CN113786206A - CT room remote control operation system and method - Google Patents
CT room remote control operation system and method Download PDFInfo
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- CN113786206A CN113786206A CN202110904306.XA CN202110904306A CN113786206A CN 113786206 A CN113786206 A CN 113786206A CN 202110904306 A CN202110904306 A CN 202110904306A CN 113786206 A CN113786206 A CN 113786206A
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- 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
- A61B6/54—Control of apparatus or devices for radiation diagnosis
- A61B6/548—Remote control of the apparatus or devices
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- 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
- A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computed tomography [CT]
- A61B6/032—Transmission computed tomography [CT]
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B6/566—Details of data transmission or power supply, e.g. use of slip rings involving communication between diagnostic systems
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
The invention discloses a CT room remote control operation system and a method, comprising the following steps: the CT scanning device comprises a scanning chamber and an operation chamber, wherein the scanning chamber is provided with a CT machine, the operation chamber is used for image shooting, the scanning chamber is in communication connection with the operation chamber, a numerical control robot and a plurality of VR cameras are arranged in the scanning chamber, and a VR control device is arranged in the operation chamber. The CT scanning machine comprises a CT scanning chamber, a numerical control robot and a control system, wherein at least three VR cameras are arranged in a scanning chamber of the CT scanning machine, one VR camera is respectively arranged at least at four corners of the top wall of the scanning chamber, and the numerical control robot is provided with a left manipulator and a right manipulator; the VR control device includes: VR glasses and brake valve lever, VR glasses and each VR camera communication connection are with the real-time scene in real-time display scanning room, brake valve lever and digit control robot communication connection are with the action of control digit control robot.
Description
Technical Field
The invention belongs to the field of medical equipment, and particularly relates to a needle remote operation system and a needle remote operation method.
Background
Imaging examination is a necessary means for diagnosing and evaluating new coronavirus (2019-nCoV) infection, and patients with fever almost always go to the radiology department for chest radiography or chest radiography CT examination. Radiological technicians, as a head soldier for imaging examinations, require direct contact with the patient, with a significant risk of exposure. And there have been cases where radiologists and physicians have infected the 2019-nCoV virus.
When performing chest CT examinations on a patient, the easiest contact with the patient is the period of time during which the doctor positions the patient lying down, and therefore close contact with the patient needs to be avoided during this period of time. In order to avoid risks when a patient is unknown whether to be infected with a novel coronavirus, a concept of compartment operation is proposed, but most of the currently used CT devices must require an operator to enter a machine room to perform positioning and zero clearing operations on the patient, so that a system capable of remotely controlling zero clearing of the machine and positioning of the patient is required.
For example, chinese patent application 202010281626.X discloses a remote positioning system for a CT system, which mainly comprises a monitoring device and a positioning control device, wherein the monitoring device comprises a positioning probe for monitoring the positioning condition of a patient and a display device for receiving and displaying images acquired by the positioning probe in real time; the positioning control device comprises a remote positioning box arranged in the operating room, a motion control system for controlling the motion of the scanning bed in the CT system, and a communication system for connecting the remote positioning box and the motion control system; the remote positioning box mainly comprises a box body, a plurality of control buttons and a control circuit for converting the actions of the control buttons into control signals, and the control signals are sent to the motion control system through the communication system. However, the invention has the following disadvantages: the scanning bed can only be remotely controlled, and other remote control effects cannot be realized.
For another example, chinese patent application 202020324878.1 discloses a remote control system for CT apparatus, comprising: the CT system comprises a CT main control computer, a key controller, a key trigger, a key control box and a remote computer; the key controller is in signal connection with a remote computer, the output end of the key controller is connected with the control end of the key trigger, and the remote computer is in remote network connection with the CT main control computer through the Internet; the key control box is in signal connection with the CT equipment and is used for controlling the movement or rotation of the detection position of the CT equipment and triggering the X-ray; the CT main control computer is in signal connection with the CT equipment and is used for acquiring the operation data and the detection data of the CT equipment in real time; the key controller is used for receiving a control instruction sent by the remote computer and controlling the pressing or loosening of corresponding keys on the key control box panel through the key trigger. However, the invention has the following disadvantages: the control of the function keys of the CT machine in the scanning room can only be realized, and the remote control operation such as positioning and the like can not be carried out on the CT machine.
Therefore, it is a problem to be solved in the industry to provide a CT room remote control operation system and method capable of completing CT scan of chest without close contact.
Disclosure of Invention
The invention aims to provide a remote control operation system and method for a CT room, which not only enable medical staff to conveniently control a patient to be positioned in an operation room and avoid the close contact between the medical staff and the patient, but also can remotely control the operation of a CT machine and improve the scanning efficiency.
The first object of the present invention is to provide a remote control operation system for CT room, comprising: the CT scanning machine comprises a scanning chamber and an operation chamber, wherein the scanning chamber is provided with a CT machine, the operation chamber is in communication connection with the scanning chamber, a numerical control robot and a plurality of VR cameras are arranged in the scanning chamber, a VR control device is arranged in the operation chamber, at least three VR cameras are arranged in a scanning cavity of the CT machine, at least four corners of the top wall of the scanning chamber are respectively provided with one VR camera, and the numerical control robot is provided with a left manipulator and a right manipulator; the VR control device includes: VR glasses and brake valve lever, VR glasses and each VR camera communication connection are with the real-time scene in real-time display scanning room, brake valve lever and digit control robot communication connection are with the action of control digit control robot.
Preferably, the CT machine is GE16 row CT or GE540 CT.
Preferably, a clear key, a raise key, a lower key, a start scan key and a start check key are provided on the body operation panel of the CT machine.
Alternatively, the control handle is provided with: the device comprises a mobile control unit, an arm control unit and a key starting unit, wherein the mobile control unit is used for controlling the numerically-controlled robot to move in a scanning chamber; the arm control unit is used for controlling the actions of a left manipulator and a right manipulator of the numerical control robot; the button starting unit is used for controlling the numerical control robot to click and press a button on the CT machine.
Alternatively, the mobile unit is provided with: a forward moving subunit, a backward moving subunit, a leftward moving subunit, and a backward moving subunit.
Alternatively, the arm unit is provided with: a left hand raising subunit, a left hand lowering subunit, a left hand pressing subunit, a right hand raising subunit, a right hand lowering subunit, and a right hand pressing subunit. Alternatively, the arm unit may be further provided with: the left hand withdrawing subunit and the right hand withdrawing subunit are used for starting the left hand withdrawing subunit or the right hand withdrawing subunit after the pressing operation is finished, so that the left manipulator or the right manipulator is withdrawn to the position before the pressing operation.
Optionally, the control handle further comprises: the support positioning unit and the positioning starting unit; the support positioning unit is used for controlling the numerical control robot to place the head support at a set position of the scanning bed; the positioning starting unit is used for controlling the numerical control robot to start the inner positioning line indicator lamp of the CT machine.
Optionally, the device further comprises an intercom device, the intercom device comprises an intercom unit arranged in the operation room and a sound amplification unit arranged in the scanning room, and the intercom unit is in communication connection with the sound amplification unit so as to transmit and play the sound instruction.
The second objective of the present invention is to provide a remote control operation method for a CT room, which comprises the following steps: (1) the preparation work before the CT machine scanning is carried out by controlling the numerical control robot, and the scanning bed of the CT machine is stopped at an initial position; (2) after the object to be detected is located at the set position of the scanning bed, the numerical control robot is controlled to start a detection key, and the CT machine brings the object to be detected to the scanning position to complete scanning detection; (3) and after the object to be detected finishes scanning detection, controlling the numerical control robot to start a scanning start key of the CT machine, and withdrawing the scanning machine to the original position.
Optionally, step (1) comprises: (1-1) controlling the numerical control robot to place the head support at a set position of the scanning bed; (1-2) after controlling the numerical control robot to start an inner positioning line indicator lamp of the CT machine, starting a zero clearing key of the CT machine; (1-3) inputting information of an inspection object in a control room, and selecting a CT scanning mode; and (1-4) controlling the numerical control robot to start a scanning start key of the CT machine.
Optionally, in the step (1-1), the scan line is positioned 5-8 cm away from the bed of the head support, and the horizontal line is positioned one-half below the head support.
The invention has the beneficial effects that: (1) the risk that a doctor contacts a suspected infected patient can be effectively avoided, the suspected infected patient can be easily coped without entering a machine room, cross infection among doctors and patients is effectively avoided, and the working safety of medical care personnel is greatly improved; (2) the positioning effect of a patient and the scanning of the remote control and the CT machine can be remotely controlled at the same time, so that the working efficiency is improved by more than 50% under the condition of single-person operation.
Drawings
Fig. 1 shows a schematic structural diagram of a CT room remote control operating system of the present invention.
Fig. 2 shows a schematic view of the structure of the control handle of the present invention.
Fig. 3 shows a flow chart of the steps of the CT room remote control operation method of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As a non-limiting embodiment, as shown in fig. 1, the CT room remote control operating system provided by the present invention includes: a scanning room 10 and an operation room 20, wherein a CT machine 101 is arranged in the scanning room 10, a doctor performs CT image shooting in the operation room 20, and the scanning room 10 is in communication connection with the operation room 20.
In this non-limiting embodiment, a numerically controlled robot 102 is further disposed in the scanning chamber 10, and the numerically controlled robot 102 is provided with a left manipulator and a right manipulator, so as to realize the operation and control of the CT machine and help the patient to position. Be provided with three VR camera 103 in CT machine 101's scanning intracavity to be convenient for carry out remote monitoring to it at the patient in the scanning process, also set up a VR camera 103 respectively in the roof four corners of scanning room 10 simultaneously, realized the remote monitoring to whole scanning room 10.
A VR control device is arranged in the operating chamber 20, and includes VR glasses 201 and a control handle 202, the VR glasses 201 are in communication connection with each VR camera 103, so that a real-time scene in the scanning chamber 10 can be observed in real time, and the control handle 202 is in communication connection with the numerical control robot 102, so as to control the behavior of the numerical control robot.
Through the cooperation of the VR camera 103 and the VR glasses 201, a doctor in an operation room can clearly and really observe the condition of the scanning room, and then the control handle 202 is used for controlling the behavior action of the robot 102 to complete the operation of the CT machine, so that the doctor is prevented from directly contacting with an examiner/patient.
As another non-limiting embodiment, as shown in fig. 2, the control handle 202 is provided with: a movement control unit 2021, an arm control unit 2022, a key activation unit 2023, a stand positioning unit 2024, and a positioning activation unit 2025.
The movement control unit 2021 is used for controlling the numerically controlled robot to move in the scanning room, and is provided with: a forward moving subunit 20211, a backward moving subunit 20212, a leftward moving subunit 20213, and a backward moving subunit 20214.
The arm control unit 2022 is used to control the actions of the left and right manipulators of the numerical control robot, and is provided with: a left-hand raising subunit 20221, a left-hand lowering subunit 20222, a left-hand pressing subunit 20223, a right-hand raising subunit 20224, a right-hand lowering subunit 20225, and a right-hand pressing subunit 20226.
The key start unit 2023 is used to control the nc robot 102 to click and press keys on the CT machine, such as a clear key, an up key and a down key for controlling the height of the scanning bed.
The support positioning unit 2024 is used for controlling the numerically controlled robot to place the head support at a set position of the scanning bed.
The positioning starting unit 2025 is used to control the numerically controlled robot to start the inner positioning line indicator lamp of the CT machine.
In order to facilitate communication between the doctor and the examinee/patient, the system is further provided with an intercom device, the intercom device comprises an intercom unit 203 arranged in the operation room 20 and a sound amplification unit 104 arranged in the scanning room 10, and the intercom unit 203 is in communication connection with the sound amplification unit 104, so that the doctor in the operation room 20 sends a corresponding instruction to the examinee/patient in the scanning room 10 through the intercom unit 203 and then plays the instruction through the sound amplification unit 104.
The present invention further provides a remote control operation method for a CT room, as shown in fig. 3, in step S1, the scanning bed of the CT machine is stopped at an initial position by controlling the numerically controlled robot to perform a preparation operation before the CT machine scans. Specifically, firstly, the cradle positioning unit 2024 controls the numerical control robot 102 to place the head cradle at a set position of the scanning machine, then the machine tool, the positioning starting unit 2025 controls the numerical control robot 102 to start the inner positioning line indicator lamp of the CT machine, in order to improve the scanning effect, the scanning line is positioned at a position 5 cm off the machine tool direction of the head cradle, the horizontal line is positioned at the lower half of the head cradle, then under the shooting of the VR camera 103, the VR glasses 201 is used to control the movement control unit 2021 to move the numerical control robot 102 to the operation panel of the CT machine, the arm control unit 2022 is used to lift the left/right manipulator of the numerical control robot 102, align the clear key, and the clear key is pressed by the key starting unit 2023 to make the data record of the CT machine at the initial state. Then, the doctor in the control room inputs the information of the examiner/patient, selects the chest CT scanning mode, controls the numerically-controlled robot to start the scanning start key of the CT machine through the movement control unit 2021, the arm control unit 2022 and the key start unit 2023 under the synergistic action of the VR glasses 201 and the VR camera 103, withdraws the scanning bed to the original position, and records the numbers on the machine frame.
Next, in step S2, the examiner/patient is informed by the intercom device to lie on the scanning bed, the head is placed between the heads, the arms are crossed or placed on both sides of the body, and after the examiner/patient is located at the set position of the scanning bed, the numerically controlled robot is controlled to activate the examination start key, and the scanning bed brings the examiner/patient to the scanning position, thereby completing the scanning examination.
Finally, in step S3, after the examiner/patient completes the scanning examination, the numerical control robot is controlled to start the scanning start key of the CT machine, the scanning bed is withdrawn to the original position, and the examiner/patient can leave the scanning bed and withdraw from the scanning room. At this time, the doctor in the operation room performs the related operations such as the subsequent data recording.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A CT room remote control operating system comprising: the CT scanner is provided with a scanning chamber of a CT machine and an operation chamber for image shooting, wherein the scanning chamber is in communication connection with the operation chamber, and is characterized in that a numerical control robot and a plurality of VR cameras are arranged in the scanning chamber, a VR control device is arranged in the operation chamber, wherein,
at least three VR cameras are arranged in a scanning cavity of the CT machine, one VR camera is respectively arranged at least at four corners of the top wall of the scanning chamber, and the numerical control robot is provided with a left manipulator and a right manipulator;
the VR control device includes: VR glasses and brake valve lever, VR glasses with each VR camera communication connection is in order to show in real time scan indoor real-time scene, brake valve lever with digit control robot communication connection is in order to control digit control robot's action.
2. The CT room remote control operation system according to claim 1, wherein the control handle is provided with: a mobile control unit, an arm control unit and a key starting unit,
the mobile control unit is used for controlling the numerical control robot to move in the scanning chamber;
the arm control unit is used for controlling the actions of the left manipulator and the right manipulator of the numerical control robot;
the button starting unit is used for controlling the numerical control robot to click and press a button on the CT machine.
3. The CT room remote control operation system according to claim 2, wherein the moving unit is provided with: a forward moving subunit, a backward moving subunit, a leftward moving subunit, and a backward moving subunit.
4. The remote control operation system for CT room according to claim 3, wherein said arm unit is provided with: a left hand raising subunit, a left hand lowering subunit, a left hand pressing subunit, a right hand raising subunit, a right hand lowering subunit, and a right hand pressing subunit.
5. The CT room remote control operating system of claim 4, wherein the control handle further comprises: the support positioning unit and the positioning starting unit;
the support positioning unit is used for controlling the numerical control robot to place the head support at a set position of the scanning bed;
the positioning starting unit is used for controlling the numerical control robot to start the inner positioning line indicator lamp of the CT machine.
6. The remote control operating system for the CT room according to claim 1, further comprising an intercom device, wherein the intercom device comprises an intercom unit disposed in the operating room and a public address unit disposed in the scanning room, and the intercom unit is in communication connection with the public address unit to transmit and play the voice command.
7. The remote control operation system for CT room according to claim 4, wherein said arm unit is further provided with: a left-hand retraction subunit and a right-hand retraction subunit.
8. A remote control operation method for a CT room is characterized by comprising the following steps:
(1) the preparation work before the CT machine scanning is carried out by controlling the numerical control robot, and the scanning bed of the CT machine is stopped at an initial position;
(2) after the object to be detected is located at the set position of the scanning bed, the numerical control robot is controlled to start a detection key, and the CT machine brings the object to be detected to the scanning position to complete scanning detection;
(3) and after the object to be detected finishes scanning detection, controlling the numerical control robot to start a scanning starting key of the CT machine, and withdrawing the scanning machine to the original position.
9. The CT room remote control operation method according to claim 8, wherein the step (1) comprises:
(1-1) controlling the numerical control robot to place the head support at a set position of the scanning bed;
(1-2) after controlling the numerical control robot to start an inner positioning line indicator lamp of the CT machine, starting a zero clearing key of the CT machine;
(1-3) inputting information of an inspection object in a control room, and selecting a CT scanning mode; and
and (1-4) controlling the numerical control robot to start a scanning start key of the CT machine.
10. The remote control operation method for the CT room of claim 9, wherein in the step (1-1), the scan line is positioned 5-8 cm away from the bed of the head support, and the horizontal line is positioned in the lower half of the head support.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110904306.XA CN113786206A (en) | 2021-08-06 | 2021-08-06 | CT room remote control operation system and method |
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| CN202110904306.XA CN113786206A (en) | 2021-08-06 | 2021-08-06 | CT room remote control operation system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117224233A (en) * | 2023-11-09 | 2023-12-15 | 杭州微引科技有限公司 | Integrated perspective CT and interventional operation robot system and use method thereof |
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2021
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117224233A (en) * | 2023-11-09 | 2023-12-15 | 杭州微引科技有限公司 | Integrated perspective CT and interventional operation robot system and use method thereof |
| CN117224233B (en) * | 2023-11-09 | 2024-02-20 | 杭州微引科技有限公司 | Integrated perspective CT and interventional operation robot system and use method thereof |
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Application publication date: 20211214 |
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