switch are issued to the second workstation to the medical treatment audio frequency and video that will acquire, influence data feedback extremely the audio frequency and video display device of first workstation.
In a preferred embodiment of the invention, the laser machine switch comprises a foot control box, a control motor, a clamping block and a laser trigger switch are arranged in the foot control box, and the control motor drives the clamping block to trigger the laser trigger switch.
Compared with the prior art, the invention can realize at least one of the following beneficial effects:
1. the operation precision is high, stability is good, adopts the operation mode of magnetic force induction remote interactive puncture location, can satisfy the soft lens rubble operation tutoring in the relatively poor region of medical treatment condition.
2. The position and pose of the operating rod are determined by the electromagnetic positioning technology, compared with a mode of simulating operation by adopting a mechanical arm, the electromagnetic positioning type manipulator has the advantages of smaller volume, more flexible operation, small volume, stable signal, difficult external interference, high precision and the like.
3. The doctor directly grips action bars and brake valve lever with two hands and operates, utilizes the on-off operation of pedal control laser machine of laser, and the flexible operation, workspace is big, more is close operational environment in the art, has promoted main end doctor's use and has experienced the sense.
4. The laser machine switch realizes the remote mechanical control of the laser pedal through arranging the pedal control box on the basis of the laser pedal matched with the laser machine, and has the advantages of simple structure, convenient operation and low cost.
5. The arm adopts the mounting means of invering, can effectively utilize the arm exhibition, makes the terminal maximize of two arm robot reach each position of patient's health, avoids the impact of the arm that the tandem structure is anti-solved not only probably to bring to the human body, improves system security, and does not sacrifice working space when guaranteeing the security.
6. The soft lens operating mechanism is detachably mounted on the driving mechanism at the tail end of the first mechanical arm through the quick-change connector, so that the soft lens operating mechanism can be conveniently and quickly mounted and dismounted.
7. And 5G low-delay data transmission is utilized, so that the safety and reliability of the remote guidance soft-lens lithotripsy operation are ensured.
Drawings
In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the embodiments of the present specification, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a schematic structural diagram of a magnetic force sensing remote positioning-based soft lens lithotripsy system of the present invention;
FIG. 2 is a schematic structural diagram of a main-end system according to the present invention;
FIG. 3 is a schematic diagram of the structure of the slave-end system of the present invention;
FIG. 4 is a schematic structural diagram of the soft lens operating mechanism of the present invention;
fig. 5 is a schematic view of a first connecting post of the quick-change coupler of the present invention;
fig. 6 is a schematic structural view of a second connecting column of the quick-change coupler of the invention;
fig. 7 is a schematic structural view of the foot switch of the present invention.
Reference numerals:
2. a primary end system; 2-1, operating the box body; 2-2, a slide rail; 2-3, a sliding block seat; 2-4, operating rod; 2-5, a sensor; 2-6, a handle knob; 2-7, a control handle; 2-8, an optical fiber control knob; 2-9, a foot switch; 2-10, a workbench; 2-11, a magnetic signal emission source; 3. a slave-end system; 3-1, a double-mechanical-arm robot; 3-2, clamping; 3-3, a soft lens operating mechanism; 3-31, working application channel; 3-32, driving a motor; 3-33, a wiring port; 3-34, quick-change connector; 3-34-1, a first connecting column; 3-34-2, rotating the lantern ring; 3-34-3, a first limiting part; 3-34-4, a second connecting column; 3-34-5 and a second limiting part; 3-34-6, a raised ring; 3-4, an auxiliary clamping device; 3-5, patient; 3-6, a slave end workbench; 3-7, operating tables; 3-8, a pedal control box; 3-81, a box body; 3-82, controlling the motor; 3-83, clamping blocks; 3-84, laser trigger switch; 3-9, a laser; 3-10 and a rotary driving mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
For the purpose of facilitating understanding of the embodiments of the present application, the following description will be made in terms of specific embodiments with reference to the accompanying drawings, which are not intended to limit the embodiments of the present application.
One embodiment of the present invention, as shown in fig. 1 to 3, discloses a magnetic induction remote positioning-based soft-lens lithotripsy system, comprising:
a magnetic induction operating mechanism, a control handle 2-7, a foot switch 2-9 and an audio-video device;
the magnetic induction operating mechanism comprises a data acquisition card, a magnetic field space and an operating rod 2-4; the front end of the operating rod 2-4 is provided with a magnetic sensor 2-5, and the operating rod 2-4 is propelled and/or rotated in the magnetic field space; the data acquisition card acquires current signals generated by the simulation of the propelling and/or rotating operation of the soft mirror by the operating rod 2-4 in real time to obtain pose signals of the operating rod 2-4; the mechanical arm acquires pose signals of the operating rods 2-4 and acts in real time;
the end part of the mechanical arm is provided with a soft lens operating mechanism 3-3; the control handle 2-7 controls the action of the soft lens operating mechanism 3-3;
the foot switches 2-9 control the on-off operation of the laser machine;
the audio and video device acquires medical audio and image data.
Specifically, the magnetic induction operating mechanism comprises a magnetic signal emission source 2-11 and an operating box body 2-1, a sliding rail 2-2 is arranged in the operating box body 2-1, a sliding block seat 2-3 is arranged on the sliding rail 2-2 in a sliding mode, and an operating rod 2-4 is rotationally clamped with the sliding block seat 2-3; the operation box body 2-1 is a magnetic field space.
Specifically, a damping mechanism is arranged between the operating rod 2-4 and the operating box body 2-1 or the sliding rail 2-2.
Specifically, the operation box body 2-1, the sliding rail 2-2 and the sliding block seat 2-3 are all made of acrylic materials, and the operation rod 2-4 is made of wood materials.
Specifically, the robot arm is mounted on the handling frame in an inverted manner.
Specifically, the soft lens operating mechanism 3-3 comprises a handle body, a first driving motor and a second driving motor, wherein the first driving motor and the second driving motor are arranged on the handle body; the first driving motor controls the bending of the soft lens part at the slave end, and the second driving motor controls the in and out of the optical fiber end.
Specifically, the soft lens operating mechanism 3-3 further comprises a rotary driving mechanism 3-10, the rotary driving mechanism 3-10 is arranged at the tail end of the mechanical arm, and the output end of the rotary driving mechanism 3-10 is connected with the rear end of the soft lens operating mechanism 3-3.
Specifically, the soft lens operating mechanism 3-3 is detachably mounted on the rotary driving mechanism 3-10 through a clamp 3-2 or a quick joint 3-34;
the quick-change connector 3-34 comprises a first connecting column 3-34-1, a rotating collar 3-34-2 and a second connecting column 3-34-4;
the first end of the first connecting column 3-34-1 is connected with the handle body, the rotating lantern ring 3-34-2 is rotatably sleeved on the first connecting column 3-34-1, and the rotating lantern ring 3-34-2 is provided with internal threads;
the first end of the second connecting column 3-34-4 is connected with the rotary driving mechanism 3-10, a convex ring 3-34-6 is arranged on the outer circumference of the second connecting column 3-34-4, an external thread is arranged on the convex ring 3-34-6, and the external thread of the convex ring 3-34-6 is matched with the internal thread of the rotary sleeve ring 3-34-2.
Specifically, the system further comprises a first workstation and a second workstation, wherein the first workstation and the second workstation communicate with each other through a 5G interconnection; the first workstation transmits control signals of the magnetic induction operating mechanism, the control handle 2-7 and the foot switch 2-9 to the second workstation, the second workstation sends the control signals to the mechanical arm, the soft lens operating mechanism 3-3 and the laser machine switch, and the acquired medical audio and video influences data to be fed back to the audio and video display device of the first workstation.
Specifically, the laser machine switch comprises a foot control box, a control motor 3-82, a clamping block 3-83 and a laser trigger switch 3-84 are arranged in the foot control box, and the control motor 3-82 drives the clamping block 3-83 to trigger the laser trigger switch 3-84.
In a further embodiment of the present invention, the system mainly includes two major systems, a master end system and a slave end system:
the main end system 2 comprises a workbench 2-10, a magnetic induction operating mechanism, an operating rod 2-4, a simulated operation machine and a first workstation, wherein an operating box body 2-1 is arranged on the workbench 2-10, and the operating rod 2-4 moves and/or rotates in the operating box body 2-1 to simulate soft lens propelling operation; the magnetic induction operating mechanism monitors current signals generated when the operating rod 2-4 moves to cut magnetic induction lines in real time based on an electromagnetic induction principle, and further obtains pose signals of the operating rod 2-4; the simulated surgical machine comprises a control handle 2-7 and a foot switch 2-9, wherein the control handle 2-7 is used for controlling the action of the end of the soft lens, and the foot switch 2-9 is used for controlling the on-off operation of the laser machine by a doctor at the main end; the position and attitude signals of the operating rod 2-4, the operating signals of the control handle 2-7 and the operating signals of the foot switch 2-9 can be transmitted to the first workstation;
the slave end system 3 comprises a mechanical arm, a soft lens operating mechanism 3-3, a laser lithotripter 3-9, a slave end workbench 3-6, an operating table 3-7 and a second workstation, wherein the soft lens operating mechanism 3-3 is arranged at the operating end of the mechanical arm, the second workstation is communicated with the first workstation in an interconnected mode, the second workstation receives and processes a pose signal of an operating rod 2-4, an operating signal of a control handle 2-7 and an operating signal of a foot switch 2-9, the mechanical arm acts in real time according to the processed pose signal, the soft lens operating mechanism 3-3 and the laser machine switch synchronously execute the same operation of the control handle 2-7 and the foot switch 2-9 according to the operating signal of the control handle 2-7 and the operating signal of the foot switch 2-9, the second workstation feeds back the acquired medical images of the patient to the first workstation and displays the images on the main-end audio and video acquisition display screen.
In this embodiment, the master system 2 is a remote expert, the slave system 3 is a patient, and the master system 2 and the slave system 3 are connected through 5G communication. The high-speed and real-time transmission of information such as control signals, audio, video, images and the like can be ensured through the connection of the 5G low-delay communication network, and the problem that the actions of the master end and the slave end are not synchronous due to the fact that the physical distance is long is solved.
Specifically, the mechanical arm of the slave end system 3 acts in real time according to the attitude information of the operating rod 2-4 of the master end system 2, the master end system 2 can transmit the attitude signal of the operating rod 2-4 to the slave end system 3 through 5G communication, and the mechanical arm of the slave end system 3 controls the soft mirror to follow up at the same moving distance or rotating angle so as to realize the propelling and rotating of the soft mirror operating mechanism 3-3 of the slave end system 3, namely, when the operating rod 2-4 moves linearly, the end part of the mechanical arm moves linearly and synchronously; when the operating rod 2-4 rotates, the end part of the mechanical arm synchronously executes the rotation action, so that the soft lens operating mechanism 3-3 synchronously rotates by the same angle.
The main end is connected with a control handle 2-7 in a control mode, the control handle 2-7 is connected to a first workstation through a data connecting line, a soft lens operating mechanism 3-3 of the slave end system 3 acts in real time according to an action signal of the control handle 2-7 of the main end system 2, and corresponding action is executed through a driving motor 3-32 of the slave end; the laser machine switch of the slave end system 3 synchronously executes the discharge switch action of the laser machine according to the operation signals of the control pedals 2-9 of the master end; the slave end system 3 can feed back medical images of patients, the master end system 2 adjusts the position and the posture in real time according to the medical images fed back by the slave end system 3, the slave end system 3 acts in real time and feeds back signals according to the adjustment of the master end system 2, and a closed loop is formed between the master end system and the slave end system to ensure that the operation of doctors can simulate real scenes to achieve accurate medical operation.
In the embodiment, an operating box body 2-1 is arranged on a workbench 2-10, a sliding rail 2-2 and a sliding block seat 2-3 are arranged in the operating box body 2-1, the sliding rail is fixed at the bottom of the operating box body and provided with a sliding rail groove, the sliding block seat 2-3 is connected with the sliding rail 2-2 in a sliding mode through the sliding rail groove, an operating rod 2-4 is connected with the sliding block seat 2-3 in a rotating and clamping mode, the operating rod 2-4 can rotate around the center line of the operating rod and can enable the sliding block seat 2-3 to move linearly on the sliding rail 2-2.
In a preferred embodiment of the present embodiment, the operation box 2-1, the sliding rail 2-2 and the slider seat 2-3 are made of acrylic material, so as to prevent interference in the electromagnetic field and adverse effect on the simulation operation.
In a preferred embodiment of the present embodiment, the slider seat 2-3 is rotatably disposed on the operating rod 2-4, the operating rod 2-4 is provided with a locking portion, the slider seat 2-3 is provided with a locking portion engaging portion, and the locking portion engaging portion limit the slider seat 2-3 to move linearly along the length direction of the operating rod 2-4, that is, the slider seat 2-3 can only rotate around the center line of the operating rod 2-4, but cannot move linearly along the length direction of the operating rod 2-4; the operating rod 2-4 is made of wood materials, the length is 50cm, enough working length is guaranteed, the sliding block seat 2-3 is rotatably clamped on the operating rod 2-4 at a position 2cm away from the top end, and the electromagnetic sensor 2-5 is arranged at the end head of the top end of the operating rod 2-4.
In the embodiment, the magnetic induction operating mechanism comprises a magnetic signal emission source 2-11, an electromagnetic sensor 2-5 and a data acquisition card; the magnetic signal emission source 2-11 is used for generating a stable magnetic field in the operating space range of the main end, and the magnetic signal emission source 2-11 is arranged in the inner space of the workbench 2-10, so that the stable magnetic field in the operating range of a doctor at the main end can be ensured; the electromagnetic sensor 2-5 is arranged at the top end of the operating rod 2-4, the moving range of the top end of the operating rod 2-4 is located in the stable magnetic field, when the doctor operates the operating rod 2-4 to move and/or rotate in the stable magnetic field, the multi-dimensional coil of the electromagnetic sensor 2-5 can cause current change when moving in the magnetic field, the generated current is transmitted to the data acquisition card, the data acquisition card acquires a pose signal of the operating rod 2-4 based on the current data, and transmits the pose signal of the operating rod 2-4 to the first workstation.
In the embodiment, the simulated surgical machine comprises control handles 2-7 and foot switches 2-9, wherein the control handles 2-7 are used for controlling the actions of the ends of the soft lenses, specifically, the control handles 2-7 and the foot switches 2-9 are connected to a first workstation through data connecting lines, the first workstation is in communication connection with a second workstation, and the soft lens operating mechanism 3-3 and the laser machine switch at the slave end synchronously execute corresponding actions according to the operations of the control handles 2-7 and the foot switches 2-9 at the master end.
When a doctor at the master end pushes or rotates the operating rod 2-4, the electromagnetic sensor 2-5 moves in a stable magnetic field generated by the magnetic signal emission source 2-11 to cut a magnetic sensing line to generate a current signal, the electromagnetic sensor 2-5 transmits the converted current signal to the acquisition card, the acquisition card calculates a position and pose signal of the operating rod 2-4 based on the received current signal, the position and pose signal of the operating rod 2-4 is transmitted to the slave end system 3 through 5G, and a mechanical arm of the slave end system 3 drives the soft mirror to follow up at the same moving distance or rotating angle. In the operation process of the primary doctor, when the primary doctor rotates the handle rotating buttons 2-6 on the head parts of the control handles 2-7, the end parts of the secondary soft lenses are correspondingly bent, so that the primary doctor can find the proper soft lens entering angle to advance the soft lenses. The control handle 2-7 is also provided with an optical fiber control knob 2-8, and the optical fiber control knob 2-8 is used for controlling the head of the optical fiber passing through the working channel to extend out of the front end of the soft lens or retract into the front end of the soft lens; the main end system 2 is provided with foot switches 2-9, the foot switches 2-9 are connected to a first workstation through data lines, after the slave end optical fiber is placed in a working channel, a main end doctor rotates an optical fiber control knob 2-8 to adjust the length of the slave end optical fiber extending out of the soft lens, the head of the optical fiber is exposed out of the soft lens to a proper length, the main end doctor steps on the foot switches 2-9, the operation is the same as the operation of actually triggering and exciting laser, a triggering operation signal of the main end is transmitted to the slave end system in real time, and the slave end system controls the slave end to follow up and start and excite the laser based on the received laser triggering operation signal to perform laser lithotripsy.
In the embodiment, the soft lens operating mechanism 3-3 is arranged at the tail end of the mechanical arm, the rotary driving mechanism 3-10 is arranged at the tail end of the mechanical arm, and the rotary driving mechanism 3-10 is used for driving the clamp 3-2 to rotate so as to rotate the soft lens operating mechanism 3-3.
In the embodiment, the mechanical arm adopts a double-mechanical-arm robot 3-1, two mechanical arms are provided to replace two hands of a doctor, the double-mechanical-arm robot 3-1 is installed on the operation frame in an inverted installation mode, the arm exhibition can be effectively utilized in the inverted installation mode, the tail end of the double-mechanical-arm robot can reach all parts of the body of a patient to the maximum extent, a larger reaching area is realized, a sufficient working range is ensured, the impact of an elbow joint of the mechanical arm, which is possibly brought by the non-unique inverse solution of a series structure, on the human body is avoided, and the system safety is improved.
In the embodiment, the double-mechanical-arm robot 3-1 comprises a first mechanical arm and a second mechanical arm, and the soft mirror operating mechanism 3-3 is arranged at the tail end of the first mechanical arm through a clamp 3-2; the end part of the second mechanical arm is provided with an auxiliary clamping device 3-4, the auxiliary clamping device 3-4 is used for assisting in clamping the soft lens so as to simulate the assistance of the left hand of a doctor, when the soft lens enters the body of a patient 3-5, the auxiliary clamping device 3-4 can synchronously send the soft lens to a focus part with the second mechanical arm, and the auxiliary fixing function is achieved and is consistent with the actual operation action of two hands of the doctor.
In a preferred embodiment of the present embodiment, the soft lens operating mechanism 3-3 comprises a handle body, a first end of the handle body is detachably connected to the clamp 3-2, a soft lens is connected to a second end of the handle body, a work application channel 3-31 is arranged at the second end of the handle body, the work application channel 3-31 is communicated with the soft lens work channel, the work application channel 3-31 is used for the entry of optical fibers, guide wires and other surgical consumables, two driving motors 3-32 are arranged on the handle body, the driving motors 3-32 are arranged on the handle body through motor brackets, wiring ports 3-33 are arranged on the motor brackets, the wiring ports 3-33 are used for cables connected with the driving motors 3-32 to pass through, the first driving motor is used for controlling the bending of the soft lens part at the slave end, when a doctor at the master end rotates the handle knob 2-6, signals are transmitted to a first workstation through a data line, the first workstation is transmitted to the second workstation, the second workstation sends a signal to start the first driving motor to work, and the soft lens part is bent; the second driving motor is used for the in and out of an optical fiber end, the optical fiber penetrates into the soft lens working channel through the working application channel 3-31, the head of the optical fiber is arranged inside the soft lens when the soft lens extends into a patient and does not reach a focus part, when the soft lens reaches the focus part, a doctor at the main end rotates the optical fiber control knob 2-8, the head of the optical fiber extends out of the working channel of the soft lens, the doctor at the main end steps on the pedal switch 2-9, a pedal trigger signal is transmitted to the second workstation from the first workstation, then the second workstation transmits the pedal trigger signal to the laser machine switch, and the laser machine switch triggers the laser machine to work after receiving the pedal trigger signal, so that the laser discharge is completed to smash the calculus.
In a preferred embodiment of the present embodiment, the soft lens operating mechanism 3-3 is mounted on the driving mechanism 3-10 at the end of the first mechanical arm through a quick-change coupler 3-34, as shown in fig. 4 to 6, the quick-change coupler 3-34 includes a first connecting column 3-34-1, a rotating collar 3-34-2, and a second connecting column 3-34-4, a first end of the first connecting column 3-34-1 is fixedly connected with the handle body of the soft lens operating mechanism 3-3, the rotating collar 3-34-2 is sleeved outside the first connecting column 3-34-1 and is rotatably connected with the first connecting column 3-34-1, and the rotating collar 3-34-2 is provided with an internal thread; the first end of the second connecting column 3-34-4 is connected with a rotary driving mechanism 3-10 arranged at the tail end of the mechanical arm, a convex ring 3-34-6 is arranged on the outer circumference of the second connecting column 3-34-4, the diameter of the convex ring 3-34-6 is larger than that of the second connecting column 3-34-4, an external thread is arranged on the convex ring 3-34-6, and the external thread of the convex ring 3-34-6 is matched with the internal thread of the rotary lantern ring 3-34-2. When the soft lens operating mechanism is installed, the second connecting column 3-34-4 is installed in the rotating lantern ring 3-34-2 of the first connecting column 3-34-1, the second connecting column 3-34-4 and the first connecting column 3-34-1 are locked through screwing the rotating lantern ring 3-34-2, and therefore the soft lens operating mechanism 3-3 and the mechanical arm tail end rotating driving mechanism 3-10 are fixed.
In a preferred embodiment of this embodiment, the end surface of the second end of the first connecting column 3-34-1 is provided with a first limiting portion 3-34-3, the end surface of the second end of the second connecting column 3-34-4 is provided with a second limiting portion 3-34-5, the first limiting portion 3-34-3 and the second limiting portion 3-34-5 cooperate to limit the relative rotation of the first connecting column 3-34-1 and the second connecting column 3-34-4, and the first limiting portion 3-34-3 and the second limiting portion 3-34-5 are arranged to facilitate installation and alignment, thereby improving installation efficiency.
Furthermore, the first limiting part 3-34-3 is a semi-cylindrical protrusion, and the second limiting part 3-34-5 is a semi-cylindrical depression; or the first limiting part 3-34-3 is a semi-cylindrical recess, and the second limiting part 3-34-5 is a semi-cylindrical projection, so that the structure is convenient for aligning and splicing, the installation efficiency is improved, and the relative rotation influence of the first connecting column 3-34-1 and the second connecting column 3-34-4 in the operation can be effectively prevented, so that the treatment effect is ensured.
In a preferred embodiment of the present embodiment, the first end of the first connecting column 3-34-1 is provided with a connecting disc, the diameter of the connecting disc is larger than that of the first connecting column 3-34-1, the connecting disc is fixedly connected with the handle body of the soft lens operating mechanism 3-3 through a screw, and the first end of the second connecting column 3-34-4 is fixedly connected with the rotation driving mechanism 3-10 arranged at the tail end of the mechanical arm through a screw.
As shown in FIG. 7, the laser machine switch comprises a foot control box and laser trigger switches 3-84, the foot control box is in communication connection with the second workstation, control motors 3-82, clamping blocks 3-83 and the laser trigger switches 3-84 are arranged in box bodies 3-81 of the foot control box, and the control motors 3-82 are used for driving the clamping blocks 3-83 to trigger the laser trigger switches 3-84. Specifically, the box body 3-81 is provided with two wire inlet holes, the first wire inlet hole is used for controlling a connecting wire of the motor 3-82 to pass through, and the second wire inlet hole is used for controlling a connecting wire of the laser trigger switch 3-84 to pass through; the control motor 3-82 is fixed in the box body 3-81 and cannot shake, the two clamping blocks 3-83 are arranged at the driving end of the control motor, the laser trigger switch 3-84 is fixed in the box body and located between the two clamping blocks, when a doctor at the main end steps on the foot switch 2-9, a foot trigger signal is transmitted to a second workstation of the slave end system 3, the second workstation transmits the foot trigger signal to the control motor 3-82, the control motor 3-82 acts to drive the two clamping blocks 3-83 to move towards the middle, so that clamping action is realized, at the moment, the clamping blocks 3-83 apply clamping force to the laser trigger switch 3-84, the laser trigger switch 3-84 is closed to trigger the laser machine to work, and laser discharge is completed to smash stones; when the master end doctor releases the foot switch, a foot release signal is transmitted to the slave end system 3, the control motor 3-82 of the slave end system 3 controls the clamping block 3-83 to move towards two sides based on the foot release signal of the foot switch 2-9, the clamping block is separated from the laser trigger switch, and the laser machine stops working.
In the operation process:
the main end is an operator end, the operation box body 2-1 is placed on the workbench, the operation rod 2-4 extends out of the operation box body 2-1 to the maximum extent, and is in an initial state of the operation rod 2-4, and in the initial state, the extending end equivalent to the operation rod 2-4 is positioned at the insertion port of a patient; the doctor at the main end holds the operating rod 2-4 with the left hand, holds the soft lens end operating handle 2-7 with the right hand, and places the thumb of the right hand at the handle knob 2-6, so that the cooperation operation at any time is convenient. At the moment, the two slave end mechanical arms 3-1 are all in a zero state, the end head of the soft lens is positioned at the insertion port of the patient, the optical fiber penetrates into the soft lens tube through the working application channels 3-31 and is connected with the laser machine, and the operation is started.
A doctor at the main end starts to push the operating rod 2-4, an electromagnetic sensor 2-5 at the end of the operating rod 2-4 generates a current signal when moving in a magnetic field, the current signal is transmitted to a data acquisition card at the main end, the data acquisition card acquires a pose signal of the operating rod 2-4 based on the current data, a controller at the main end transmits the pose signal to a slave end, a robot 3-1 with double mechanical arms at the slave end starts to push in the same distance and the same direction, the first mechanical arm is used for pushing a soft mirror operating mechanism 3-3 so as to realize the pushing of a soft mirror at the slave end, the second mechanical arm plays an auxiliary pushing role, the doctor at the main end judges the next operation by observing a video of a display, if the soft mirror at the slave end meets resistance in the pushing process, the doctor at the main end rotates the operating rod 2-4 with the left hand, and the soft mirror operating mechanism 3-3 rotates in the same degree, the soft lens can be pushed forward continuously;
when the soft lens continues to advance, if the soft lens meets comparatively curved tissues in a human body, the thumb of the right hand of a doctor at the master end rotates the handle knob 2-6, the doctor at the master end adjusts the proper rotation angle according to video feedback, the first workstation receives the pose signal through the data line and transmits the pose signal to the slave end, and the drive motors 3-32 at the slave end start to rotate the end of the soft lens at the same angle to avoid the internal blocking tissues and continue to advance.
The doctor at the main end repeats the operations until the end of the soft lens reaches the focus part, the doctor at the main end rotates the optical fiber control knob 2-8, the head part of the optical fiber is exposed out of the soft lens and extends out of the calculus part, the foot switch plate 2-9 is trampled, the trigger signal is transmitted to the second workstation through the first workstation, and the second workstation controls the laser machine to start working by controlling the switch of the laser machine, so that the lithotripsy operation is completed.
Compared with the prior art, the soft lens lithotripsy system based on magnetic force induction remote location that this embodiment provided has following beneficial effect:
1. the operation precision is high, stability is good, adopts the operation mode of magnetic force induction remote interactive puncture location, utilizes 5G low time delay transmission data, has guaranteed the fail safe nature of remote guidance soft mirror rubble operation, can satisfy the soft mirror rubble operation guidance in the relatively poor area of medical treatment condition.
2. The position and pose of the operating rod are determined by the electromagnetic positioning technology, compared with a mode that a mechanical arm is adopted to simulate operation at the main end, the size is smaller, the operation is more flexible, and the magnetic induction operating mechanism has the advantages of small size, stable signal, difficulty in external interference, high precision and the like.
3. The operating rod and the control handle are directly held by two hands of a main doctor to operate, the laser pedal is used for controlling the on-off operation of the laser machine, the operation is flexible, the working space is large, the operating environment in the operation is closer, and the use experience of the main doctor is improved.
4. The laser machine switch of the slave end realizes the remote mechanical control of the laser pedal by arranging the pedal control box on the basis of the laser pedal matched with the laser machine, and has simple structure, convenient operation and low cost.
5. The arm adopts the mounting means of invering, can effectively utilize the arm exhibition, makes the terminal maximize of two arm robots reach each position of patient's health, avoids the impact of the arm that the tandem structure anti-solution is not unique probably brought to the human body, improves system security, and does not sacrifice working space when guaranteeing the security.
6. The soft lens operating mechanism is detachably mounted on the driving mechanism at the tail end of the first mechanical arm through the quick-change connector, so that the soft lens operating mechanism can be conveniently and quickly mounted and dismounted.
The above-mentioned embodiments, objects, technical solutions and advantages of the present application are described in further detail, it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present application, and are not intended to limit the scope of the present application, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present application should be included in the scope of the present application.
Claims (6)
1. A soft lens lithotripsy system based on magnetic force induction remote location, includes: a magnetic induction operating mechanism, a control handle (2-7), a foot switch (2-9) and an audio-video device;
the magnetic induction operating mechanism comprises a data acquisition card, a magnetic field space and an operating rod (2-4); the front end of the operating rod (2-4) is provided with a magnetic sensor (2-5), and the operating rod (2-4) is propelled and/or rotated in the magnetic field space; the data acquisition card acquires current signals generated by the simulation of soft mirror propelling and/or rotating operation of the operating rod (2-4) in real time to obtain pose signals of the operating rod (2-4); acquiring pose signals of the operating rods (2-4) from a mechanical arm of the end system and performing real-time action;
the end part of the mechanical arm is provided with a soft lens operating mechanism (3-3); the control handle (2-7) controls the action of the soft lens operating mechanism (3-3);
the soft lens operating mechanism (3-3) comprises a handle body, a first driving motor and a second driving motor, wherein the first driving motor and the second driving motor are arranged on the handle body; the first driving motor controls the bending of the soft lens part at the slave end, and the second driving motor controls the in and out of the optical fiber end;
the foot switch (2-9) controls the on-off operation of the laser machine;
the audio and video device acquires medical audio and image data;
the magnetic induction operating mechanism comprises a magnetic signal emission source (2-11) and an operating box body (2-1), a sliding rail (2-2) is arranged in the operating box body (2-1), a sliding block seat (2-3) is arranged on the sliding rail (2-2) in a sliding mode, and an operating rod (2-4) is rotationally clamped with the sliding block seat (2-3); the operation box body (2-1) is a magnetic field space;
the system also comprises a first workstation and a second workstation, wherein the first workstation and the second workstation are in interconnected communication through 5G; the first workstation transmits control signals of the magnetic induction operating mechanism, the control handles (2-7) and the foot switches (2-9) to the second workstation, the second workstation sends the control signals to the mechanical arm, the soft lens operating mechanism (3-3) and the laser machine switch, and feeds back acquired medical audio and video and image data to an audio and video display device of the first workstation;
the laser machine switch comprises a pedal control box, a control motor (3-82), a clamping block (3-83) and a laser trigger switch (3-84) are arranged in the pedal control box, and the control motor (3-82) drives the clamping block (3-83) to trigger the laser trigger switch (3-84); two clamping blocks (3-83) are mounted at the driving end of the control motor, the laser trigger switch (3-84) is fixed in the control box and located between the two clamping blocks (3-83), when a doctor at the main end steps on the foot switch (2-9), a foot trigger signal is transmitted to a second workstation, the second workstation sends a control signal to the control motor (3-82), the control motor (3-82) acts to drive the two clamping blocks (3-83) to move towards the middle so as to apply clamping force to the laser trigger switch (3-84), and the laser trigger switch (3-84) is closed to trigger the laser machine to work to finish laser discharge and smash calculus.
2. The system for lithotripsy based on magnetic force induction remote location according to claim 1, characterized in that a damping mechanism is arranged between the operating rod (2-4) and the operating box body (2-1) or the sliding rail (2-2).
3. The soft endoscope lithotripsy system based on the magnetic induction remote positioning as claimed in claim 1, wherein the operation box body (2-1), the slide rail (2-2) and the slide block seat (2-3) are all made of acrylic material, and the operation rod (2-4) is made of wood material.
4. The system of claim 1, wherein the robotic arm is mounted upside down on the handling frame.
5. The soft lens lithotripsy system based on magnetic force induction remote positioning according to claim 1, characterized in that the soft lens operating mechanism (3-3) further comprises a rotation driving mechanism (3-10), the rotation driving mechanism (3-10) is arranged at the tail end of the mechanical arm, and the output end of the rotation driving mechanism (3-10) is connected with the rear end of the soft lens operating mechanism (3-3).
6. The system for lithotripsy based on magnetic force induction remote positioning according to claim 5, characterized in that the soft lens operating mechanism (3-3) is detachably mounted on the rotary driving mechanism (3-10) through a clamp (3-2) or a quick-change connector (3-34);
the quick-change connector (3-34) comprises a first connecting column (3-34-1), a rotating collar (3-34-2) and a second connecting column (3-34-4);
the first end of the first connecting column (3-34-1) is connected with the handle body, the rotary lantern ring (3-34-2) is rotatably sleeved on the first connecting column (3-34-1), and the rotary lantern ring (3-34-2) is provided with internal threads;
the first end of the second connecting column (3-34-4) is connected with the rotary driving mechanism (3-10), the outer circumference of the second connecting column (3-34-4) is provided with a convex ring (3-34-6), the convex ring (3-34-6) is provided with an external thread, and the external thread of the convex ring (3-34-6) is matched with the internal thread of the rotary lantern ring (3-34-2).
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| EP0659387B1 (en) * | 1993-12-24 | 2003-04-16 | Olympus Optical Co., Ltd. | Ultrasonic diagnosis and therapy system in which focusing point of therapeutic ultrasonic wave is locked at predetermined position within observation ultrasonic scanning range |
| CN100493471C (en) * | 2006-01-26 | 2009-06-03 | 清华大学深圳研究生院 | Puncture guiding system of computer aided PCNL |
| CN103230304B (en) * | 2013-05-17 | 2015-05-13 | 深圳先进技术研究院 | Surgical navigation system and method |
| CN203468740U (en) * | 2013-08-07 | 2014-03-12 | 吴开俊 | Auxiliary manipulator system for flexible ureteroscope operation |
| CN109316239B (en) * | 2018-08-31 | 2020-08-04 | 天津大学 | Minimally invasive surgery robot main manipulator and system based on magnetic navigation sensing |
| CN209474796U (en) * | 2018-12-07 | 2019-10-11 | 杭州法博激光科技有限公司 | Surgical assistant system suitable for soft lens |
| CN112568998B (en) * | 2020-12-08 | 2022-08-05 | 北京天使之手机器人科技有限公司 | Remote master-slave interactive medical system and method |
| CN112618026B (en) * | 2020-12-15 | 2022-05-31 | 清华大学 | Remote operation data fusion interactive display system and method |
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