DE112022000032T5 - Unmanned interventional operating room system - Google Patents

Abstract

The present invention relates to an unmanned interventional operating room system comprising: a catheterization room which is an interventional surgery area and has a catheter bed therein; a control room which is immediately adjacent to the catheterization room, an observation window being arranged between the catheterization room and the control room; Robot, wherein the catheterization room has inside an interventional surgery robot, a master robot, a puncture robot and a robot for exchanging catheters and guide wires that cooperate with each other; and wherein a DSA device and a contrast medium injection device are installed on the catheter bed; a monitoring device, wherein in the control room there is arranged the monitoring device communicatively connected to the robots, the DSA device and the contrast medium injection device to provide information about each device and the robots, which is synchronized and updated in real time, for monitoring by the doctors to display; and a controller, wherein the controller for human-computer interaction between the doctors and the robots is arranged in the control room. The present invention realizes manual monitoring, through the combination of robots, the purpose of unmanned interventional surgery is achieved, to reduce the impact of interventional surgery on the health of the human body of doctors.

Description

TECHNICAL FIELD

The present invention relates to the technical field of minimally invasive vascular interventions, in particular an unmanned interventional operating room system.

STATE OF THE ART

Cardiovascular and cerebrovascular minimally invasive interventional therapy is the main treatment method for cardiovascular and cerebrovascular diseases. Compared to traditional surgery, it has obvious advantages such as a small incision and a short postoperative recovery time. Cardiovascular and cerebrovascular interventional surgery is a process in which the doctor manually sends catheters, guidewires, stents and other instruments into the patient's body to complete the treatment.

Interventional surgery has the following problems: first, during the operation, due to the X-ray emitted by DSA, the doctor's physical strength decreases rapidly, and the attention and stability also decrease, thereby reducing the accuracy of the operation, and the resulting accidents such as Intimal vessel damage, vessel perforations and ruptures endanger the patient's life. Second, the accumulated damage from ionizing radiation over a long period of time will significantly increase physicians' risk of suffering from leukemia, cancer, and acute cataracts. The phenomenon that radiation continues to accumulate among doctors due to interventional surgery has become a problem that cannot be ignored, damaging the professional life of doctors and limiting the development of interventional surgery.

The use of robotic technology has made it possible for the robot to carry out the operational process of interventional surgery without human intervention, effectively solving the problems described above. Of course, it is necessary to monitor the operational process while the robot automatically performs the surgery. The future trend is for multiple robots to work together to complete the entire process of interventional surgery and to establish an unmanned interventional operating room.

Currently, there are the following problems in interventional surgery: (1) in interventional surgery, all surgical operations, from puncture to control of catheters and guidewires, transfer of patients, delivery of consumables, injection of contrast agents, replacement of surgical instruments and analysis of images, etc. touching doctors, and doctors are under great pressure and have difficult tasks; (2) the doctors wear lead suits for a long time, which can cause serious damage to the bones and muscles of the body; (3) the doctors are exposed to DSA radiation for a long period of time, which seriously affects their health; (4) the catheterization room is used frequently and cleaning is often problematic; (5) transferring patients often requires more staff; (6) manual control of catheters and guidewires is not very accurate and surgical efficiency is not high.

Due to this, it has become an urgent problem for those skilled in the art to provide an unmanned interventional operating room system.

CONTENT OF THE PRESENT INVENTION

The present invention aims to solve one of the technical problems of the prior art, at least to a certain extent.

To this end, one purpose of the present invention is to provide an unmanned interventional operating room system to solve problems 1 to 3 and 6.

• einen Katheterisierungsraum, der ein Bereich für die interventionelle Chirurgie ist und ein Katheterbett darin aufweist;
• einen Kontrollraum, der unmittelbar an den Katheterisierungsraum angrenzt, wobei zwischen dem Katheterisierungsraum und dem Kontrollraum ein Beobachtungsfenster angeordnet ist;

The present invention provides an unmanned interventional operating room system comprising:

• a catheterization room, which is an interventional surgery area and has a catheter bed therein;
• a control room which is immediately adjacent to the catheterization room, an observation window being arranged between the catheterization room and the control room;

Robot, wherein the catheterization room has inside an interventional surgery robot, a master robot, a puncture robot and a robot for exchanging catheters and guide wires that cooperate with each other; and wherein a DSA device and a contrast medium injection device are installed on the catheter bed;
a monitoring device, wherein the monitoring device is arranged in the control room is communicatively linked to the robots, the DSA device and the contrast medium injection device to display information about each device and the robots, which is synchronized and updated in real time, for monitoring by the physicians; and
a controller, wherein the controller for the human-computer interaction between the doctors and the robots is arranged in the control room.

From the above technical solutions, it can be seen that, compared to the prior art, the present invention provides an unmanned interventional operating room system in which the catheterization room and the control room are arranged adjacent to each other, with several robots with different functions cooperating with each other, are arranged in the catheterization room, and a DSA device and a contrast medium injection device are installed on the catheter bed to carry out the operation by cooperation, including at least image diagnosis, surgical puncture, placement of the catheter and guide wire, replacement of the catheter and guide wire , the movement of the catheter and the guide wire, angiography and other operations, which improves the precision of the operation, and wherein in the control room a monitor for monitoring the respective condition information and a controller for human-computer interaction between the doctors and the robots are arranged are, thereby realizing manual monitoring and unmanned interventional surgery through the robot combination, which solves the problem of high pressure and heavy workload for interventional surgeons. The doctor does not have to wear a lead suit for a long time in the control room, while avoiding the long-term damage caused by DSA radiation and reducing the impact of interventional surgery on the doctor's health.

There is also a hospital room for patient recovery near the catheterization room.

Furthermore, an automatic transfer vehicle moves between the hospital room and the catheterization room for automatic patient transfer. This solves problem 5 and the transfer of patients no longer requires additional staff.

Furthermore, a charging post of the transfer vehicle is attached in the hospital room to charge the automatic transfer vehicle.

Further, the robot further includes a consumable delivery robot that records the surgical consumable information, delivers the surgical consumable to the catheterization room, and is communicatively coupled to the monitoring device and the controller.

Further, the robot further includes a fast-charging robot communicatively connected to multiple robots to replace batteries with low electricity levels.

Furthermore, a charging area for charging the replaced batteries with a low amount of electricity is arranged outside the catheterization room, with a charging point for the quick-charging robot being arranged in the charging area.

Furthermore, it further comprises a cleaning robot which is communicatively connected to the controller, the cleaning robot being used for automatically cleaning the catheterization room after the procedure. This solves problem 4 and does not require frequent manual cleaning of the catheterization room, improving cleaning efficiency.

The monitoring device further comprises a plurality of display screens which are supported by a screen holder.

Furthermore, the robots have priority over others, with the master robot having the greatest authority, as the instructor of the procedure, performing image diagnosis and instructing the other robots to cooperate.

BRIEF DESCRIPTION OF THE DRAWINGS

• 1 zeigt ein Gesamtlayoutdiagramm des unbemannten interventionellen Operationssaalsystems.
• 2 zeigt ein Layoutdiagramm im Inneren des Katheterisierungsraums des unbemannten interventionellen Operationssaalsystems.
• 3 zeigt ein Ablaufdiagramm des unbemannten interventionellen Operationssaalsystems.
• 4 zeigt eine schematische Strukturansicht eines Master-Roboters.
• 5 zeigt eine schematische Strukturansicht einer Fingervorrichtung des Master-Roboters.
• 6 zeigt eine schematische Explosionsansicht einer Fingervorrichtung des Master-Roboters.
• 7 zeigt eine schematische Strukturansicht eines Punktionsroboters.
• 8 zeigt eine schematische Strukturansicht einer ersten Fingervorrichtung des Punktionsroboters.
• 9 zeigt eine schematische Strukturansicht einer zweiten Fingervorrichtung des Punktionsroboters.
• 10 zeigt eine schematische Strukturansicht eines Roboters zum Austausch von Führungsdrähten und Kathetern.
• 11 zeigt eine schematische Strukturansicht einer Armvorrichtung und eines Kopfs des Roboters zum Austausch von Führungsdrähten und Kathetern.
• 12 zeigt eine Draufsicht einer Armvorrichtung des Roboters zum Austausch von Führungsdrähten und Kathetern.
• 13 zeigt ein schematisches Diagramm des Austausches von Führungsdrähten und Kathetern.
• 14 zeigt eine schematische Strukturansicht eines Schnellladeroboters.
• 15 zeigt eine schematische Strukturansicht eines Greif- und Schiebemechanismus des Schnellladeroboters.
• 16 zeigt eine schematische Strukturansicht eines Roboters zur Lieferung von Verbrauchsmaterial.
• 17 zeigt eine schematische Strukturansicht einer Armkomponente des Roboters zur Lieferung von Verbrauchsmaterial.
• 18 zeigt eine schematische Strukturansicht eines Reinigungsroboters.
• 19 zeigt eine schematische Strukturansicht einer Basisvorrichtung des Reinigungsroboters.
• 20 zeigt eine schematische Strukturansicht eines automatischen Transferfahrzeugs.
• 21 zeigt eine schematische Strukturansicht eines Bodens des automatischen Transferfahrzeugs.
• 22 zeigt eine schematische Strukturansicht einer automatischen Lade- und Befestigungsvorrichtung des automatisch Transferfahrzeugs.
• 23 zeigt eine schematische Strukturansicht einer Überwachungsvorrichtung.

In order to explain the technical solution in the embodiments of the present invention or from the prior art more clearly, the figures to be used in the explanation of the embodiment or for the prior art are briefly presented below. Obviously, the figures described below show only some embodiments of the present invention. The average person skilled in the art can obtain other figures based on the figures provided without any creative work.

• 1 shows an overall layout diagram of the unmanned interventional operating room system.
• 2 shows a layout diagram inside the catheterization room of the unmanned interventional operating room system.
• 3 shows a flowchart of the unmanned interventional operating room system.
• 4 shows a schematic structural view of a master robot.
• 5 shows a schematic structural view of a finger device of the master robot.
• 6 shows a schematic exploded view of a finger device of the master robot.
• 7 shows a schematic structural view of a puncture robot.
• 8th shows a schematic structural view of a first finger device of the puncture robot.
• 9 shows a schematic structural view of a second finger device of the puncture robot.
• 10 shows a schematic structural view of a robot for exchanging guide wires and catheters.
• 11 shows a schematic structural view of an arm device and a head of the robot for exchanging guide wires and catheters.
• 12 shows a top view of an arm device of the robot for exchanging guide wires and catheters.
• 13 shows a schematic diagram of guidewire and catheter replacement.
• 14 shows a schematic structural view of a fast charging robot.
• 15 shows a schematic structural view of a gripping and pushing mechanism of the fast-charging robot.
• 16 shows a schematic structural view of a robot for delivering consumables.
• 17 shows a schematic structural view of an arm component of the robot for delivering consumables.
• 18 shows a schematic structural view of a cleaning robot.
• 19 shows a schematic structural view of a basic device of the cleaning robot.
• 20 shows a schematic structural view of an automatic transfer vehicle.
• 21 shows a schematic structural view of a floor of the automatic transfer vehicle.
• 22 shows a schematic structural view of an automatic loading and fastening device of the automatic transfer vehicle.
• 23 shows a schematic structural view of a monitoring device.

Reference symbol list

1

Catheterization room

101

catheter bed

2

Control room

201

observation window

3

DSA device

4

Contrast medium injection device

5

Monitoring device

51

Display screen

52

Screen holder

6

Controller

7

Hospital room

8th

Automatic transfer vehicle

81

Transfer vehicle loading pole

9

Loading area

Q1

Robot for interventional surgery

Q2

Master Robot

Q3

Puncture robot

Q4

Robot for exchanging catheters and guidewires

Q5

Robot for delivering consumables

Q6

Fast charging robot

Q7

Cleaning robot

DETAILED DESCRIPTION

The embodiment of the present invention is explained in more detail below. All examples of the embodiment are shown in figures, where the same or similar reference numbers from start to finish stand for the same or similar elements or elements with the same or similar function. The embodiments explained in connection with the figures are exemplary, serve only to explain the present invention and cannot be understood as a limitation for the present invention.

It should be noted that in the explanation of the present invention, the directional or positional relationships are referred to with technical words such as "top", "bottom", "front", "back", "left", "right", "vertical", “horizontal,” “top,” “bottom,” “inside,” “outside,” etc. are based on the directional or positional relationships depicted in figures. They are intended only to illustrate the present patent and to facilitate explanation. They do not show or imply that the devices or elements shown have particular directions or are intended to be built and operated in particular directions. Because of this, they cannot be construed as limiting the present invention.

Furthermore, “the first”, “the second” are only used to explain the target and they cannot be understood to indicate or imply the relative importance or to imply the number of technical features instructed. Due to this, the features defined by “the first”, “the second” can explicitly or implicitly include one or more of the features. In the explanation of the present invention, "multiple" refers to two or more than 2 unless otherwise specified.

If there are no other clear statements and definitions in the present invention, the technical terms “installation”, “coupling”, “connection” and “attachment” should be understood in a broader sense, e.g. the “attachment” can include both fixed connection and demountable connection , or be integrated connection; it can be mechanical connection or electrical connection; it can be a direct connection or a connection through a medium, it can also be a connection within two elements or an interaction relationship between two elements. One of ordinary skill in the art can understand the specific meanings of the above technical terms in the present invention based on the specific situations.

• einen Katheterisierungsraum 1, der ein Bereich für die interventionelle Chirurgie ist und ein Katheterbett 101 darin aufweist;
• einen Kontrollraum 2, der unmittelbar an den Katheterisierungsraum 1 angrenzt, wobei zwischen dem Katheterisierungsraum 1 und dem Kontrollraum 2 ein Beobachtungsfenster 201 angeordnet ist;

Since there are several problems at this stage of interventional surgery as presented in the prior art, one embodiment of the present invention discloses an unmanned interventional operating room system, see 1 to 3 , full:

• a catheterization room 1, which is an interventional surgery area and has a catheter bed 101 therein;
• a control room 2, which is directly adjacent to the catheterization room 1, an observation window 201 being arranged between the catheterization room 1 and the control room 2;

Robot, wherein the catheterization room 1 has inside an interventional surgery robot Q1, a master robot Q2, a puncture robot Q3 and a catheter and guide wire exchanging robot Q4 cooperating with each other; and wherein a DSA device 3 and a contrast medium injection device 4 are installed on the catheter bed 101;
a monitoring device 5, wherein in the control room 2 the monitoring device 5 is arranged, which is communicatively connected to the robots, the DSA device 3 and the contrast medium injection device 4, to provide information about each device and the robots, which is synchronized and updated in real time, for monitoring by doctors; and
a controller 6, the controller 6 for the human-computer interaction between the doctors and the robots being arranged in the control room 2.

The disclosure of the present invention provides an unmanned interventional operating room system in which the catheterization room and the control room are arranged adjacent to each other, a plurality of robots with different functions that cooperate with each other are arranged in the catheterization room, as well as a DSA device and a contrast medium injection device installed on the catheter bed to carry out the operation through cooperation, including at least image diagnosis, surgical puncture, catheter and guidewire placement, catheter and guidewire replacement, catheter and guidewire movement, angiography and other operations , which improves the precision of the operation, and wherein a monitoring device for monitoring the respective condition information and a controller for human-computer interaction between the doctors and the robots are arranged in the control room, thereby enabling manual monitoring and unmanned interventional surgery by the robot combination be realized, which solves the problem of high pressure and heavy workload for interventional surgeons. The doctor does not have to wear a lead suit for a long time in the control room, while avoiding the long-term damage caused by DSA radiation and reducing the impact of interventional surgery on the doctor's health.

In an exemplary embodiment of the present invention, a hospital room 7 for the recovery of the patients is located near the catheterization room 2. The hospital room and the catheterization room are preferably arranged opposite one another.

In one embodiment of the present invention, an automatic transfer vehicle 8 moves between the hospital room 7 and the catheterization room 1 patient transfer; This eliminates the need for labor-intensive patient transfers.

A charging post 81 of the transfer vehicle is advantageously fastened in the hospital room 7 in order to charge the automatic transfer vehicle 8.

In an embodiment of the present invention, the robot further comprises a consumable delivery robot Q5 that records the surgical consumable information, delivers the surgical consumable to the catheterization room 1, and is communicatively connected to the monitoring device 5 and the controller 6.

In an embodiment of the present invention, the robot further comprises a fast charging robot Q6 communicatively connected to a plurality of robots to replace batteries with low electricity quantity; In this way, the problem that the robot batteries with low amount of electricity cannot be charged in time is solved.

A charging area 9 for charging the replaced batteries with a low amount of electricity is advantageously arranged outside the catheterization room 1, with a charging point for the quick-charging robot Q6 being arranged in the charging area 9.

In some other embodiments of the present invention, it further comprises a cleaning robot Q7 communicatively connected to the controller 6, the cleaning robot Q7 being used for automatically cleaning the catheterization space 1 after the procedure. This eliminates the need to manually clean the catheterization room frequently, improving cleaning efficiency.

Further advantageously, the monitoring device 5 comprises a plurality of display screens 51, which are supported by a screen holder 52.

In the above embodiments, the robots have priority over others, with the master robot Q2 having the greatest authority, performing image diagnosis as the procedure instructor and instructing the other robots to cooperate.

In a specific embodiment of the present invention, the layout of the unmanned interventional operating room can be divided into four areas. The transfer vehicle charging post is installed in the hospital room. The loading device is located in the loading zone. The catheterization room houses the interventional surgery robot, the catheter bed, the DSA device, the cleaning robot, the master robot, the puncture robot, the contrast medium injection device and the robot for exchanging guide wires and catheters, with the monitoring device and the controller is located. Some robots move in different areas and they are respectively: the automatic transfer vehicle that moves between the hospital room and the catheterization room; the rapid loading robot that moves between the loading zone and the catheterization room; the consumable delivery robot that moves between the catheterization room and the control room.

Please refer 2 , the observation window 201 in the catheterization room 1 is made of lead glass, which means that the control room can be used to observe the catheterization room. The catheter bed 101 is installed in the center of the catheterization room 1, with the DSA device 3 installed at the head of the catheter bed 101, and with the master robot Q1 moving on the left side of the catheter bed 101. After the automatic transfer vehicle 8 entered the catheterization room, it stops on the right side of the catheter bed 101. After a patient is placed on the catheter bed 101, the automatic transfer vehicle 8 leaves the catheterization room and waits in front of the door. The interventional surgery robot Q1 is installed on the guide rail on one side of the catheter bed 101. The contrast medium injection device 4 is placed on the catheter bed 101. The cleaning robot Q7, the guide wire and catheter replacement robot Q4 and the puncture robot Q3 are each parked in the corners of the catheterization room. If necessary, they move out to carry out work. After the consumable delivery robot Q5 takes the consumable, it places it on the catheter bed 101, then leaves the catheterization room and waits outside.

The entire process of the entire interventional surgery is roughly as follows: first the patient waits in the hospital room, and when the message is received that the procedure can be carried out, the automatic transfer vehicle can move freely. The patient lies on the automatic transfer vehicle, which, according to GPS instructions, transports the patient into the catheterization room along a predetermined route and stops at the side of the catheter bed. The patient is then taken to the catheter bed by the transfer vehicle, and the transfer vehicle automatically leaves the catheterization room and remains outside the catheterization room until the procedure is completed. After the patient lies down, the master robot instructs the puncture robot to begin the operations. The puncture robot moves to one side of the catheter bed and begins to gradually perform the operations of patient disinfection, local anesthesia, puncture and sheath placement. When the operations are completed, a message is sent to the master robot. The master robot begins to instruct the DSA device and the interventional surgery robot to prepare for the procedures. With the help of the master robot, the interventional robot places the contrast guidewire and contrast catheter in the correct position in the patient's blood vessels in accordance with the image of the DSA device. The master robot instructs the contrast injection unit to perform the contrast injection, and the image of the blood vessels is displayed on the DSA device. The angle of DSA is adjusted so that imaging can be done in different positions to obtain a more complete picture of blood vessel morphology. After obtaining various images of the blood vessels, the master robot performs condition analysis based on the images of the blood vessels, and obtains a diagnosis result after comparing analysis with the big data. If the procedure needs to continue, a guiding catheter is placed in conjunction with the DSA device and the interventional robot. At this time, the master robot instructs the guidewire and catheter replacement robot to assist in guidewire and catheter replacement. At the same time, the master robot selects the consumable required for the procedure and sends it to the consumable delivery robot, or issues a command through the controller so that the consumable delivery robot searches for the consumable after the robot delivers After the consumable delivery has found the desired consumable, it places the surgical consumable on the catheter bed, and the master robot helps install the consumable on the interventional surgery robot. The introduction of surgical consumables (e.g. stents) is then carried out step by step based on the DSA image, in this process the contrast medium injection device must work together several times. The master robot can control the DSA foot pedal during the procedure, and after completing the step-by-step operation, the treatment is successfully completed.

All guide wires and catheters are then pulled out of the human body with the help of the master robot. After the master robot assisted the patient's bandaging, it sends a message so that the automatic transfer vehicle enters the catheterization room and stops at one side of the catheter bed, the patient is returned from the catheter bed to the transfer vehicle, then the transfer vehicle takes the patient back to the hospital room and stops there.

During the procedure, the status and data of all devices are displayed on the monitoring device in the control room, so that the doctor can monitor the progress of the entire procedure. Once an anomaly is detected, the intervention can be interrupted at any time by the controller and adjustments can then be made. Once the repair is complete, the procedure can continue. The doctor can also control the robot via the controller. After completing a procedure, the master robot instructs the cleaning robot to clean the catheterization room or the controller sends cleaning instructions to the cleaning robot in preparation for a next procedure.

Each robot is powered by a lithium battery. When a robot detects a low level of electricity, it sends a signal to the fast charging robot, which moves to the robot with a fully charged lithium battery and replaces it, while bringing the low level battery back to the charging post to recharge.

• der Roboter für interventionelle Chirurgie Q 1 kann einen im Patentdokument CN112353491A offenbarten universellen Roboter für interventionelle angiografische und therapeutische Chirurgie annehmen, der mit dem Katheterbett verbunden ist.
• der Master-Roboter Q2 nimmt einen Fahrzeugaufbau an und kann sich im Katheterisierungsraum bewegen. Während des Eingriffs überwacht der Roboter verschiedene Komponenten wie DSA, das Katheterbett und andere Roboter, und kann den chirurgischen Prozess durch maschinelles Lernen beherrschen. Der Roboter sendet Anweisungen, um die verschiedenen Geräte zu koordinierten Bewegungen anzuleiten, und er sendet verschiedene Daten in Echtzeit an das Überwachungssystem. Nach Beenden des Eingriffs fährt der Roboter selbstständig in eine Ecke, ohne andere Vorgänge zu stören.

The robots and devices used in the above process can be existing robots that can perform the corresponding functions, but individual robots can also be used as follows, and the functions of the robots are only explained with individual examples:

• the Q 1 interventional surgery robot can provide one in the patent document CN112353491A disclosed universal robot for interventional angiographic and therapeutic surgery, which is connected to the catheter bed.
• the master robot Q2 adopts a vehicle body and can move around the catheterization room. During the procedure, the robot monitors various components such as DSA, the catheter bed and other robots, and can master the surgical process through machine learning. The robot sends instructions to guide the various devices to make coordinated movements, and it sends various data to the monitoring system in real time. To Been During the intervention, the robot drives itself into a corner without disturbing other processes.

Please refer 4 to 6 , the master robot Q2 includes: a base device Q2100, a head and arm device Q2200 and a finger device Q2300; wherein the bottom of the base device Q2100 has a walking device for moving to the target area, a pedal device for simulating the doctor's foot being arranged on the walking device to control the fluoroscopy and exposure movements of DSA; and wherein at the top of the base device Q2100, the head and arm device Q2200 is supported to complete the information identification and the location of the fingers; and wherein connected to the arm end of the head and arm device Q2200 is the finger device Q2300 used for grasping, exchanging and installing surgical devices.

• eine Fingerverbindungsplatte Q2301, die mit dem Endabschnitt eines Arms verbunden ist;
• eine Fingerführungsschiene Q2303, wobei mit dem Boden der Fingerverbindungsplatte Q2301 die Fingerführungsschiene Q2303 verbunden ist, und wobei auf der Fingerführungsschiene Q2303 zwei Fingerschieber gleiten;
• einen Fingerschraubenmotor Q2311, der durch eine Fingermotorhalterung Q2310 unterhalb der Fingerverbindungsplatte Q2301 befestigt ist;

The Q2300 finger device includes:

• a finger connection plate Q2301 connected to the end portion of an arm;
• a finger guide rail Q2303, with the finger guide rail Q2303 connected to the bottom of the finger connecting plate Q2301, and two finger sliders sliding on the finger guide rail Q2303;
• a finger screw motor Q2311 fixed by a finger motor bracket Q2310 below the finger connection plate Q2301;

Connectors Q2304, Q2309, wherein a connector Q2304, Q2309 is correspondingly connected to each finger slider, and wherein the two connectors Q2304, Q2309 each have a clockwise thread and a counterclockwise thread which form a thread fit with the finger screw motor Q2311; when the finger screw motor Q2311 rotates, two fingers Q2307, Q2306 move relative or opposite to each other; three-dimensional pressure sensors Q2305, Q2308, wherein a three-dimensional pressure sensor Q2305, Q2308 is correspondingly connected under each connector Q2304, Q2309; and

Fingers Q2306, Q2307, wherein a finger Q2306, Q2307 is connected under each three-dimensional pressure sensor Q2305, Q2308, and the inner surface of the fingers Q2306, Q2307 is made of soft medical silicone, which prevents damage to the surgical devices.

The three-dimensional pressure sensor built into the finger device can sense the gripping force and ensure the accuracy of gripping.

Advantageously, the finger connection plate Q2301 extends inclined outwardly to form a finger camera mount, at least one finger camera Q2302 being connected to the finger camera mount, and the finger camera 302 being arranged to face the fingers Q2306, Q2307.

After clamping the object, the Q2305, Q2308 three-dimensional pressure sensors sense the pressure value, and after reaching a certain value, the Q2311 finger screw motor stops moving. During the grasping process, the Q2302 finger camera carefully tracks the shape of the object at all times to ensure that the device is not damaged by clamping. The Q2302 finger camera is used to observe the environment at the end of the finger, which allows the robot and doctor to better observe the distribution and accurate position of the object.

It is worth noting that the master robot Q2 automatically moves to the catheter bed before the start of the operation to monitor and guide the operation of the various devices, and is responsible for grasping and replacing the surgical devices during the procedure. After completing the procedure, the robot can automatically move to a corner without disturbing the use and cleaning of other equipment. Before the robot is used for the first time, learning and training activities are required so that the robot adapts to the environment of the catheterization room and knows and learns well DSA, the catheter bed, the other robots and other devices currently used for medical purposes to work together with the other devices. After several training sessions, the robot will gradually master what it has learned and retain it in memory. After fully learning it, the robot can be used normally to perform automated or assisted procedures. The robotic system itself contains a large number of surgical images and standard surgical process as well as numerous treatment measures for abnormalities and can be used in clinical practice. In addition, the robot has an autonomous learning function that allows it to record and analyze the scene of each subsequent intervention in order to choose the optimal solution for subsequent subsequent interventions.

The puncture robot Q3, see 7 , comprises a base device, a head and arm device and a puncture finger device, the puncture finger device being characterized by two mechanical arms each with a first finger device Q3300 and a second finger device Q3400 is connected. The base device receives information, stores information, processes information and sends command messages through the host of the puncture robot, the first finger device is used for locating the puncture site in the puncture operation, and the second finger device is used for the puncture, the two work together during the operation and can respectively grasp, replace and install surgical devices, thereby realizing a robot-assisted puncture operation and improving the accuracy of the puncture, thus reducing the occurrence of a situation that the repetition of the puncture position caused by the inaccuracies leads to vasospasm. This improves the safety of the puncture operation.

• eine erste Fingerverbindungsplatte Q3302, die mit dem Endabschnitt eines mechanischen Arms verbunden ist;
• eine erste Fingerführungsschiene Q3303, wobei mit dem Boden der ersten Fingerverbindungsplatte Q3302 die erste Fingerführungsschiene 303 verbunden ist, und wobei auf der erste Fingerführungsschiene Q3303 zwei erste Fingerschieber gleiten;
• einen ersten Fingerschraubenmotor Q3305, der durch eine erste Fingermotorhalterung Q3304 unterhalb der ersten Fingerverbindungsplatte Q3302 befestigt ist;

Please refer 8th , the first finger device Q3300 includes in particular:

• a first finger connection plate Q3302 connected to the end portion of a mechanical arm;
• a first finger guide rail Q3303, wherein the first finger guide rail 303 is connected to the bottom of the first finger connecting plate Q3302, and two first finger sliders slide on the first finger guide rail Q3303;
• a first finger screw motor Q3305 secured by a first finger motor mount Q3304 below the first finger connection plate Q3302;

Connectors Q3306, Q3312, wherein a first connector Q3306, Q3312 is correspondingly connected to each first finger slide, and wherein the two first connectors Q3306, Q3312 each have a clockwise thread and a counterclockwise thread, which have a thread fit with the first finger screw motor Q3305 form;
first three-dimensional pressure sensors Q3307, Q3311, wherein a first three-dimensional pressure sensor Q3307, Q3311 is correspondingly connected under each first connecting piece Q3306, Q3312; and
a first finger consumable Q3309, wherein a first finger consumable Q3309 is connected under each first three-dimensional pressure sensor Q3307, Q3311, and wherein the inner surface of the first finger consumable Q3309 is made of soft medical silicone.

Advantageously, a first electromagnet Q3308, Q3310 is attached between the first three-dimensional pressure sensors Q3307, Q3311 and the first finger consumable Q3309, the first finger consumable Q3309 having a first iron sheet inside, which is magnetically connected to the first electromagnets Q3308, Q3310.

A recess is formed inside the first finger consumable Q3309, with the first iron sheet being inserted into the recess and magnetically connected to the electromagnets to facilitate the replacement of the consumable. The first finger consumable Q3309 is a disposable consumable sterilized with ethylene oxide and a new set is used for each procedure. The inner surface of the first finger consumable Q3309 is made of soft medical grade silicone to prevent slipping and damage to surgical equipment.

Further advantageously, one side of the first finger connection plate Q3302 extends inclined outwardly to form a first finger camera mount, at least one first finger camera Q3301 being connected to the finger camera mount, and wherein the first finger camera Q3301 is arranged to face the first finger consumable Q3309 is. The first finger camera Q3301 is used to observe the surroundings of the end of the finger.

One first connector Q3306, Q3312 is a clockwise thread, the other first connector Q3306, Q3312 is a counterclockwise thread, therefore the two first finger consumables Q3309 move relative or opposite to each other when the motor rotates for clamping and opening of an object. After clamping the object, the first three-dimensional pressure sensors Q3307, Q3311 sense the pressure value, and after reaching a certain value, the motor stops moving. During the grasping process, the Q3301 first finger camera carefully tracks the shape of the object at all times to ensure that the device is not damaged by clamping.

• eine zweite Fingerverbindungsplatte Q3402, wobei die Oberseite der zweiten Fingerverbindungsplatte Q3402 mit dem Endabschnitt eines anderen mechanischen Arms verbunden ist, und wobei ihr Boden mit zwei parallel angeordneten und nach unten vorstehenden Installationsleisten versehen ist;
• zwei zweite Fingerführungsschienen Q3415, die entsprechend unterhalb der Installationsleisten installiert sind, wobei auf jeder zweiten Fingerführungsschiene Q3415 jeweils zumindest zwei zweite Fingerschieber gleiten;
• einen zweiten Fingerschraubenmotor Q3404, der durch eine zweite Fingermotorhalterung unterhalb der zweiten Fingerverbindungsplatte Q3402 befestigt ist und sich zwischen den beiden Installationsleisten befindet,
• eine Übergangsplatte Q3406, wobei die Oberseite der Übergangsplatte Q3406 einen Verbindungsblock aufweist, der mit der Schraubstange des zweiten Fingerschraubenmotors Q3404 verschraubt ist, wobei die Übergangsplatte Q3406 an der Bodenfläche des zweiten Fingerschiebers befestigt ist;
• zwei dritte Fingerführungsschienen Q3405, wobei an dem Boden der Übergangsplatte Q3406 zwei dritte Fingerführungsschienen Q3405 parallel angeordnet sind, die vertikal zu der zweiten Fingerführungsschiene Q3415 ausgerichtet ist, und wobei auf dem Unterteil jeder dritten Fingerführungsschienen Q3405 zumindest zwei dritte Fingerschieber gleiten;
• einen dritten Fingerschraubenmotor Q3407, wobei zwischen den beiden zweiten Fingerführungsschienen Q3415 der dritte Fingerschraubenmotor Q3407 durch die Motorhalterung befestigt ist;
• zweite Verbindungsstücke Q3408, Q3414, wobei mit jedem dritten Fingerschieber ein zweites Verbindungsstück Q3408, Q3414 entsprechend verbunden ist, und wobei die beiden zweiten Verbindungsstücke Q3408, Q3414 jeweils ein Gewinde im Uhrzeigersinn und ein Gewinde gegen den Uhrzeigersinn aufweisen, die eine Gewindepassung mit der Schraubstange des dritten Fingerschraubenmotor Q3407 bilden;
• zweite dreidimensionale Drucksensoren Q3409, Q3412, wobei unter jedem zweiten Verbindungsstück Q3408, Q3414 ein zweiter dreidimensionaler Drucksensor Q3409, Q3412 entsprechend verbunden ist; und
• ein zweites Fingerverbrauchsmaterial Q3411, wobei unter jedem zweiten dreidimensionalen Drucksensor Q3409, Q3412 ein zweites Fingerverbrauchsmaterial Q3411 verbunden ist, und wobei die Innenfläche des zweiten Fingerverbrauchsmaterials Q3411 aus weichem medizinischem Silikon besteht.

Please refer 9 , the second finger device Q3400 includes:

• a second finger connection plate Q3402, the top of the second finger connection plate Q3402 being connected to the end portion of another mechanical arm, and the bottom thereof being provided with two installation bars disposed in parallel and projecting downwardly;
• two second finger guide rails Q3415, which are installed accordingly below the installation bars, on every second finger Guide rail Q3415 slides at least two second finger slides;
• a second finger screw motor Q3404 fixed by a second finger motor bracket below the second finger connection plate Q3402 and located between the two installation bars,
• a transition plate Q3406, the top of the transition plate Q3406 having a connection block screwed to the screw rod of the second finger screw motor Q3404, the transition plate Q3406 attached to the bottom surface of the second finger slider;
• two third finger guide rails Q3405, wherein two third finger guide rails Q3405 are arranged in parallel on the bottom of the transition plate Q3406, which is vertically aligned with the second finger guide rail Q3415, and at least two third finger sliders slide on the lower part of each third finger guide rail Q3405;
• a third finger screw motor Q3407, wherein between the two second finger guide rails Q3415, the third finger screw motor Q3407 is fixed by the motor holder;
• second connecting pieces Q3408, Q3414, wherein a second connecting piece Q3408, Q3414 is correspondingly connected to every third finger slide, and wherein the two second connecting pieces Q3408, Q3414 each have a clockwise thread and a counterclockwise thread, which have a thread fit with the screw rod of the form third finger screw motor Q3407;
• second three-dimensional pressure sensors Q3409, Q3412, wherein a second three-dimensional pressure sensor Q3409, Q3412 is correspondingly connected under every second connecting piece Q3408, Q3414; and
• a second finger consumable Q3411, wherein a second finger consumable Q3411 is connected under each second three-dimensional pressure sensor Q3409, Q3412, and wherein the inner surface of the second finger consumable Q3411 is made of soft medical silicone.

A recess is formed in the interior of the second finger consumable Q3411, with a second iron sheet being inserted into the recess and magnetically connected to the electromagnets in order to facilitate the replacement of the consumable. The second finger consumable Q3411 is a disposable consumable sterilized with ethylene oxide and a new set is used for each procedure. The inner surface of the Q3411 second finger consumable is made of soft medical grade silicone to prevent slipping and damage to surgical equipment.

Advantageously, a second electromagnet Q3410, Q3413 is attached between the second three-dimensional pressure sensors Q3409, Q3412 and the second finger consumable Q3411, the second finger consumable Q3411 having a second iron sheet inside, which is magnetically connected to the second electromagnets Q3410, Q3413.

Further advantageously, the second finger connection plate extends inclined towards the two sides to form a second finger camera mount, with at least one second finger camera Q3401, Q3403 being connected to every second finger camera mount, and wherein the second finger cameras Q3401, Q3403 are arranged so that they facing the second finger consumable Q3411.

A second connector Q3408, Q3414 is a clockwise thread, the other second connector Q3408, Q3414 is a counterclockwise thread, therefore the two second finger consumables Q3411 move relative or opposite to each other when the third finger screw motor Q3407 (herein refers to " “third” refers to the sequence of screw motors and not to the third finger) to realize clamping and opening of an object. After clamping the object, the second three-dimensional pressure sensors Q3409, Q3412 sense the pressure value, and after reaching a certain value, the motor stops moving. During the gripping process, the second finger camera Q3401, Q3403 carefully tracks the shape of the object at all times to ensure that the device is not damaged by clamping. Under the driving of the second finger screw motor Q3404, the entire bottom finger device can move left and right, and in cooperation with the clamping action of the third finger screw motor Q3407, reciprocating feeding of the guide wire, sheath, etc. can be realized. Specifically, rotation of the second finger screw motor Q3404 drives the second finger consumable Q3411 to move to the rightmost end, and rotation of the third finger screw motor Q3407 drives the second finger consumable Q3411 to grasp the guidewire or sheath, the second three-dimensional pressure sensors Q3409, Q3412 are used to clamp force to be felt, after clamping, the second finger screw motor Q3404 is rotated so that the finger moves left to the leftmost end, the third finger screw motor Q3407 opens the guide wire or sheath, the second finger screw motor Q3404 is rotated so that it is attached to the Starting position returns, the cycle continues until the desired position is reached.

The puncture work process of the surgical puncture robot is illustrated using the example of a radial artery puncture of the wrist: after the start of the procedure, the required puncture surgical consumables are placed on the catheter bed and the robot moves next to the catheter bed. Using the robot's first finger device, the patient's wrist is found. After locating the radial artery, the pulse of the radial artery is felt with the fingers. One finger can be used to feel the pulse and the other finger is hanging, the three-dimensional pressure sensor on the finger consumable used for feeling searches for the pulse. If the position is not correct during searching, the finger switches to another position and continues searching. When the pulse is felt, the finger camera locates that position and uses it as a puncture site. The pulse detection process is: if the pressure value changes regularly, it is a pulse; if the pressure value remains the same, it is not a pulse. The three-dimensional pressure sensor can adopt FA702-D or silicon piezoresistive pressure sensor, and the size of the pressure sensor is selected according to the use. The robot's first finger device grasps a cotton ball soaked in alcohol and wipes the skin near the radial artery. The robot's first finger device grasps the syringe with the anesthetic, moves close to the radial artery and gently penetrates the skin. The robot's second finger device pushes the syringe up to a certain dose and then stops. The first finger device holds the syringe. After a short waiting time, the robot's first finger device grasps the patient's arm, and the robot's second finger device grasps the puncture needle. After the puncture site is found with the second finger camera, the puncture needle is slowly inserted into the skin under the drive of the second finger screw motor, while the two cameras of the second finger device observe whether blood flows back and stop the movement of the motor when blood backflow is detected. The first finger device of the robot moves slowly to grasp the puncture needle, and the second finger device of the robot pulls out the needle core. The first finger device slowly lowers a little, then the second finger device grasps the puncture guide wire and threads it into the puncture needle. After the guide wire is slowly pushed back and forth for a certain distance, the first finger device presses on the puncture opening and the second finger device pulls out the puncture needle tube. The second finger device grips the sheath and the first finger device grips the trailing end of the puncture guide wire. The second finger device threads the sheath into the guidewire. The first finger device then presses on the puncture opening and the second finger device threads the sheath into the vessel along the guide wire and pushes it forward until the opening of the sheath reaches the location of the puncture opening. This completes the entire puncture process. As soon as the puncture is completed, the robot retreats to the corner and does not interfere with subsequent operations.

The robot for exchanging catheters and guidewires Q4, see 10 to 13 , is used in interventional surgery to replace interventional surgery consumables such as guidewires, balloons or stent catheters. It can be used in conjunction with the interventional surgery robot to exchange the guidewires and catheters, or assist the doctor to complete the exchange of the guidewires and catheters. The present invention is used for threading and withdrawing the guidewire, threading the guide tube into the guidewire and inserting it into the Y-valve, withdrawing the catheter from the guidewire and other surgical operations. It can ensure that the catheter and guide wire are not displaced during the exchange of the guide wire and catheter, which ensures the safety of the procedure.

The catheter and guidewire replacement robot Q4 includes a base device, a head, and a drive arm device Q4400, where the drive arm device Q4400 is used to complete the catheter and guidewire replacement process. There are three sets of arms that can move independently of each other. The three sets of arms are installed on a connecting plate. Through two sets of screw motors and two sets of linear guide rails, the connecting plate can move forward and backward to realize the extension and retraction of the arms. The three sets of arms have a basically the same structure and can each move left and right move. In each set of arms there is a clamping mechanism used to clamp and release the guidewire or catheter. A pressure sensor is arranged in the clamping device and is used to detect the clamping force. The three sets of arms must move cooperatively during operation.

The drive arm device Q4400 includes an arm holder Q4312, the arm holder Q4312 being a portal-shaped frame, and having its lower part connected to the base device, and having on its upper surface two sets of Y-axis linear guide rails Q4308 mounted in parallel, and on each Y Axis linear guide rail Q4308 slides a first slider each, and a work plate Q4306 is attached to the top of the first slider, and the upper surface of the arm bracket Q4312 is between the two Y-axis linear guide rails Q4308 and on the upper surface there are two sets of Y-axis screw motors Q4309 are arranged in parallel, and wherein the screw rod of each set of Y-axis screw motors Q4309 fits into a first threaded hole provided on the work plate Q4306; and wherein on the top of the worktop Q4306 toward the catheter bed, a first arm mechanism, a second arm mechanism and a third arm mechanism are sequentially arranged in parallel, and wherein the Y-axis screw motor Q4309 is connected to the drive device at the base. Driven by the Q4309 Y-axis screw motor, the Q4306 work plate can move left and right to complete the extension and retraction of the entire arm.

Please refer 11 and 12 , the first arm mechanism, the second arm mechanism and the third arm mechanism have a same structure and each include a rectangular frame Q4423 which includes an L-shaped connecting portion and a clamping portion, and wherein the connecting portion is mounted on an X-shaped frame Q4312 fixed to the arm bracket Q4312. Axis linear guide rail Q4419 slides, and wherein a Y-direction guide rail on which a third slider slides is installed at the tip of the connecting section, and a right angle connector Q4422 provided with a third threaded hole is fixedly connected to the tip of the third slider, and wherein, at the connecting portion, a Y-direction screw motor Q4402 is fixed to the rear of the Y-direction guide rail through a Y-direction motor mount Q4401, and wherein the screw rod of the Y-direction screw motor Q4402 fits into the third threaded hole, and wherein the Y-direction screw motor Q4402 is connected to the driving device; and wherein connected to the front part of the rectangular connector Q4422 is a clamping member Q4420 which cooperates with the clamping portion to form the clamping mechanism. The Y-direction screw motor Q4402 drives the third slider to move to realize the clamping of the clamping section and the clamping member Q4420.

Please refer 11 , the front end of the rectangular connecting piece Q4422 advantageously has a first connecting projection, the clamping element Q4420 being a rectangular piece and its upper part having a second connecting projection cooperating with the first connecting projection, and wherein the first connecting projection is connected to the second connecting projection, and wherein the clamping section is vertically aligned with the connecting section and directed downward and is located at the front part of the worktop and the arm holder near the catheter bed side, and wherein the lower part of the clamping element Q4420 and the clamping section have the same shape, and a clamping area is formed between the two , and a medical grade silicone piece Q4418 is attached to the inner walls of both sides of the clamping area to prevent slipping.

The first connecting protrusion and the second connecting protrusion are offset to connect the two ends of the pressure sensor Q4421, the pressure sensor Q4421 being connected to the host of the base device to detect the magnitude of the clamping force. In this way, the clamping force is reported back to the host through the pressure sensor Q4421, the host sends a command to the control device to drive the corresponding motor. In this way, a controllable clamping force is ensured.

An X-direction drive plate Q44231 is connected to a side of the corresponding rectangular frame Q4423 in the first arm mechanism, second arm mechanism and third arm mechanism remote from the clamping section, each X-direction drive plate Q44231 corresponding to a set of X-direction drive mechanisms Q44232, and wherein the X-direction drive mechanism Q44232 is connected to the drive device. In order to facilitate driving, the three X-direction drive plates Q44231 have different lengths according to the arrangement, accordingly three sets of drive screw motors (Q4404, Q4403, Q4407) and three sets of drive motor brackets (Q4405, Q4406, Q4408) are arranged.

12 and 13 show the first arm mechanism, the second arm mechanism and the third arm mechanism from left to right, with the arm device facing the catheter side. The robot needs to control the first arm mechanism to clamp the guide wire at the front end Q4105, then the first arm mechanism is fixed so that it remains stationary. The third arm mechanism grasps the head end of the catheter Q4103 and the second arm mechanism grasps the tail end of the guide wire Q4102, by adjusting the position, the catheter catheter Q4103 is threaded into the guide wire Q4102, then the third arm mechanism pushes the catheter Q4103 to move forward when it approaches the As the second arm mechanism approaches, the second arm mechanism is released, then the second arm mechanism is controlled to move toward the Y valve for about 2 cm, the second arm mechanism is controlled to clamp the guide wire, the third arm mechanism is controlled to move the Q4103 catheter to move forward, the cycle continues until the tail end of the guide wire Q4102 is advanced out of the catheter Q4103 by about 3 cm, then the third arm mechanism is actuated to go back and move to the tail end Q4101, and the out The guide wire Q4102 exposed at the middle end of the catheter Q4103 is tensioned. Then the second arm mechanism is controlled to tension the catheter Q4103 at the middle end Q4104 and push it towards the Y-valve, the second arm mechanism pushes the catheter Q4103 forward. The third arm mechanism is actuated to move backward until the guidewire Q4102 is pulled into a straight line. When the second arm mechanism moves to the first arm mechanism, the movement of the second arm mechanism is stopped, the first arm mechanism is driven to grasp the Y valve Q4106, then the second arm mechanism is driven to insert the catheter Q4103 into the Y valve Q4106 to push. After reaching the Y-valve, the second arm mechanism is released and it goes back for about 2 cm, clamps the catheter and moves forward again, the cycle continues until the head end of the catheter Q4103 completely inserts into the Y-valve Q4106 entry.

When it is necessary to remove the Q4103 catheter from the Q4102 guide wire, at this time both the catheter and the guide wire are in the human blood vessel. When withdrawing the catheter, ensure that the position of the guide wire does not change. The third arm mechanism is controlled to clamp the guide wire Q4102 at a distance of 2-3 cm from the outlet of the Y-valve Q4106, the first arm mechanism is controlled to clamp the Y-valve Q4106, and the second arm mechanism is controlled to clamp to clamp the catheter Q4103 to the outlet of the Y-valve Q4106, thereby ensuring that the position of the third arm mechanism does not change, the second arm mechanism is controlled to move backwards and stop when it approaches the third arm mechanism approaches, then the third arm mechanism is released, then it moves backward for 2 cm and clamps the guide wire. the second arm mechanism is controlled to move further backwards and stop when it approaches the third arm mechanism, the cycle continues until the head end of the catheter leaves the tail end of the Y-valve Q4106 by 2-3 cm, then The first arm mechanism is controlled to move to the outlet of the Y-valve Q4106, clamping the guide wire and keeping it stationary. Then the second arm mechanism and the third arm mechanism are controlled to move backwards together until the catheter leaves the guide wire.

When replacing the guide wire, the guide wire is first threaded into the Y-valve Q4106, the third arm mechanism and the second arm mechanism are controlled to clamp a position of the guide wire near the head end, the first arm mechanism clamps the Y-valve Q4106 and keeps it stationary , the third arm mechanism and the second arm mechanism are controlled to push the guide wire forward into the Y valve Q4106, the second arm mechanism moves to the outlet of the Y valve and stops, then the third arm mechanism is released and it moves backwards for 2 cm and then clamps the guide wire, after which the second arm mechanism is released, it moves backwards for 2 cm and then clamps the guide wire. Then the third arm mechanism and the second arm mechanism move forward together until the second arm mechanism moves to the outlet of the Y valve, the cycle continues until 10-12 sets of movements are completed, and then it is stopped.

When the guide wire Q4102 is to be removed, the first arm mechanism is controlled to clamp the Y-valve Q4106 and keep its position unchanged. The third arm mechanism is controlled to move to the outlet of the Y valve Q4106, clamp the guide wire Q4102, and then move rearward until the head end of the guide wire Q4102 completely covers the rear end of the Y valve. Valve Q4106 leaves, it is now noted that the guidewire is completely removed.

The robot for delivering consumables Q5, see 16 , is used to automatically manage and deliver surgical supplies. The whole process is automated, saving human resources, the whole device has a compact structure and small volume, and is very suitable for the catheterization room environment. The robot includes a base device, a head and an actuator device.

Please refer 17 , the actuator device includes two arm components arranged symmetrically on the two sides of the head; wherein the arm component comprises an arm linear guide rail Q5226 attached to the top of the U-shaped lifting frame Q5237, and wherein an arm slider Q5230 to which a connecting element Q5224 is attached is slidably connected to the arm linear guide rail Q5226, and wherein on the connecting element Q5224 a rear arm Q5225 is attached; and wherein a center arm link Q5229 is rotatably connected to the front end of the rear arm Q5225, and a fifth servo motor Q5222 is installed on the rear arm Q5225, and the drive shaft of the fifth servo motor Q5222 is fixed to the center arm link Q5229; and wherein the center arm connecting member Q5229 is fixed to the center arm Q5228, and wherein a front arm Q5231 is rotatably connected to the front end of the center arm Q5228, and wherein a sixth servo motor Q5220 is installed on the center arm Q5228, and wherein the drive shaft of the sixth Servomotor Q5220 is attached to the front arm Q5231; and wherein a seventh servomotor Q5227 is attached to the front end of the front arm Q5231, and a third electric gripper Q5232 is attached to the drive shaft of the seventh servomotor Q5227; and wherein an arm screw motor Q5223 is installed on the U-shaped lifting frame Q5237, and the screw rod at the shaft end of the arm screw motor Q5223 is screwed to the threaded hole on a side surface of the connecting member Q5224.

The Q5 consumable delivery robot is used to deliver surgical consumables for interventional surgery. The base and lifting section are mainly used for moving and lifting the robot. The base controls the movement of the entire robot and includes four motor-controlled wheel sets. The lifting section can increase or reduce the height of the head component and the arm component of the system. The head and actuator device are mainly used for system identification and control of the arm. The head is the observation and output end of the system. Two cameras are arranged to observe the external environment. A second touch screen is arranged for feedback to the user and receiving commands from the user and provides the control end for the user. The head can be moved in all directions to realize better observation of the surroundings. The arm component is used to complete the grasping of objects. The arm component can extend and retract fore and aft, and the arm extends when grasping is required. After the gripping process is complete, the arm is retracted. The arm component allows the surgical consumable to be grasped and the packaging to be opened.

Advantageously, the robot for delivering consumables Q5 can be used in conjunction with an existing consumables management system or can be equipped with a separate consumables management system. The consumables delivery robot can wirelessly communicate with the consumables management system via Bluetooth etc. and work well together.

The Q6 fast charging robot, see 14 and 15 , quickly charges the respective robots in the operating room to ensure that each robot can work continuously. The Q6 fast charging robot is used in conjunction with a charging cabinet in the charging area, which is used to charge the batteries and the charging robot itself. Using the fast charging robot that automatically changes batteries for the other robots, the entire battery changing process is quick and can be completed within a minute. When the charging robot receives a signal that a battery change is needed, it automatically takes a fully charged battery, drives to the robot that needs a new battery, replaces its “old” battery and installs a “new” battery. The “old” battery is then returned to the charging cabinet outside the operating room and recharged. The entire process can be carried out automatically by the robot. The fast charging robot also includes a base device, a head and a body device.

The Q6100 loading cabinet is located outside the operating room (loading area 9) and has a Q6103 touch screen for human-computer interaction. The control host is installed in the housing of the Q6100 charging cabinet and connected to the network in which the interventional surgery robot is located and can receive signals about which specific robot needs a battery change. The Q6103 touch screen receives and returns information to the control host for data processing and storage; the case is equipped with a transformer inside to provide stable and suitable power input; its exterior has multiple charging compartments Q6102 for charging, ten charging compartments can be provided to meet the needs of charging the batteries of the surgical robot; each of the Q6102 charging compartments has a charging socket that fits into the Q6105 battery connector; A robot charging hole is provided below the Q6102 charging compartment; The Q6 fast charging robot is an automatic walking robot that is communicatively connected to the control host and is used to change the battery of the interventional surgery robot with a low amount of electricity and place the replaced battery into the Q6102 charging compartment for charging, which Charging compartment has a Q6204 charging head that fits into the charging hole.

When charging, the charging hole on the bottom of the Q6105 battery is connected to the charging plug in the Q6100 charging cabinet. At the front end of the Q6105 battery, an iron sheet is arranged, which is adsorbed and connected to the electromagnet in the charging cabinet, which can fix the battery. When the Q6105 battery is inserted into the Q6102 charging compartment, the system will automatically start charging the battery until it is fully charged. Then the power supply is automatically cut off and a message is given on the touch screen, at the same time a message is sent to the Q6200 charging robot so that the robot can quickly find the prepared battery. The system supports charging 10 sets of batteries at the same time, so that the battery replacement needs of multiple robots can be effectively met. If the charging robot itself runs out of power, it can be charged on the charging table under the charging cabinet. The charging cabinet is equipped with 2 sets of charging tables, which can charge 2 Q6 fast charging robots at the same time.

The fuselage device is used to push and withdraw the batteries as well as to raise and lower the system. The fuselage device can retract and extend fore and aft and up and down to slide out the batteries when required. When the movement is complete, it can be retracted. If the system as a whole works, the battery replacement action can be completed.

Please refer 15 , the fast-charging robot includes in particular a support plate Q6225 located on the chassis of the base device, the upper side thereof having a receiving compartment frame Q62271 which can move in a relatively vertical direction, and wherein the receiving compartment frame Q62271 has two horizontally arranged receiving compartments, one of which is used for transporting a fully charged Q6105 battery and the other is used for transporting a Q6105 battery with low electricity quantity; and wherein the top of the tray rack Q62271 is connected to the head mechanism; and wherein a connecting plate Q6227 extends outwardly from an end of the receiving compartment frame remote from the head mechanism, and wherein a telescopically movable gripping and pushing mechanism is arranged on the connecting plate Q6227 relative to the two receiving compartments, and wherein the gripping and pushing mechanism is connected to the drive device is.

On the two sides of the receiving compartment frame Q62271, two brackets Q6226 are attached to the support plate Q6225, with a vertical linear guide rail Q6224 being attached to the inner side surface of each bracket Q6226, and a first slider being slidably connected to each vertical linear guide rail Q6224, and where the first slider is attached to the two sets of brackets Q6226, respectively, to the outer wall of the receiving compartment frame Q62271; and wherein the two sides of the connecting plate Q6227 each have a first threaded hole, and wherein the screw rods of the two vertical screw motor components Q6212, Q6228 attached to the support plate Q6225 fit into the two first threaded holes, and wherein the vertical screw motor components Q6212, Q6228 are electrically connected to the drive device are. Therefore, the vertical screw motor components Q6212, Q6228 respectively realize cooperation with the first threaded holes on the left and right sides of the connecting plate Q6227 to complete the raising and lowering.

Please refer 15 , the gripping and sliding mechanism comprises two sets of horizontal linear guide rails Q6216, wherein the horizontal linear guide rails Q6216 are attached to the connecting plate Q6227 and are located behind the receiving compartment frame Q62271, and wherein a second slider is slidably connected to each horizontal linear guide rail Q6216, and wherein on each set of the second slides A plunger Q6211 is attached to each, and the bottom of each plunger Q6211 has a second threaded hole, and its end portion each has an electromagnet for adsorbing the iron sheet on the battery Q6105; and wherein the connecting plate Q6227 is located on the outside of the two sets of the horizontal linear guide rail Q6216 and two horizontal screw motor components Q6229 are attached to the connecting plate, and wherein the screw rod of the horizontal screw motor component Q6229 fits into the second threaded hole and is electrically connected to the driving device. By fitting the Q6229 horizontal screw motor component into the second threaded hole, the extension and retraction of the plunger are realized, with the electromagnet at the front end of the plunger matching with the iron sheet on the battery to grip the battery.

The cleaning robot, see 18 and 19 , mainly includes three parts - a base device Q7100, a body device Q7200 and a head and arm device Q7300. The entire device can move in the interventional surgery catheterization room to complete the cleaning of the floor and objects such as the catheter bed in the catheterization room, thereby ensuring a clean and sterile environment in the catheterization room.

The base device Q7100 is used to realize the movement of the robot and complete the cleaning operation of the floor, and includes a moving device, a sweeping device Q7101 and a floor scrubbing device Q7102, and the moving device is used to control the entire robot to move, and wherein the sweeping device Q7101 is used to complete the sweeping operation of the robot to remove garbage and dust on the floor, and the floor scrubbing device Q7102 is used to complete the floor scrubbing operation of the robot; and wherein the moving device, the sweeping device Q7101 and the floor scrubbing device Q7102 are installed as a whole on a floor plate Q7103, and a vertical column Q7104 for supporting the body device Q7200 is installed at four corners of the upper surface of the floor plate Q7103.

The moving device is constituted by four sets of wheel components having the same structure and driven by a motor, one set of which will be explained below. The wheel component includes a wheel Q7105, a wheel connecting plate Q7106, a first servo motor Q7107 and a second servo motor Q7108; wherein the wheel connection plate Q7106 has a rectangular shape and a wheel connection plate through hole is provided on a lower vertical plate of the wheel connection plate; and wherein the first servo motor Q7107 is fixed in the interior of the wheel connecting plate Q7106, and wherein its motor shaft is continuously connected to the wheel Q7105 on the outside of the lower vertical plate through the wheel connecting plate through hole, and wherein the first servo motor Q7107 controls the forward and backward movement Q7105 wheel controls; and wherein a motor installation hole is provided at four corners of the bottom plate Q7103, and wherein the second servo motor Q7108 is fixed in the motor installation hole at a corresponding position on the bottom plate Q7103, and its motor shaft is continuously connected to the upper cross plate of the wheel connecting plate Q7106 through the motor installation hole is, and wherein the second servo motor Q7108 controls the change of direction of the wheel Q7105. The first servo motor Q7107 cooperates with the second servo motor Q7108, and four sets of wheels Q7105 move together to realize the whole robot moves in all directions.

The Q7200 body device is mainly used for supporting, raising and lowering the robot, and includes a support plate Q7210 and control and power equipment installed on the support plate Q7210, sweeping control device, floor scrubbing control device and lifting device; wherein the bottom of the support plate Q7210 is connected to the top of the vertical column Q7104; the control and power supply equipment supplies power to the system and functions as a control information processing center for the entire system; the sweeping control device is connected to the sweeping device Q7101 to control the height of the sweeping device Q7101, so as to realize different working modes of the system; the floor scrubbing control device is connected to the floor scrubbing device Q7102 to control the height of the floor scrubbing device Q7102, in this way different working modes of the system are realized; the lifting device is connected to the head and arm device Q7300 to increase or reduce the height of the head and arm device Q7300.

The head and arm device Q7300 is mainly used to complete the system identification and arm control, and includes a bracket Q7301 of the head and arm device and a head device and arm device installed on the bracket Q7301 of the head and arm device, the bracket Q7301 the head and arm device is connected to the lifting device, and the head device is the observation and output end of the system, and the arm device is used to complete the grasping of the objects. The head device can be moved in all directions to realize better observation of the surroundings. The arm device is used to complete the grasping of objects. The arm device can extend and retract forward and backward, and the arm extends when grasping is required. After the gripping process is complete, the arm is retracted. The arm system can be used to complete the cleaning of the objects on the catheter bed.

The base device and the head device of the respective robots can have a similar structure, which is conducive to reducing the cost, thus improving the interchangeability of the robot components. The base is capable of running automatically, and the head or head device can rotate 360 degrees horizontally and move with bending or raising head to flexibly observe the surroundings. A communication module is arranged on each robot to ensure the communication capability of the entire system.

For the contrast agent injection device, existing technology can be used, such as an electric contrast agent injection device described in the patent document CN215608391U is revealed.

The automatic transfer vehicle 8 can adopt an existing transfer vehicle or a transfer system with an automatic loading function, see 20 to 22 , it includes a transfer vehicle 8100 and an automatic attachment and loading device (corresponding to a loading post 81 of the transfer vehicle), the automatic attachment and loading device comprising: a case hidden and embedded in the floor 8101 with its cover body 8316 opened can to expose the receiving cavity formed inside; a fastening mechanism 8304 located in the receiving cavity and used to automatically extend and fasten the transfer vehicle; an automatic charging mechanism located in the receiving cavity, its charging connector 8311 connected to an external power supply and capable of extending and retracting in the receiving cavity to charge the transfer vehicle; and a control cabinet 8200 used to display and store the information, parameter settings and the processing data, the control cabinet being connected to the automatic loading mechanism and the fixing mechanism 304. Using this solution, the charging of the automatic transfer device can be ensured to ensure normal operation of the automatic transfer device.

The bottom of the automatic transfer device has a fixing part cooperating with the fixing mechanism 8304, and its bottom has a charging head cooperating with the charging plug 8311. The two poles of the charging plug 8311 are each connected to the active line and the zero line of the mains power supply. At the same time, a route switch is arranged which detects whether the two plugs are connected.

Specifically, on the bottom of the automatic transfer device, four fixing holes 8102 are arranged corresponding to the four fixing mechanisms 8304; wherein the charging head 8110 is located in the tilt cover 8103 at the bottom of the automatic transfer device, and wherein the tilt cover 8103 is opened downward, and wherein a position sensor 8104 is installed next to the tilt cover, and wherein the position sensor 8104 is communicatively connected to the base station 8301 of the position sensor is. After all the fixing rods of the fixing mechanism 8304 are inserted into the fixing holes, the automatic transfer device is fixed robustly and it does not move freely with the vehicle body body.

The position sensor 8104 is used to cooperate with the position sensor base station 8301 to assist the automatic transfer device in positioning. After the automatic transfer device receives the coordinates of the position sensor base station 8301, the vehicle body body is controlled to move so that the automatic transfer device reaches the specified position.

The DSA device can be implemented using existing technology.

In the present description, the explanation in connection with the technical words "an embodiment", "some embodiments", "an example", "a specific example" or "some examples" refers to that explained in connection with the embodiment or example specific features, structures, materials or characteristics are included in at least one embodiment or example of the present invention. In this description, the schematic representations refer to the technical terms above not necessarily to the same embodiment or example. Additionally, the specific features, structures, materials, or features discussed may be suitably combined in one or more embodiments or examples. Additionally, those skilled in the art may combine and combine various embodiments or examples discussed in this specification.

Although the embodiments of the present invention are illustrated and explained above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art may make changes, modifications, substitutions and variations to the exemplary embodiments within the scope of the present invention.

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• CN 112353491 A [0044]
• CN 215608391 U [0094]

Claims (10)

An unmanned interventional operating room system, characterized in that it comprises: a catheterization room (1) which is an area for interventional surgery and has a catheter bed (101) therein; a control room (2) which is directly adjacent to the catheterization room (1), an observation window (201) being arranged between the catheterization room (1) and the control room (2); Robot, wherein the catheterization room (1) has inside a robot for interventional surgery (Q1), a master robot (Q2), a puncture robot (Q3) and a robot for exchanging catheters and guide wires (Q4) working together ; and wherein a DSA device (3) and a contrast medium injection device (4) are installed on the catheter bed (101); a monitoring device (5), the monitoring device (5) being arranged in the control room (2), which is communicatively connected to the robots, the DSA device (3) and the contrast medium injection device (4) in order to obtain information about each device and the robots that are synchronized and updated in real time to display for physician monitoring; and a controller (6), the controller (6) for the human-computer interaction between the doctors and the robots being arranged in the control room (2). Unmanned interventional operating room system Claim 1 , characterized in that there is a hospital room (7) for the recovery of patients near the catheterization room. Unmanned interventional operating room system Claim 2 , characterized in that an automatic transfer vehicle (8) moves between the hospital room (7) and the catheterization room (1) for the automatic patient transfer. Unmanned interventional operating room system Claim 3 , characterized in that a charging post (81) of the transfer vehicle is attached in the hospital room (7) in order to charge the automatic transfer vehicle (8). Unmanned interventional operating room system Claim 1 , characterized in that the robot further comprises a consumable delivery robot (Q5) which records the information about surgical consumables, delivers the surgical consumables to the catheterization room (1), and communicates with the monitoring device (5) and the controller (6). is communicatively connected. Unmanned interventional operating room system Claim 1 , characterized in that the robot further comprises a quick-charging robot (Q6) communicatively connected to a plurality of robots to replace batteries with a low amount of electricity. Unmanned interventional operating room system Claim 6 , characterized in that a charging area (9) for charging the replaced batteries with a low amount of electricity is arranged outside the catheterization room (1), a charging point for the quick-charging robot (Q6) being arranged in the charging area (9). Unmanned interventional operating room system according to one of the Claims 1 until 7 , characterized in that it further comprises a cleaning robot (Q7) communicatively connected to the controller (6), the cleaning robot (Q7) being used for automatically cleaning the catheterization room (1) after the procedure. Unmanned interventional operating room system according to one of the Claims 1 until 7 , characterized in that the monitoring device (5) comprises a plurality of display screens (51) which are supported by a screen holder (52). Unmanned interventional operating room system according to one of the Claims 1 until 7 , characterized in that the robot has priority over others, with the master robot (Q2) having the greatest authority, as instructor of the procedure, carrying out image diagnosis and instructing the other robots to cooperate.

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