CN220477933U - Auxiliary system for interventional embolic operation - Google Patents
Auxiliary system for interventional embolic operation Download PDFInfo
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- CN220477933U CN220477933U CN202320902094.6U CN202320902094U CN220477933U CN 220477933 U CN220477933 U CN 220477933U CN 202320902094 U CN202320902094 U CN 202320902094U CN 220477933 U CN220477933 U CN 220477933U
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Abstract
The present application relates to an auxiliary system for interventional embolic surgery. In one embodiment, the auxiliary system comprises a master end device and a slave end device, wherein the master end device comprises a display screen, a master end control device and a master end processor, and the slave end device comprises a slave end processor, a microcatheter delivery device and a microcatheter delivery device. The main end control device comprises a plurality of movable operation components such as control rockers and the like, and can provide flexible rocker operation modes for doctors. In addition, the operation part also comprises a simulation part corresponding to the delivery device at the slave end, so that a simulation operation mode is provided, a doctor can accurately and indirectly control the microcatheter and the microcatheter wire according to the past operation experience, and the success rate of the operation is improved. In addition, the rocker and the simulation control structure are independent from each other, if one of the control structures fails, the interventional operation can be implemented in another mode, and the usability of the auxiliary system is enhanced.
Description
Technical Field
The utility model relates to the field of medical equipment, in particular to an auxiliary system for interventional embolic operation.
Background
With the development of technology, interventional therapy is increasingly being applied in the medical field. By introducing precise instruments such as a catheter, a guide wire and the like into a human body, the interventional operation can carry out targeted treatment on a plurality of parts which cannot be accessed by the traditional method in the human body, the wound is smaller, the recovery is faster, and the effect is more obvious.
At present, in the interventional operation process such as embolism operation, doctor needs protective equipment such as thick lead clothing of wearing to expose under X ray radiation, and interventional embolism operation needs doctor to remove to the vascular manipulation pipe seal wire of human body internal labyrinthine, and the operation fineness is high, and the operation degree of difficulty is big, and operation duration is often longer. The operation with high difficulty is carried out for a long time in the environment, so that the physical strength of a doctor is burdened, the operation precision is affected, and huge damage is inevitably brought to the body of the doctor. Based on this situation, there are some master-slave separated operation auxiliary devices in the related art, for example, a microcatheter and a micro-wire movement control device are integrated on a separate interventional operation robot, and a doctor remotely controls the robot to perform an interventional operation through buttons. However, the master-slave separation device in the related art requires a doctor to learn and practice a great deal of control modes, movement amounts and the like of various buttons in advance, has high operation difficulty and high learning cost, and once one button fails, the whole set of operation device cannot be used, has long maintenance and debugging time and is easy to delay operation time.
Disclosure of Invention
Based on the above, an auxiliary system for interventional embolic surgery is provided. The technical scheme of the utility model is as follows:
in one embodiment, there is provided an auxiliary system for interventional embolic surgery, comprising: a master device and a slave device; wherein, the master device includes:
the display screen is used for displaying the position information of the microcatheter and the microcatheter wire;
the main end control device comprises a plurality of movable operation components and corresponding measuring sensors, wherein the operation components are used for receiving the operation of a user and then executing corresponding actions, and the measuring sensors are used for detecting action signals of the corresponding operation components; wherein the movable operating member comprises a manipulation rocker for providing a rocker manipulation mode; the movable operation part further comprises a microcatheter simulation delivery part and a microcatheter simulation delivery part which respectively correspond to the microcatheter delivery device and the microcatheter wire delivery device, and the microcatheter simulation delivery part and the microcatheter wire simulation delivery part are used for providing a simulation control mode;
the master end processor is respectively and electrically connected with the display screen and the master end control device and is used for receiving the action signals, converting the action signals into control signals and sending the control signals to the slave end equipment;
the slave device includes:
the slave end processor is respectively and electrically connected with the micro-catheter delivery device and the micro-guide wire delivery device, and is used for receiving the control signals and respectively controlling the micro-catheter delivery device and the micro-guide wire delivery device to execute actions corresponding to the control signals;
a microcatheter delivery device for performing a corresponding action under control of the slave processor;
and the micro-guide wire delivery device is used for executing corresponding actions under the control of the slave processor.
In one embodiment, the microcatheter delivery device comprises a microcatheter linear delivery component, a microcatheter rotation control component, and a microcatheter head adjustment component.
In one embodiment, the microcatheter simulation delivery component comprises a microcatheter linear delivery simulation component and a microcatheter rotation control simulation component; the micro-guide wire simulation delivery component comprises a micro-guide wire straight line delivery simulation component, a micro-guide wire rotation control simulation component and a micro-guide wire head adjustment simulation component.
In one embodiment, the master device further comprises a multi-channel display screen for displaying contrast images and ultrasound images.
In one embodiment, the movable operating member further comprises a movable slider.
In one embodiment, the master device further comprises a high pressure syringe interface for connecting to a high pressure syringe.
In one embodiment, the master device further comprises a microinjection interface for connecting a remote microinjection apparatus.
In one embodiment, the main terminal device further includes a navigation device, and the navigation device is electrically connected to the display screen and the main terminal processor respectively.
In one embodiment, the slave end device further comprises a sterile consumable cartridge connected to the microcatheter delivery device and the microcatheter delivery device, respectively.
In one embodiment, the slave device further comprises a mechanical arm, and the mechanical arm is respectively connected with the microcatheter delivery device and the microcatheter wire delivery device and used for adjusting and fixing the positions of the microcatheter delivery device and the microcatheter wire delivery device.
The auxiliary system in the above embodiment includes a master end device including a display screen, a master end manipulation device, a master end processor, and a slave end device including a slave end processor, a microcatheter delivery device, and a microcatheter delivery device. The main end equipment can be separated from the auxiliary end equipment by a sufficient safety distance, a doctor can indirectly control the microcatheter and the microcatheter on one side of the operating table by performing operation on the main end equipment side, the exposure to a strong radiation environment is avoided, the damage to the body is reduced, and the doctor does not need to wear heavy protective equipment such as lead clothing, so that the operation burden of the hands of the doctor is reduced, the operation difficulty of the operation can be reduced, the accuracy of the operation can be improved, and the operation effect is further improved. The main end control device comprises a plurality of movable operation parts such as control rockers and the like, can provide flexible rocker operation modes for doctors, and is easier to master and control the movement of the microcatheter and the microcatheter wire. In addition, the master end control device also comprises a simulation component corresponding to the delivery device of the slave end, so that the re-engraving of the delivery device of the slave end can be realized, and errors caused by unfamiliar operation modes such as a rocker and the like of an operator are avoided. The simulation component has high similarity with the delivery mode used by the original interventional operation, restores the actual operation environment of the interventional operation, is beneficial to doctors to accurately and indirectly control the microcatheter and the microcatheter wire according to the past operation experience, and improves the success rate of the operation. Moreover, the operation components such as the control rocker and the simulation components can provide two different operation modes for doctors, if one of the operation components fails, the interventional operation can be implemented in another mode, and the usability of the auxiliary system is enhanced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the utility model as claimed.
Drawings
In order to more clearly illustrate the embodiments of the present description or the technical solutions in the prior art, the following description will briefly explain the embodiments or the drawings used in the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments described in the present description, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an auxiliary system for interventional embolic surgery in one embodiment;
FIG. 2 is a schematic diagram of an auxiliary system for interventional embolic surgery in another embodiment;
FIG. 3 is a schematic diagram of an auxiliary system for interventional embolic surgery in another embodiment;
FIG. 4 is a schematic diagram of an auxiliary system for interventional embolic surgery in another embodiment;
FIG. 5 is a schematic diagram of an auxiliary system for interventional embolic surgery in another embodiment;
FIG. 6 is a schematic diagram of an auxiliary system for interventional embolic surgery in another embodiment;
FIG. 7 is a schematic diagram of the components of a master device in one embodiment;
FIG. 8 is a schematic diagram of the structure of a slave device in one embodiment;
fig. 9 is a schematic diagram illustrating placement of slave devices in one embodiment.
Reference numerals:
1-a display screen; 3-a main end control device; 4-high pressure syringe interface; a 5-microinjection interface; 6-a mechanical arm; 7-slave delivery means; 9, an aseptic consumable bin; 10-a master device; 11-a display screen; 12-a main end control device; 13-a master processor; 14-high pressure syringe interface; 15-microinjection interface; 16-a navigation device; 20-slave device; 21-a slave processor; 22-microcatheter delivery device; 23-microcatheter delivery device; 24-an aseptic consumable bin; 121-manipulating the rocker; 122-microcatheter simulated delivery member; 123-microcatheter simulated delivery member.
Detailed Description
In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. The present utility model may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the utility model, whereby the utility model is not limited to the specific embodiments disclosed below.
In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", 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 device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
The interventional embolization operation is a technology for embolizing blood vessels through an interventional technology, along with the development of a computer subtraction radiography technology, clear images of blood vessels in a radiography area can be obtained through injection of special catheters and contrast agents, and doctors can puncture the blood vessels and inject embolic agents by adopting micro-guide wires and micro-catheters according to the images. However, interventional embolization surgery requires a long time for fine manipulation of the microcatheter and the microcatheter, and intense radiation in the surgical environment (radiation due to X-rays, etc.) can place a great burden on the physician's body and the surgical state.
To solve the above technical problems, as shown in fig. 1, an auxiliary system for interventional embolic surgery is provided, including: a master end device 10 and a slave end device 20; a preset distance is formed between the master end device 10 and the slave end device 20; wherein the master device 10 includes:
a display screen 11 for displaying positional information of the microcatheter and the microcatheter wire;
the main end control device 12 comprises a plurality of movable operation components and corresponding measurement sensors, wherein the operation components are used for receiving the operation of a user and then executing corresponding actions, and the measurement sensors are used for detecting the action amplitudes of the corresponding operation components and converting the action amplitudes into action signals; wherein the movable operating member comprises a manipulation rocker 121, the manipulation rocker 121 being adapted to provide a rocker manipulation mode; the movable operation part further comprises a microcatheter simulation delivery part 122 and a microcatheter simulation delivery part 123 which respectively correspond to the microcatheter delivery device 22 and the microcatheter delivery device 23, and the microcatheter simulation delivery part 122 and the microcatheter simulation delivery part 123 are used for providing a simulation control mode;
the master processor 13 is electrically connected with the display screen 11 and the master control device 12, and is configured to receive the action signal, convert the action signal into a control signal, and send the control signal to the slave device 20;
the slave device 20 includes:
the slave processor 21 is electrically connected with the microcatheter delivery device 22 and the microcatheter delivery device 23 respectively, and is used for receiving the control signals and controlling the microcatheter delivery device 22 and the microcatheter delivery device 23 to execute actions corresponding to the control signals respectively;
a microcatheter delivery device 22 for performing a corresponding action under control of said slave processor 21;
a micro-wire delivery device 23 for performing a corresponding action under control of said slave processor 21.
The auxiliary system can be applied to embolization surgery, and in the surgical process, the main end device 10 can be placed outside an operating room or at a place with a certain preset distance from a patient operating table, so that a doctor can keep a safe distance from the operating table when operating the main end device 10, and radiation influence is avoided. The slave device 20 may be placed on the side of an operating table or the like to facilitate surgical procedures using microcatheters and microcatheters.
It should be noted that, in the interventional embolic operation, the advancement of the microcatheter or the microcatheter wire in the blood vessel can be displayed in real time with the assistance of DSA (digital subtraction angiography) images. For example, after injection of contrast media into a lesion of a patient, the location of a microcatheter, microcatheter wire, within a vessel may be shown at the end of a given device using X-rays and a corresponding DSA imaging system.
The main processor 13 may be a processor provided with DSA and corresponding image processing software in advance, and may perform image processing on the image of the blood vessel of the patient, and display the image on the display screen 11. The images may include DSA images, CT (computed tomography) images, MRI (magnetic resonance imaging) images, and the like, among others. The main processor 13 may also convert the motion signals into control signals by preset software or programs, etc., which may be used to cause the microcatheter delivery device 22 and the microcatheter delivery device 23 to control the movement of the microcatheter and the microcatheter, respectively.
It is to be understood that the display screen 11 may be a touch screen, and an operator may switch, zoom in, etc. the image at the blood vessel of the patient by clicking the touch screen.
The main-end control device 12 is used for sensing a control action, converting the control action into an action signal, and sending the action signal to the main-end processor 13. In some specific implementations, the main end effector 12 may include movable operating components such as a joystick 121, and measurement sensors corresponding to the operating components. The measuring sensor can sense movement information such as the direction, the amplitude and the like of the movement of the operation part, and convert the movement information into action signals through preset software, program scripts and the like. In the specific operation process, a doctor can operate the components such as the rocker and the like, and the measuring sensor can detect the displacement information of the components and automatically convert the displacement information into action signals. The master end control device 12 further comprises a microcatheter simulation delivery component and a microcatheter simulation delivery component corresponding to the slave end delivery device, wherein the simulation component can be a component manufactured by imitating the slave end delivery structure, has high similarity with the actual operation component of the slave end, and can provide a simulation operation mode so that a doctor can perform interventional operation in a familiar operation mode.
The slave processor 21 may be placed in an operating room, and the slave processor 21 may be electrically connected to the master processor 13, or may receive a signal sent by the master processor 13 through a wireless communication manner. The slave processor 21 can control the microcatheter delivery device 22 and the microcatheter delivery device 23 to perform corresponding actions under the control signal.
The microcatheter delivery device 22 can clamp the microcatheter used in interventional embolic surgery, and under the control of the slave processor 21, drive the microcatheter to perform linear motion or rotate the microcatheter, and the like, and can also adjust the bending degree of the head of the microcatheter. The microcatheter can be connected with a microinjection device used in interventional embolic operation, and embolic agents such as microspheres, intracranial embolic glue, iodized oil and the like are injected to the appointed position of the blood vessel of the patient.
The micro-wire delivery device 23 may hold the micro-wire used in interventional embolic surgery and move the micro-wire in a linear motion or in a rotational motion under the control of the slave processor 21. Wherein the micro-guidewire may be used to puncture a lesion of a patient under the control of the micro-guidewire delivery device 23.
The auxiliary system in the above embodiment includes a master end device including a display screen, a master end manipulation device, a master end processor, and a slave end device including a slave end processor, a microcatheter delivery device, and a microcatheter delivery device. The main end equipment can be separated from the auxiliary end equipment by a sufficient safety distance, a doctor can indirectly control the microcatheter and the microcatheter on one side of the operating table by performing operation on the main end equipment side, the exposure to a strong radiation environment is avoided, the damage to the body is reduced, and the doctor does not need to wear heavy protective equipment such as lead clothing, so that the operation burden of the hands of the doctor is reduced, the operation difficulty of the operation can be reduced, the accuracy of the operation can be improved, and the operation effect is further improved. The main end control device comprises a plurality of movable operation parts such as control rockers and the like, can provide flexible rocker operation modes for doctors, and is easier to master and control the movement of the microcatheter and the microcatheter wire. In addition, the master end control device also comprises a simulation component corresponding to the delivery device of the slave end, so that the re-engraving of the delivery device of the slave end can be realized, and errors caused by unfamiliar operation modes such as a rocker and the like of an operator are avoided. The simulation component has high similarity with the delivery mode used by the original interventional operation, restores the actual operation environment of the interventional operation, is beneficial to doctors to accurately and indirectly control the microcatheter and the microcatheter wire according to the past operation experience, and improves the success rate of the operation. Moreover, the operation components such as the control rocker and the simulation components can provide two different operation modes for doctors, if one of the operation components fails, the interventional operation can be implemented in another mode, and the usability of the auxiliary system is enhanced.
In one embodiment, the microcatheter delivery device 22 comprises a microcatheter linear delivery member, a microcatheter rotation control member, and the microcatheter delivery device 23 comprises a microcatheter linear delivery member, a microcatheter rotation control member, a microcatheter head adjustment member.
Specifically, the microcatheter linear delivery member and the microcatheter rotation control member may be constituted by a motor, a spring, or the like, for imparting linear and rotational movement to the microcatheter under the control of the slave processor 21. Accordingly, the micro-wire linear delivery unit, the micro-wire rotation control unit, and the micro-wire head adjusting unit may be constituted by a motor, a spring, or the like, and the micro-wire may be linearly and rotationally moved under the control of the slave end processor 21, and the head of the micro-wire may be bent to some extent.
In the above embodiments, the microcatheter delivery device and the microcatheter delivery device may be controlled by the slave processor to move the microcatheter and the microcatheter in a linear, rotational, etc., manner, and finally deliver the microcatheter and the microcatheter to the site of the patient in need of embolization.
In one embodiment, the microcatheter simulation delivery component 122 comprises a microcatheter linear delivery simulation component, a microcatheter rotation control simulation component; the micro-wire simulation delivery part 123 comprises a micro-wire straight delivery simulation part, a micro-wire rotation control simulation part and a micro-wire head adjustment simulation part.
The respective simulation members constituting the microcatheter simulation delivery member 122 and the microcatheter simulation delivery member 123 may be simulation members that are fabricated to simulate the structure of the delivery device for the slave operation. For example, the microcatheter linear delivery simulation member may be a simulation member fabricated to mimic the structure of the microcatheter linear delivery member in microcatheter delivery device 22. In the interventional embolic operation, a doctor can control each simulation component, such as a microcatheter linear delivery simulation component, a microcatheter rotation control simulation component, a microcatheter head adjustment simulation component, and the like, similar to the slave end on one side of the master end device, the master end processor 13 can receive displacement information of the simulation component through a preset sensor, convert the displacement information into a displacement control signal, and send the displacement control signal to the slave end processor 21, and the microcatheter linear delivery component, the microcatheter rotation control component, the microcatheter linear delivery component, the microcatheter rotation control component and the microcatheter head adjustment component in the microcatheter delivery device 22, the microcatheter delivery device 23 execute movements corresponding to the master end under the control of the slave end processor 21 so as to finally control the microcatheter and the microcatheter to perform expected movements.
The simulation member is substantially identical to the slave-end surgical member in terms of structure and appearance, and may have slight differences in terms of size ratio and the like. In some specific embodiments, other delivery components of the same specifications as the delivery components in the slave devices may be used as simulation components. In some other embodiments the structural shape of the dummy and slave delivery members may be identical. For example, two identical batches of microcatheter linear delivery members may be pre-selected, one as the microcatheter linear delivery member of the slave microcatheter delivery device 22 and the other as the simulation member of the master microcatheter simulation delivery member 122.
In a specific application process, a simulation coordinate system and a delivery coordinate system can be respectively established by a simulation component and a slave delivery component through a software program and the like, coordinate change information of the simulation component in the simulation coordinate system is converted into a displacement control signal, and as the simulation component and the slave component are identical in structural appearance, the master end processor 13 sends the displacement control signal to the slave end processor 21, the slave end processor 21 controls the microcatheter delivery device 22 and the microcatheter delivery device 23 according to the signals, and the delivery device can realize the same movement as the master end simulation component.
In the embodiment, the simulation component with the same structure as that of the delivery of the slave end is arranged on the master end control device, so that the high reduction of the delivery environment of the micro-catheter and the micro-guide wire at the slave end can be realized, the previous operation experience of doctors is met, and the learning cost of an auxiliary system is greatly reduced.
It should be noted that, in the embodiments of the present disclosure, the detection of the component action by the sensor and the conversion of the signals by each processor and each controller may be integrated in the corresponding processor by means of a pre-written program or software, and the manner of generating the program or software is irrelevant to the improvement point of the present utility model, and the present utility model does not relate to the improvement of the software method.
In one embodiment, the master device 10 further includes a multi-channel display screen for displaying contrast images and ultrasound images.
Specifically, a multi-channel display screen can be additionally arranged on one side of the main terminal equipment, so that images generated by DSA images or other equipment such as CT and the like are displayed together, and doctors are assisted in judging illness states and planning paths from multiple angles.
In one embodiment, as shown in FIG. 2, the movable operating member further includes a movable slider 124.
Specifically, the movable slider 124 can be used for controlling the shape of the micro-spinneret part and other parts requiring higher precision, so that devices such as a rocker and the like are prevented from being unfavorable for a doctor to perform finer adjustment due to overlarge operation amplitude, and the precision of the operation is improved.
In one embodiment, as shown in fig. 3, the master device 10 further includes a high pressure syringe interface 14, and the high pressure syringe interface 14 is used to connect a high pressure syringe.
Wherein the high pressure injector may be a DSA high pressure injector for injecting contrast media into a lesion of a patient. The high pressure syringe interface 14 may be an interface provided for a controller of a DSA high pressure syringe.
In the above embodiment, the auxiliary system sets the control interface for the high-pressure injector at the side of the main end device, so that a doctor can directly control the high-pressure injector at the side of the main end device to realize injection of the contrast agent, and does not need to leave the main end operation area to enter the operating room for injection, thereby improving the operation efficiency.
In one embodiment, as shown in fig. 4, the master end device 10 further includes a microinjection interface 15, the microinjection interface 15 being used to connect a remote microinjection apparatus.
Wherein the remote microinjection device can be used for the injection of embolic agents. Microinjection interface 15 may be an interface provided for the controller of the remote microinjection device.
In the practical application process, after the microcatheter and the microcatheter are controlled to reach the position where the embolism is needed, a doctor withdraws the microcatheter, then connects the remote microinjection device with the microcatheter, and then carries out the injection of the embolic agent. The microinjection interface 15 allows the controller of the remote microinjection device to be extended to the main end apparatus side, which facilitates the physician's need not leave the operating area of the main end apparatus 10 when an embolic agent is to be injected.
In one embodiment, as shown in fig. 5, the main terminal device 10 further includes a navigation device 16, and the navigation device 16 is electrically connected to the display 11 and the main terminal processor 13, respectively.
The navigation device 16 may be an electronic device that is provided with surgical related software and stored with surgical information.
Specifically, the navigation device 16 can perform operation path planning through DICOM (Digital Imaging and Communications in Medicine, digital imaging and communication in medicine) images such as CT/MRI before operation, and can synchronize the DSA images on the display screen 11 in real time during interventional operation, and can display real-time operation map to provide more operation navigation information for operating doctors.
In some specific implementation manners, before an operation is performed by a doctor, DICOM images of CT and MRI of a patient can be led into the navigation device 16, the navigation device 16 performs functions such as automatic organ segmentation, target area sketching, operation planning track generation and the like, the doctor confirms the operation plan, so that the path planning of the microcatheter and the microcatheter can be completed, in addition, during the interventional operation, DSA real-time images can be registered and fused with CT and MRI images used for preoperative planning, and the positions of the microcatheter and the microcatheter on the planned path can be displayed in real time.
In the embodiment, the navigation device is added in the main terminal equipment, so that more analysis information related to the operation can be provided for a doctor, a feasible intervention path is planned in advance for the doctor, the operation difficulty is reduced, and the operation efficiency is improved.
In one embodiment, as shown in fig. 6, the slave end apparatus 20 further comprises a sterile consumable cartridge 24, the sterile consumable cartridge 24 being connected to the microcatheter delivery device 22, the microcatheter delivery device 23.
The sterile consumable bin 24 can be used as an intermediate interface between the microcatheter delivery device 22 and the microcatheter delivery device 23 and the microcatheter, and is used for fixing the microcatheter and the microcatheter on the microcatheter delivery device 22 and the microcatheter delivery device 23 respectively and playing a role of sterile isolation.
During interventional procedures, the microcatheter and microcatheter entering the body need to remain sterile while the slave delivery device itself is sterile, thus requiring the sterile consumable cartridge 24 to isolate the microcatheter, microcatheter from the slave delivery device and to transfer the delivery action of the slave delivery device to the microcatheter and microcatheter.
In the embodiment, the sterile consumable bin is arranged at the slave end, so that the microcatheter and the microcatheter wire can be effectively prevented from being exposed in a bacterial environment, the requirement of interventional embolization operation on the sanitary environment is ensured, and the safety of the operation is improved.
In one embodiment, the slave device 20 further comprises a mechanical arm, which is connected to the microcatheter delivery device 22 and the microcatheter delivery device 23, respectively, for adjusting and fixing the positions of the microcatheter delivery device 22 and the microcatheter delivery device 23.
The mechanical arm can be mechanically connected with an operating table for interventional operation, and can also be connected with the microcatheter delivery device 22 and the microcatheter delivery device 23, and the positions of the microcatheter delivery device 22 and the microcatheter delivery device 23 can be adjusted through movement of the mechanical arm, so that the microcatheter delivery device 22 and the microcatheter delivery device 23 are fixed at a position convenient for operation. In some other embodiments, the robotic arm may also be coupled to a sterile consumable cartridge 24.
In the embodiment, the mechanical arm is additionally arranged at the slave end, so that the microcatheter delivery device and the microcatheter delivery device can be indirectly fixed with the operating table, and the microcatheter can be positioned at a position convenient to move before an operation, and the microcatheter are prevented from colliding with a patient in the delivery process. In addition, the mechanical arm is fixed in the whole operation process, so that the influence of the movement of the delivery device on the operation can be effectively reduced.
Fig. 7 is a schematic diagram of the components of the master device in one embodiment. In the embodiment shown in fig. 7, the main end device is a physical reference of the main end device in a specific application scenario, and includes a display screen 1, a main end control device 3, a high-pressure injector interface 4, and a microinjection interface 5.
Fig. 8 is a schematic diagram of the structure of a slave device in one embodiment. In the embodiment shown in fig. 8, the slave device is a physical reference of the slave device in a specific application scenario, and includes a mechanical arm 6, a slave delivery device 7, and a sterile consumable cartridge 9, where the slave delivery device 7 may include a microcatheter delivery device and a microcatheter delivery device.
Fig. 9 is a schematic diagram illustrating placement of slave devices in one embodiment. As shown in fig. 9, the slave device may be fixed to one side of the DSA treatment bed by a mechanical arm, so that a doctor can conveniently control the corresponding components on the side of the master device to perform the treatment of the interventional embolic operation.
The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.
It is to be understood that the utility model is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof.
Claims (9)
1. An auxiliary system for interventional embolic surgery, comprising: a master device and a slave device; wherein, the master device includes:
the display screen is used for displaying the position information of the microcatheter and the microcatheter wire;
the main end control device comprises a plurality of movable operation components and corresponding measuring sensors, wherein the operation components are used for receiving the operation of a user and then executing corresponding actions, and the measuring sensors are used for detecting action signals of the corresponding operation components; wherein the movable operating member comprises a manipulation rocker for providing a rocker manipulation mode; the movable operation part further comprises a microcatheter simulation delivery part and a microcatheter simulation delivery part which respectively correspond to the microcatheter delivery device and the microcatheter wire delivery device, and the microcatheter simulation delivery part and the microcatheter wire simulation delivery part are used for providing a simulation control mode;
the master end processor is respectively and electrically connected with the display screen and the master end control device and is used for receiving the action signals, converting the action signals into control signals and sending the control signals to the slave end equipment;
the slave device includes:
the slave end processor is respectively and electrically connected with the micro-catheter delivery device and the micro-guide wire delivery device, and is used for receiving the control signals and respectively controlling the micro-catheter delivery device and the micro-guide wire delivery device to execute actions corresponding to the control signals;
a microcatheter delivery device for performing a corresponding action under control of the slave processor;
a micro-wire delivery device for performing a corresponding action under control of the slave processor;
the microcatheter delivery device comprises a microcatheter straight delivery component and a microcatheter rotation control component, and the microcatheter delivery device comprises a microcatheter straight delivery component, a microcatheter rotation control component and a microcatheter head adjusting component.
2. The assist system of claim 1 wherein the microcatheter simulation delivery member comprises a microcatheter linear delivery simulation member, a microcatheter rotation control simulation member; the micro-guide wire simulation delivery component comprises a micro-guide wire straight line delivery simulation component, a micro-guide wire rotation control simulation component and a micro-guide wire head adjustment simulation component.
3. The auxiliary system of claim 1 wherein the primary end device further comprises a multi-channel display screen for displaying contrast images and ultrasound images.
4. The assistance system of claim 1, wherein the movable operating member further comprises a movable slider.
5. The auxiliary system of claim 1, wherein the primary end device further comprises a high pressure syringe interface for connecting to a high pressure syringe.
6. The auxiliary system of claim 1, wherein the main end device further comprises a microinjection interface for connecting a remote microinjection apparatus.
7. The auxiliary system according to claim 1, wherein the main terminal device further comprises a navigation device, and the navigation device is electrically connected to the display screen and the main terminal processor, respectively.
8. The assist system of claim 1 wherein the slave device further comprises a sterile consumable cartridge connected to the microcatheter delivery device, respectively.
9. The assist system of claim 1 wherein the slave device further comprises a robotic arm coupled to the microcatheter delivery device and the microcatheter delivery device, respectively, for adjusting and securing the position of the microcatheter delivery device and the microcatheter delivery device.
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| CN202320902094.6U CN220477933U (en) | 2023-04-20 | 2023-04-20 | Auxiliary system for interventional embolic operation |
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