CN219661888U - Signal acquisition processing display interaction device and endovascular interventional operation robot - Google Patents
Signal acquisition processing display interaction device and endovascular interventional operation robot Download PDFInfo
- Publication number
- CN219661888U CN219661888U CN202321003353.8U CN202321003353U CN219661888U CN 219661888 U CN219661888 U CN 219661888U CN 202321003353 U CN202321003353 U CN 202321003353U CN 219661888 U CN219661888 U CN 219661888U
- Authority
- CN
- China
- Prior art keywords
- video
- robot
- audio
- interaction device
- signal
- 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.)
- Active
Links
- 238000012545 processing Methods 0.000 title claims abstract description 17
- 230000003993 interaction Effects 0.000 title claims abstract description 16
- 230000002792 vascular Effects 0.000 claims abstract description 17
- 230000002452 interceptive effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- 230000011218 segmentation Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 230000008054 signal transmission Effects 0.000 description 6
- 230000003068 static effect Effects 0.000 description 5
- 238000002560 therapeutic procedure Methods 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 4
- 230000005236 sound signal Effects 0.000 description 3
- 238000012276 Endovascular treatment Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 208000019462 Occupational injury Diseases 0.000 description 1
- 208000024770 Thyroid neoplasm Diseases 0.000 description 1
- 238000002583 angiography Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000002697 interventional radiology Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000002194 synthesizing effect Effects 0.000 description 1
- 201000002510 thyroid cancer Diseases 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
- 238000007631 vascular surgery Methods 0.000 description 1
- 208000029761 vertebral disease Diseases 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a signal acquisition, processing and display interaction device and a vascular intracavity interventional operation robot, which comprises a robot body and a robot console, wherein: the robot console comprises a display module, an audio-video module and a first combined connector, and the display module is electrically connected with the audio-video module; the audio and video module is electrically connected with the first combined connector; the first combined connector is connected with the robot body; the audio-video module is connected with external medical equipment. The utility model integrates and optimizes various display, voice, video and other devices which are arranged outside the surgical robot device at present, and well solves the problems of messy distribution, excessive quantity and the like of various cables in the current robot surgical process.
Description
Technical Field
The utility model relates to the technical field of vascular intracavity interventional operation robots, in particular to a signal acquisition, processing and display interaction device and a vascular intracavity interventional operation robot.
Background
With the rising of vascular intervention in China in recent years, a plurality of emerging subjects including cardiovascular intervention, cerebrovascular intervention, vascular surgery, interventional radiology and the like are formed. Due to the continual progress in vascular interventional therapy technology and the continual emergence and application of various endoluminal devices, many lesions that could not otherwise be treated by vascular interventional therapy have benefited from this minimally invasive therapy, and the safety, effectiveness and long-term efficacy of vascular interventional therapy have continually improved. However, current vascular interventions have their limitations.
During vascular interventions, doctors need to complete surgery with the aid of X-ray based Digital Subtraction Angiography (DSA) guidance, and although they are equipped with lead-containing protective clothing, they still cannot protect their upper limbs and head from X-rays; due to the complexity of vascular interventional therapy, the operation of long-time exposure to the X-ray environment is often needed, and the accumulated radiation quantity of doctors is large; moreover, the heavy lead-containing protective clothing is worn for a long time, so that the pressure load of the spine is increased, and a plurality of reports show that the incidence rate of thyroid cancer, radioactive lens injury, lumbar vertebra disease and the like of vascular intervention doctors is obviously higher than that of doctors in other subjects. Medical staff working on the endovascular treatment operation nationwide, about 70 ten thousand people, perform the endovascular treatment more than ten million times per year nationwide, and the occupational injury related to X-rays has become an unavoidable problem, which seriously threatens the health condition of doctors and the long-term development of vascular interventional therapeutics.
Along with the development of medical robot technology, the vascular intervention field also starts to have the participation of robots, and doctors can complete the operation outside an intervention operation room by controlling the operation robots, so that related injuries such as X-ray radiation and the like are avoided. In the course of an operation performed by operating the vascular robot, a doctor of a main knife needs to observe a contrast image of the DSA apparatus in real time, monitor an electrocardiographic state of a patient, observe a posture of an end of a hand performed by the surgical robot, and communicate with an assistant doctor in an operating room, etc. In the existing operation scheme, the devices are generally distributed in different places and are independent, signals can be finally integrated and output to doctors only through various cables and adapters in the robot operation process, and the problems of messy cable distribution, excessive quantity, unstable signal quality and the like exist.
Disclosure of Invention
Aiming at the defects in the prior art, the utility model aims to provide a signal acquisition, processing and display interaction device and a vascular cavity interventional operation robot.
The utility model provides a signal acquisition, processing and display interaction device which is characterized by comprising a robot body and a robot console, wherein:
the robot console comprises a display module, an audio-video module and a first combined connector, and the display module is electrically connected with the audio-video module; the audio and video module is electrically connected with the first combined connector;
the first combined connector is connected with the robot body;
the audio-video module is connected with external medical equipment.
Preferably, the audio and video module includes video acquisition card, video acquisition industrial computer, first high definition picture decollator, second high definition picture decollator, signal input port and POE switch, wherein:
the video acquisition industrial personal computer is electrically connected with the video acquisition card, the second high-definition picture divider, the POE switch and the interphone respectively;
the video acquisition card is electrically connected with the second high-definition picture divider;
the second high-definition picture divider is electrically connected with the first high-definition picture divider;
the signal input port is provided with an external interface and is electrically connected with the POE switch, the first high-definition picture divider and the second high-definition picture divider.
Preferably, the signal input port comprises a plurality of DP interfaces and an RJ45 network port.
Preferably, two paths of RJ45 network ports of the POE switch are connected with the first combined connector through CAT6 network cables; the two paths of RJ45 network ports are connected with the two RJ45 network ports of the signal input end through CAT6 network cables; one path of RJ45 network port is connected with the video acquisition industrial personal computer through CAT6 network cable.
Preferably, the video acquisition card and the video acquisition industrial personal computer are respectively connected with the display screen through a DP signal line.
Preferably, the system further comprises an intercom, wherein the intercom is connected to the video acquisition industrial personal computer through a USB interface.
Preferably, the external medical equipment comprises an electrocardiograph monitor and a DSA host, and the electrocardiograph monitor and the DSA host are respectively connected to the audio-video module through DP signal lines.
Preferably, the robot body is provided with a POE camera having an intercom function, the POE camera is connected to the second combined connector via a CAT6 network cable, and the second combined connector is connected to the first combined connector via a combined cable.
Preferably, the video acquisition industrial personal computer is connected with the POE switch through a network interface, is connected with the intercom through a USB interface, and is connected with the second high-definition picture divider and the video acquisition card through a DP interface.
Compared with the prior art, the utility model has the following beneficial effects:
1. the utility model integrates and optimizes various display, voice, video and other devices which are arranged outside the surgical robot device at present, and well solves the problems of messy distribution and excessive quantity of various cables in the current robot surgical process.
2. The utility model ensures stable transmission of signals through the DP signal line.
Drawings
Other features, objects and advantages of the present utility model will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is an overall block diagram of a cable connection for an endovascular surgical robot;
FIG. 2 is a detailed connection design diagram of the robot console for audio/video acquisition, segmentation and display;
fig. 3 is a schematic diagram of display contents of a display.
Detailed Description
The present utility model will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present utility model, but are not intended to limit the utility model in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present utility model.
The utility model provides a signal acquisition, processing and display interaction device and a vascular cavity interventional operation robot, wherein video signals output by an electrocardiograph monitor 60 and dynamic and static image signals of a DSA host 30 are converted into uniform DP signals through a converter and then are connected to a robot console 10 through 3 DP signal lines; the photographing and intercom signals are realized through two POE cameras with intercom functions arranged on the robot body 20, are connected to the combined connector through a network cable reserved in the robot body 20, and are then connected with the robot console 10 through the combined cable.
As shown in fig. 1, which is an overall block diagram of a cable connection of an intravascular surgical robot, the cable connection of the surgical robot is basically composed of four parts, namely a robot console 10, a robot body 20, a DSA host 30 and an electrocardiograph monitor 40, the output of the electrocardiograph monitor 40 converts video into DP signals through a VGA-to-DP converter, two outputs (static and dynamic) of the DSA host 30 convert video into DP signals through a DVI-to-DP converter, and the converted 3 DP signals are connected to an audio/video acquisition, segmentation and display module of the robot console 10 through DP signal cables for subsequent processing. In the connection, a VGA-to-DP converter for an electrocardiograph monitor and a DVI-to-DP converter for a DSA host are optional components, and can be configured according to the condition of an output port of actual equipment; in addition, 3 DP signal lines for being connected to the robot console can be used for selecting the connector with the lock, and the DP cable of both ends area lock can guarantee signal interface's stability to avoid the unstable scheduling problem of signal transmission that brings because of cable contact failure.
Two POE cameras for monitoring the hand state and intercom function of the robot body are arranged on the robot body side. The camera is arranged on the robot body and used for monitoring the running condition of the hand executed by the tail end of the robot. POE camera is connected to the internal combination connector of this internal through the CAT6 net twine of reserving in this body to be connected with the robot control platform through combination cable, thereby realize the power supply and the signal transmission of camera. In the utility model, the POE camera is used for video monitoring, and the function of common voice intercom in the current household monitoring camera is also integrated, thereby greatly facilitating the communication between the doctor of the main knife of the control desk and the doctor of the assistant in the operating room.
Fig. 2 is a detailed connection design diagram of the audio/video acquisition, segmentation and display of the robot console. As shown in fig. 2, the audio/video capturing, dividing and displaying module 13 is connected to the large display 11 and the second display 12 through DP cables, respectively, and the large display 11 and the second display 12 are used for displaying various video and control interfaces.
The audio/video acquisition, segmentation and display module 13 comprises a signal input port 101 serving as an external interface, a POE switch 102 for power supply and network signal transmission of a POE camera, a first high-definition picture divider 103 and a second high-definition picture divider 104 for synthesizing four paths of video signals into one path of video signals and outputting the video signals, a video acquisition card 105 for video signal acquisition, a intercom 106 for voice signal acquisition and transmission and a video acquisition industrial personal computer 107 serving as a core control unit of the whole audio/video acquisition, segmentation and display module. Meanwhile, in order to ensure the stability of signal transmission quality, the DP signal cable with a locking port is adopted for video signal transmission of the audio/video acquisition, segmentation and display module.
The signal input port 101 is used as an external interface of the audio/video acquisition, segmentation and display module, and is externally provided with a 4-path DP interface and a 2-path RJ45 network interface. The 4-path DP interface is used for accessing dynamic DSA and static DSA signals from a DSA host, electrocardiosignals from an electrocardiograph monitor and video signals from a console camera respectively; the 2 paths of RJ45 interfaces are respectively used as interfaces for external network signals and can be used for connecting an external Ethernet to carry out operation video teleconference or connecting external other POE equipment.
The POE switch 102 is a core device that provides data exchange in an audio/video acquisition, segmentation, and display module. On one hand, two paths of RJ45 network ports are connected with the combined connector through CAT6 network cables and used for providing power supply and audio/video transmission for POE cameras; on the other hand, two paths of RJ45 network ports are connected with the two RJ45 network ports of the signal input port through CAT6 network cables and are used for providing an external network interface; meanwhile, the other path of RJ45 network port of the POE switch is connected with the video acquisition industrial personal computer 107 through CAT6 network cable, so that a network path is established between the two sets of network signals and the video acquisition industrial personal computer.
The first high-definition picture divider 103 is configured to receive 4 paths of video signals and synthesize the video signals into 1 path and output the video signals to a subsequent stage, and as can be seen from fig. 2, the received 2 paths of video signals are electrocardiographic signals and console camera signals from a signal input port, and the other 1 path of signals in a clip state are received from an external host industrial personal computer, and the other path of signals are reserved.
Similarly, the second high-definition picture divider 104 is configured to receive 4 paths of video signals and synthesize the video signals into 1 path of video signals to output to a subsequent stage, and as can be seen from fig. 2, the received 2 paths of video signals are dynamic DSA and static DSA signals from a signal input port, 1 path of video output from the first high-definition picture divider, and 1 path of POE camera signal from an industrial personal computer.
As shown in fig. 2, the video acquisition card 105 is configured to receive the video signal output by the second high-definition screen divider, convert the video signal into 1 path of USB signal for the video acquisition industrial personal computer to acquire, and send 1 path of DP output signal to the large display for displaying.
The intercom 106 is connected to the industrial personal computer through a USB interface and is used for collecting audio signals at the console, meanwhile, the audio signals collected through the POE camera from the robot body are transmitted to the video collection industrial personal computer through a network, and the audio signals are output to the intercom after being processed by the video collection industrial personal computer.
The video acquisition industrial personal computer 107 is a main control unit of an audio/video acquisition, segmentation and display module, which receives and transmits network signals from the POE switch through a network interface, receives and transmits voice signals from the intercom through a USB interface, and respectively transmits POE camera signals and a main operation interface to the second high-definition picture segmenter and the second display through a DP interface.
Fig. 3 is a schematic diagram of the display content of the display after being processed by the audio/video acquisition, segmentation and display module of fig. 2. As shown in fig. 3, there is a first display and a second display on the robot console base, respectively, while the large display is located on the robot console base.
As shown in fig. 3, the content displayed by the large display is a video signal which is finally synthesized and output after passing through the signal input port, the first high-definition picture divider, the second high-definition picture divider and the video acquisition card. In fig. 3, the display content of the large display is divided into 4 parts by the high-definition picture divider, and the electrocardiograph, console camera and clip state signals are respectively displayed for the upper left part, the static DSA signal is displayed for the lower left part, the POE camera signal is displayed for the upper right part, and the dynamic DSA signal is displayed for the lower right part; the upper left part is also divided into 4 parts by a high-definition picture divider, and the electrocardio, the console camera, the clip state signal and one blank signal are respectively displayed. The setting of dividing and redisplaying the picture accords with the observation habit of doctors and integrates various video signals on the same display for displaying, thereby realizing the best in all aspects to the maximum extent.
The second display is consistent with the second display in fig. 2, is a windows main interface of the video acquisition industrial personal computer, and is mainly used for operation display of acquisition and storage of video recording data in the robot operation process and interface display in a remote video conference. The first display is used for displaying a main interface of the robot control system, and is irrelevant to the audio/video acquisition, segmentation and display module.
The utility model integrates and optimizes various display, voice, video and other devices which are arranged outside the surgical robot device at present, and well solves the problems of messy distribution and excessive quantity of various cables in the current robot surgical process.
In the description of the present utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
The foregoing describes specific embodiments of the present utility model. It is to be understood that the utility model is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the utility model. The embodiments of the utility model and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (10)
1. The utility model provides a signal acquisition handles shows interactive device which characterized in that, includes robot body and robot control platform, wherein:
the robot console comprises a display module, an audio-video module and a first combined connector, and the display module is electrically connected with the audio-video module; the audio and video module is electrically connected with the first combined connector;
the first combined connector is connected with the robot body;
the audio-video module is connected with external medical equipment.
2. The signal acquisition, processing and display interaction device of claim 1, wherein the audio and video module comprises a video acquisition card, a video acquisition industrial personal computer, a first high-definition picture divider, a second high-definition picture divider, a signal input port and a POE switch, wherein:
the video acquisition industrial personal computer is electrically connected with the video acquisition card, the second high-definition picture divider, the POE switch and the interphone respectively;
the video acquisition card is electrically connected with the second high-definition picture divider;
the second high-definition picture divider is electrically connected with the first high-definition picture divider;
the signal input port is provided with an external interface and is electrically connected with the POE switch, the first high-definition picture divider and the second high-definition picture divider.
3. The signal acquisition processing display interaction device of claim 2, wherein the signal input port comprises a plurality of DP interfaces and an RJ45 portal.
4. The signal acquisition, processing and display interaction device according to claim 2, wherein two paths of RJ45 network ports of the POE switch are connected with the first combined connector through a CAT6 network cable; the two paths of RJ45 network ports are connected with the two RJ45 network ports of the signal input end through CAT6 network cables; one path of RJ45 network port is connected with the video acquisition industrial personal computer through CAT6 network cable.
5. The signal acquisition processing display interaction device according to claim 2, wherein the video acquisition card and the video acquisition industrial personal computer are connected with a display screen through a DP signal line respectively.
6. The signal acquisition processing display interaction device of claim 2, further comprising an intercom connected to the video acquisition industrial personal computer through a USB interface.
7. The signal acquisition, processing and display interaction device according to claim 2, wherein the external medical equipment comprises an electrocardiograph monitor and a DSA host, and the electrocardiograph monitor and the DSA host are respectively connected to the audio/video module through a DP signal line.
8. The signal acquisition processing display interaction device according to claim 1, wherein the robot body is provided with a POE camera having an intercom function, the POE camera is connected to a second combination connector via a CAT6 network cable, and the second combination connector is connected to the first combination connector via a combination cable.
9. The signal acquisition, processing and display interaction device according to claim 2, wherein the video acquisition industrial personal computer is connected with the POE switch through a network interface, connected with the intercom through a USB interface, and connected with the second high-definition picture divider and the video acquisition card through a DP interface.
10. A vascular endoluminal interventional surgical robot comprising a signal acquisition processing display interaction device according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321003353.8U CN219661888U (en) | 2023-04-27 | 2023-04-27 | Signal acquisition processing display interaction device and endovascular interventional operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321003353.8U CN219661888U (en) | 2023-04-27 | 2023-04-27 | Signal acquisition processing display interaction device and endovascular interventional operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219661888U true CN219661888U (en) | 2023-09-12 |
Family
ID=87924091
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321003353.8U Active CN219661888U (en) | 2023-04-27 | 2023-04-27 | Signal acquisition processing display interaction device and endovascular interventional operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219661888U (en) |
-
2023
- 2023-04-27 CN CN202321003353.8U patent/CN219661888U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5701904A (en) | Telemedicine instrumentation pack | |
| US5592237A (en) | High resolution image processor with multiple bus architecture | |
| US8328793B2 (en) | Device, system and method for integrating different medically applicable apparatuses | |
| JP2002532174A (en) | Multi-mode video controller for ultrasound and x-ray video exchange systems | |
| DE102004046430A1 (en) | System for visual situation-based real-time based surgeon support and real-time documentation and archiving of the surgeon's visually perceived support-based impressions during surgery | |
| DE102007043731A1 (en) | Medical image recording device, in particular for the production of image recordings in the context of a treatment of cardiac arrhythmias, and associated method | |
| CN206880740U (en) | High definition surgery observation control system | |
| CN219661888U (en) | Signal acquisition processing display interaction device and endovascular interventional operation robot | |
| DE102006003180A1 (en) | Medical examination and / or treatment facility | |
| CN214965276U (en) | Multifunctional endoscope | |
| JPH08280666A (en) | Composite medical diagnostic apparatus and common use type operating apparatus | |
| Lamminen et al. | Experimental telemedicine in orthopaedics | |
| CN206867302U (en) | The long-distance video apparatus and system of dental multipurpose therapy unit | |
| DE10031779B4 (en) | Medical system architecture with a device for capturing and reproducing current photographic images or image sequences | |
| CN211858162U (en) | Multifunctional mobile telemedicine device | |
| DE102010026478A1 (en) | System for displaying a medical diagnosis result | |
| WO2018047478A1 (en) | Medical image processing device, image processing method, and program | |
| WO2020143871A1 (en) | Audio-video conferencing system of telemedicine | |
| CN113066588A (en) | Endoscopic surgery consultation platform and method | |
| Schurr et al. | Telematics and telemanipulation in surgery | |
| Beals et al. | Telemedicine and pediatric surgery | |
| TW201705080A (en) | System and method for medical file storage and transfer | |
| CN212782732U (en) | Medical equipment information interaction system | |
| CN216417336U (en) | Endoscopic surgery consultation platform | |
| CN113965682B (en) | Remote catheter room control system and remote catheter room control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |