WO2024016382A1

WO2024016382A1 - Unmanned interventional surgery room system

Info

Publication number: WO2024016382A1
Application number: PCT/CN2022/109592
Authority: WO
Inventors: 黄韬
Original assignee: 北京唯迈医疗设备有限公司
Priority date: 2022-07-20
Filing date: 2022-08-02
Publication date: 2024-01-25
Also published as: CN115192203A; FR3138027A1

Abstract

An unmanned interventional surgery room system, comprising: a catheter room (1), said catheter room (1) being an area for interventional surgery, and a catheter table (101) being provided in the catheter room (1); a control room (2), said control room (2) being arranged adjacent to the catheter room (1), and an observation window (201) being arranged between the catheter room (1) and the control room (2); robots, the catheter room (1) being internally provided with an interventional surgical robot (Q1), a master control robot (Q2), a puncture robot (Q3) and a catheter and guide wire replacement robot (Q4) which cooperatively work with each other, and a DSA device (3) and a contrast agent injection device (4) being mounted on the catheter table (101); a monitoring device (5), the monitoring device (5) being arranged in the control room and being in communication connection with said robots, the DSA device (3) and the contrast agent injection device (4), so as to be used for displaying the information of each device and robot and synchronously updating same in real time for a doctor to monitor; and a controller (6), said controller (6) being arranged in the control room (2) and used for human-computer interaction between a doctor and the robots. The present invention achieves the objective of achieving unmanned intervention surgery by means of combining human monitoring and cooperation of robots, thereby reducing the effect of interventional surgery on the body health of doctors.

Description

An interventional unmanned operating room system

Technical field

The present invention relates to the technical field of minimally invasive vascular interventional surgery, and more specifically to an interventional unmanned operating room system.

Background technique

Minimally invasive cardiovascular and cerebrovascular interventional therapy is the main treatment method for cardiovascular and cerebrovascular diseases. Compared with traditional surgery, it has obvious advantages such as smaller incisions and shorter postoperative recovery time. Cardiovascular and cerebrovascular interventional surgery is a process in which doctors manually insert 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, because the DSA emits X-rays, the doctor's physical strength decreases quickly, and his concentration and stability will also decrease, which will lead to a decrease in operating accuracy and prone to blood vessel damage caused by improper pushing force. Accidents such as intimal injury and blood vessel perforation and rupture can lead to life-threatening consequences for patients. Secondly, long-term cumulative damage from ionizing radiation will significantly increase doctors' chances of suffering from leukemia, cancer, and acute cataracts. The phenomenon that doctors continue to accumulate radiation due to interventional surgeries has become a problem that cannot be ignored, damaging doctors' professional lives and restricting the development of interventional surgeries.

By using robotic technology, the robot can complete the interventional surgery process without human intervention, effectively solving the above problems. Of course, when the robot automatically completes the operation, manual monitoring of the operation process is still necessary. A variety of robots cooperate with each other to complete the entire interventional surgery process. The establishment of interventional unmanned operating rooms is the future development trend.

At present, there are several problems in interventional surgery: (1) In interventional surgery, from the puncture process to the control of catheter guidewires, patient transportation, delivery of consumables, and contrast agent Injections, replacement of surgical instruments, analysis of images, etc., all surgical procedures require the doctor's hands-on experience. The doctor is under great pressure and has heavy tasks; (2) Doctors wearing lead clothing for a long time can cause serious damage to the bones and muscles of the body. ; (3) Doctors are harmed by DSA radiation for a long time, which has a serious impact on their health; (4) Catheterization labs are used frequently and cleaning problems often occur; (5) The transportation of patients often requires more human resources; (6) The manual control of the catheter guidewire is not very precise and the surgical efficiency is not high.

Therefore, how to provide an interventional unmanned operating room system is an urgent problem that those skilled in the art need to solve.

Contents of the invention

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

To this end, the purpose of the present invention is to propose an interventional unmanned operating room system that first solves the above problems 1-3 and 6.

The invention provides an interventional unmanned operating room system, which includes:

Catheterization laboratory, which is an area for interventional surgery and has a catheterization bed;

A control room, the control room is provided immediately adjacent to the catheter room, and an observation window is provided between the catheter room and the control room;

Robot, the catheter laboratory has an interventional surgery robot, a main control robot, a puncture robot, and a catheter guidewire replacement robot that work together; the catheter bed is equipped with a DSA device and a contrast agent injection device;

A monitoring device. The control room is equipped with the monitoring device that is communicatively connected to the above-mentioned robot, DSA device and contrast agent injection device. It is used to display information of each equipment and robot and update it synchronously in real time for doctors to supervise; and

A controller is provided in the control room for human-computer interaction between the doctor and the robot.

It can be seen from the above technical solutions that, compared with the prior art, the present invention provides an interventional unmanned operating room system, in which the catheterization room and the control room are designed closely together, and multiple different functions are arranged in the catheterization room and cooperate with each other. The working robot, as well as the DSA device and contrast medium injection device installed on the catheter bed, cooperate to complete the operation, including at least image diagnosis, surgical puncture, catheter guide wire insertion, catheter guide wire replacement, catheter guide wire movement, angiography, etc. The operation improves the accuracy of the operation. The control room is equipped with a monitoring device to monitor various status information and a controller for human-computer interaction between the doctor and the robot. This enables manual monitoring and the robot combination to achieve the purpose of unmanned interventional surgery and solves the problem. Interventional surgery doctors have the problem of high pressure and heavy tasks. Doctors do not need to wear lead clothing for a long time in the control room. At the same time, they avoid long-term exposure to DSA radiation and reduce the impact of interventional surgery on doctors' health.

Furthermore, there is a ward near the catheterization laboratory for patients to rest.

Furthermore, an automatic transfer vehicle moves between the ward and the catheterization laboratory for automatically transporting patients. Problem 5 is solved, and no more human resources are needed to transport patients.

Further, a transfer vehicle charging pile is fixed in the ward for charging the automatic transfer vehicle.

Further, the robot further includes a consumables delivery robot, which records surgical consumables information and is used to deliver surgical consumables to the catheterization laboratory, and is communicatively connected with the monitoring device and the controller.

Further, the robot also includes a fast charging robot, which is communicatively connected with multiple robots and is used to replace batteries with low power.

Furthermore, a charging area for charging the replaced low-power battery is provided outside the catheterization room, and a charging position for the fast charging robot is provided in the charging area.

Further, a cleaning robot communicatively connected to the controller is included, and the cleaning robot is used to automatically clean the catheter chamber after the operation. Problem 4 is solved, no manpower is needed to frequently clean the cath lab, and cleaning efficiency is improved.

Further, the monitoring device includes a plurality of display screens, supported by a screen bracket.

Furthermore, the permissions of the robot have priority, and the master robot has the maximum permission and is the instructor of the surgery, used for image diagnosis, and instructs other robots to work together.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the provided drawings without exerting creative efforts.

Figure 1 shows the overall layout of the interventional unmanned operating room system;

Figure 2 shows the layout of the interventional unmanned operating room system in the catheterization room;

Figure 3 illustrates the flow chart of the interventional unmanned operating room system;

Figure 4 shows a schematic structural diagram of the main control robot;

Figure 5 shows a schematic structural diagram of the finger device of the main control robot;

Figure 6 shows an exploded diagram of the finger device of the main control robot;

Figure 7 shows a schematic structural diagram of the puncture robot;

Figure 8 shows a schematic structural diagram of the first finger device of the puncture robot;

Figure 9 shows a schematic structural diagram of the second finger device of the puncture robot;

Figure 10 shows a schematic structural diagram of the guidewire catheter replacement robot;

Figure 11 shows a schematic structural diagram of the arm device and head of the guidewire catheter replacement robot;

Figure 12 shows a top view of the arm device of the guidewire catheter replacement robot;

Figure 13 shows a schematic diagram of replacing the guidewire catheter;

Figure 14 shows a schematic structural diagram of the fast charging robot;

Figure 15 shows a schematic structural diagram of the grabbing and pushing mechanism of the fast charging robot;

Figure 16 shows a schematic structural diagram of the consumables delivery robot;

Figure 17 shows a schematic structural diagram of the consumables delivery robot arm assembly;

Figure 18 shows a schematic structural diagram of the cleaning robot;

Figure 19 shows a schematic structural diagram of the cleaning robot base device;

Figure 20 shows a schematic structural diagram of the automatic transfer vehicle;

Figure 21 shows a schematic diagram of the bottom structure of the automatic transfer vehicle;

Figure 22 shows a schematic structural diagram of the automatic charging and fixing device of the automatic transfer vehicle;

Figure 23 shows a schematic structural diagram of the monitoring device.

The main reference symbols are as follows:

1-cath lab, 101-cath bed, 2-control room, 201-observation window, 3-DSA device, 4-contrast injection device, 5-monitoring device, 51-display screen, 52-screen bracket, 6-control device, 7-ward, 8-automatic transfer vehicle, 81-transfer vehicle charging pile, 9-charging area, Q1-interventional surgery robot, Q2-main control robot, Q3-puncture robot, Q4-catheter guidewire replacement robot, Q5 -Consumables delivery robot, Q6-quick charging robot, Q7-cleaning robot.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", The orientations or positional relationships indicated by "bottom", "inside", "outside", etc. are based on the orientations or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply the device or device referred to. Elements must have a specific orientation, be constructed and operate in a specific orientation and therefore are not to be construed as limitations of the invention.

In addition, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more than two, unless otherwise explicitly and specifically limited.

In the present invention, unless otherwise clearly stated and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Since interventional surgery at this stage has multiple problems pointed out in the background technology, an embodiment of the present invention discloses an interventional unmanned operating room system, see Figures 1-3, including:

Catheterization laboratory 1. The catheterization laboratory 1 is an area for interventional surgery and has a catheterization bed 101 therein;

Control room 2, the control room 2 is provided immediately adjacent to the catheter room 1, and an observation window 201 is provided between the catheter room 1 and the control room 2;

Robot, the catheterization laboratory 1 has an interventional surgery robot Q1, a main control robot Q2, a puncture robot Q3, and a catheter guidewire replacement robot Q4 that work together in cooperation with each other; the catheter bed 101 is equipped with a DSA device 3 and a contrast agent injection device 4;

Monitoring device 5. The control room 2 is provided with the monitoring device 5 that is communicatively connected to the above-mentioned robot, DSA device 3 and contrast agent injection device 4. It is used to display the information of each equipment and robot and update it synchronously in real time. A physician provides supervision; and

Controller 6. The controller 6 is provided in the control room 2 for human-computer interaction between the doctor and the robot.

The present invention discloses an interventional unmanned operating room system, in which a catheter room and a control room are designed closely together, and multiple robots with different functions that work in conjunction with each other are arranged in the catheter room, and a DSA device and a contrast agent are installed on the catheter bed. The injection device cooperates with the completion of the operation, including at least image diagnosis, surgical puncture, catheter guidewire insertion, catheter guidewire replacement, catheter guidewire movement, angiography and other operations, which improves the accuracy of the operation. The control room is set up to monitor various status information. The monitoring device and the human-computer interaction controller between the doctor and the robot realize manual monitoring, and the robot combination realizes the purpose of unmanned interventional surgery, solving the problem of high pressure and heavy tasks for interventional surgery doctors. The doctor is controlling There is no need to wear lead clothing for a long time indoors, and it also avoids the harm of long-term exposure to DSA radiation, reducing the impact of interventional surgery on the doctor's health.

In one embodiment of the present invention, there is a ward 7 near the catheterization laboratory 2 for patients to rest. It is preferred that the ward and the cath lab be arranged opposite each other.

In one embodiment of the present invention, an automatic transfer vehicle 8 moves between the ward 7 and the catheterization laboratory 1 for automatically transporting patients; thus, there is no need to spend a lot of manpower to transport patients.

Advantageously, a transfer vehicle charging pile 81 is fixed in the ward 7 for charging the automatic transfer vehicle 8 .

In one embodiment of the present invention, the robot also includes a consumables delivery robot Q5. The consumables delivery robot Q5 records surgical consumables information and is used to deliver surgical consumables to the catheterization laboratory 1. It communicates with the monitoring device 5 Communication connection with controller 6.

In one embodiment of the present invention, the robot also includes a fast charging robot Q6. The fast charging robot Q6 is communicatively connected with multiple robots and is used to replace batteries with low battery power; thus solving the problem that the robot's battery power is low. Timely supplementary questions.

Advantageously, a charging area 9 for charging the replaced low-power battery is provided outside the cath lab 1 , and a charging position for the fast charging robot Q6 is provided in the charging area 9 .

In other embodiments of the present invention, a cleaning robot Q7 that is communicatively connected to the controller 6 is also included. The cleaning robot Q7 is used to automatically clean the catheter laboratory 1 after the operation. This eliminates the need for manual labor to frequently clean the cath lab and improves cleaning efficiency.

More advantageously, the monitoring device 5 includes a plurality of display screens 51 supported by screen brackets 52 .

In the above embodiments, the permissions of the robots have priorities, and the master robot Q2 has the maximum permissions and is the instructor of the surgery, used for image diagnosis and instructing other robots to work together.

In a specific embodiment of the present invention, the layout of the interventional unmanned operating room can be divided into four spaces. In the ward, a transfer vehicle charging pile is installed. In the charging area, there are charging devices. In the cath lab, there are interventional surgery robots, catheter beds, DSA devices, cleaning robots, main control robots, puncture robots, contrast agent injection devices, and guidewire catheter replacement robots. In the control room, there are monitoring devices and controllers. Among them, there are several robots active in different areas. They are automatic transfer vehicles that move between wards and cath labs. A fast-charging robot that moves between the charging area and the cath lab. The consumable delivery robot moves between the cath lab and the control room.

Referring to Figure 2, in the catheterization laboratory 1, the observation window 201 is made of lead glass, which is convenient for the control room to observe the catheterization laboratory. The catheter bed 101 is installed in the center of the catheter room 1, the DSA device 3 is installed at the bedside of the catheter bed 101, and the main control robot Q2 moves on the left side of the catheter bed 101. After the automatic transfer vehicle 8 enters the catheterization laboratory, it stops on the right side of the catheterization bed 101. After the patient gets on the catheterization bed 101, the automatic transfer vehicle 8 will exit the catheterization laboratory and wait at the door. The interventional surgery robot Q1 is installed on the guide rail on the side of the catheter bed 101. The contrast medium injection device 4 is placed on the catheter bed 101 . The cleaning robot Q7, the guidewire replacement robot Q4, and the puncture robot Q3 are parked in the corners of the cath lab. Will be moved out to work when needed. After taking the consumables, the consumable delivery robot Q5 will place them on the catheter bed 101, and then exit and wait outside the catheter room.

The complete process of the entire interventional surgery is roughly as follows: First, the patient waits in the ward. After receiving the news that the surgery can be performed, the automatic transfer vehicle can move freely. The patient lies on the automatic transfer vehicle. The automatic transfer vehicle will automatically transport the patient to the catheterization room along the predetermined route based on GPS guidance and stop on the side of the catheterization bed. Then, after the patient moves from the transfer vehicle to the catheter bed, the transfer vehicle automatically exits the catheterization room and stays outside the catheterization room, waiting for the end of the operation. After the patient lies down, the main control robot will instruct the puncture robot to start action. The puncture robot will move to the side of the catheter bed and begin to gradually disinfect the patient, local anesthesia, puncture, and insert the outer sheath. After the action is completed, the message will be conveyed to the main control robot. The main control robot begins to instruct the DSA device and the interventional surgery robot to prepare for action. With the assistance of the main control robot, the interventional robot cooperates with the image of the DSA device to complete the placement of the contrast guide wire and catheter at the appropriate position of the patient's blood vessel. The main control robot instructs the contrast agent injection device to inject the contrast agent. In the DSA device The image of blood vessels can be displayed on it. Adjust the angle of DSA and perform imaging in different postures to observe a more comprehensive vascular morphology. After obtaining different blood vessel images, the main control robot will analyze the condition based on the blood vessel images, and obtain the diagnosis result after comparing and analyzing with big data. If the operation needs to continue, the DSA device and interventional robot will be used to insert the guiding catheter. At this time, the main control robot will instruct the replacement guidewire and catheter robot to assist in completing the replacement of guidewires and catheters. At the same time, the main control robot will select the consumables required for the surgery and send them to the consumables delivery robot, or send instructions through the controller, and the consumables delivery robot will search for them. After finding the target consumables, the consumables delivery robot will place the surgical consumables on the catheter bed. The control robot will assist in installing the consumables on the interventional surgical robot. Then, based on the DSA images, the pushing of surgical consumables (such as stents) is completed step by step, during which the cooperation of the contrast agent injection device is required multiple times. The main control robot can complete the control of the DSA foot pedal during the operation. After the step-by-step operation is completed, the surgical treatment is successfully completed.

Then, with the assistance of the main control robot, all guide wire catheters are withdrawn from the human body. The main control robot helps the patient complete the bandaging. A message will be sent to let the automatic transfer vehicle enter the cath lab and stop on the side of the catheter bed. The patient will return from the catheter bed to the transfer vehicle. Then the transfer vehicle will take the patient back to the ward and stop in place.

During the operation, the status and data of all equipment will be displayed on the monitoring device in the control room. The doctor can supervise the entire operation. Once any abnormalities are found, the operation can be suspended at any time through the controller and adjustments made. Once the repair is complete, surgery can continue. Doctors can also use the controller to control the robot. After an operation is completed, the main control robot will instruct the cleaning robot to clean the cath lab, or the controller will send cleaning instructions to the cleaning robot to prepare for the next operation.

Each robot is powered by a lithium battery. If a robot detects that the battery is low, it will send a signal to the fast charging robot. The fast charging robot will move to the side of the robot with a fully charged lithium battery and replace it. Take the low-power battery and return it to the charging station for charging.

The robots and devices used in the above operation process can be existing robots that can achieve corresponding functions. Individual robots can also use the following robots. Only individual examples are used to illustrate the functions of the robots:

The interventional surgery robot Q1 can adopt a universal robot for interventional imaging and therapeutic surgery disclosed in the patent document CN112353491A, and connect it to the catheter bed.

The main control robot Q2 adopts a car body structure and can move in the catheter room. During surgery, the robot monitors various components including the DSA, catheter bed, and other robots, and can master the surgical process through machine learning, send instructions to guide each device to cooperate, and send various data to the monitoring system in real time. After the operation, the robot will move to the corner on its own without affecting other operations.

Referring to Figure 4-6, the main control robot Q2 includes: Q2100 base device, head and arm device Q2200 and finger device Q2300; the base device Q2100 has a walking device at the bottom for moving to the target area, and is provided with a A pedal device that simulates a doctor's feet to control the fluoroscopy and exposure actions of the DSA; the top of the base device Q2100 supports the head and arm device Q2200, which is used to complete identification information and positioning of fingers; the head and arms The finger device Q2300 is connected to the arm end of the device Q2200, which is used for grabbing, replacing and installing surgical equipment.

Among them, the finger device Q2300 includes:

Finger connection plate Q2301, the finger connection plate Q2301 is connected to the end of the arm;

Finger guide rail Q2303, the finger guide rail Q2303 is connected to the bottom of the finger connecting plate Q2301, and two finger sliders slide on the finger guide rail Q2303;

Finger screw motor Q2311, the finger screw motor Q2311 is fixed below the finger connection plate Q2301 through the finger motor bracket Q2310;

Connecting pieces Q2304, Q2309. Each of the finger sliders is connected to a connecting piece Q2304, Q2309. The two connecting pieces Q2304, Q2309 respectively have clockwise threads and threads that match the threads of the finger screw motor Q2311. Counterclockwise thread; when the finger screw motor Q2311 rotates, the two fingers Q2307 and Q2306 will move relative to each other or in opposite directions.

Three-dimensional pressure sensors Q2305 and Q2308 are connected to one of the three-dimensional pressure sensors Q2305 and Q2308 below each of the connecting pieces Q2304 and Q2309; and

Finger Q2306, Q2307, each of the three-dimensional pressure sensors Q2305, Q2308 is connected to one finger Q2306, Q2307 below. The inner surface of the finger Q2306, Q2307 is soft medical silicone, which can prevent damage to surgical equipment.

The three-dimensional pressure sensor installed in the finger device can feel the grasping force and ensure the accuracy of grasping.

Advantageously, the finger connecting plate Q2301 extends outward obliquely to form a finger camera bracket. At least one finger camera Q2302 is connected to the finger camera bracket. The finger camera 302 is arranged toward the fingers Q2306 and Q2307.

After clamping the object, the three-dimensional pressure sensors Q2305 and Q2308 will feel the pressure value. After reaching a certain value, the finger screw motor Q2311 stops moving. During the grabbing process, the finger camera Q2302 will always pay attention to the shape of the object to ensure that the equipment will not be pinched. Finger camera Q2302 is used to observe the environment at the finger end, which can facilitate robots and doctors to better observe the distribution and accurate position of objects.

It is worth mentioning that before the operation begins, the main control robot Q2 will automatically move to the catheter bedside, supervise and guide the operation of each equipment, and be responsible for grabbing and replacing surgical equipment during the operation. After the operation, the robot can automatically move to the corner without affecting the use and cleaning of other equipment. Before using the robot for the first time, learning and training are required. The purpose is to make the robot adapt to the environment of the cath lab and become familiar with the current medical equipment such as DSA, catheter bed, and other robots, and learn to operate well with other equipment. After multiple trainings, the robot will gradually master and remember the knowledge it has learned. After it is fully learned, it can be used normally to perform automatic surgery or assisted surgery. The robot system itself stores a large number of surgical images and standard surgical procedures, as well as numerous abnormal situation handling measures, which can be used in actual clinical practice. Moreover, the robot has an autonomous learning function and can record and analyze the scenarios of each subsequent surgery in order to select the optimal solution in subsequent surgeries.

The puncture robot Q3, see Figure 7, includes: a base device, a head and arm device and a puncture finger device. The puncture finger device is connected to the first finger device Q3300 and the second finger device Q3400 through two mechanical arms respectively. The base device receives information, stores information, processes information and sends instruction information through the puncture robot host. The first finger device is used to locate the puncture point during puncture surgery, and the second finger device is used for puncture. Both of them cooperate with each other during the operation. The grasping, replacement and installation of surgical equipment realizes robotic puncture surgery, which improves the accuracy of puncture, thereby reducing the occurrence of vasospasm due to repeated operations due to inaccurate puncture positions, and improving the safety of puncture surgery.

Specifically, referring to Figure 8, the first finger device Q3300 includes:

The first finger connection plate Q3302 is connected to the end of a robotic arm;

First finger guide rail Q3303, 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;

The first finger screw motor Q3305 is fixed below the first finger connecting plate Q3302 through the first finger motor bracket Q3304;

First connecting pieces Q3306, Q3312. Each of the first finger sliders is connected to a corresponding first connecting piece Q3306, Q3312. The two first connecting pieces Q3306, Q3312 are respectively provided with the first finger wires. The Q3305 thread of the lever motor matches the clockwise thread and counterclockwise thread;

First three-dimensional pressure sensors Q3307, Q3311, each of the first connecting pieces Q3306, Q3312 is connected below one corresponding first three-dimensional pressure sensor Q3307, Q3311; and

The first finger consumable Q3309 is connected below each of the first three-dimensional pressure sensors Q3307 and Q3311. The inner surface of the first finger consumable Q3309 is made of soft medical silicone.

Advantageously, first electromagnets Q3308, Q3310 are fixed between the first three-dimensional pressure sensors Q3307, Q3311 and the first finger consumable Q3309, and the first finger consumable Q3309 has a structure connected to the first electromagnet. Q3308, the first iron piece of Q3310 magnetic connection.

Among them, a groove is formed inside the first finger consumable Q3309, and the first iron piece is placed in the groove and magnetically connected with the electromagnet to facilitate the replacement of the consumable. First Finger consumables Q3309 are disposable consumables that have been sterilized by ethylene oxide, and a new set is used for each operation. The inner surface of the first finger consumable Q3309 is processed with soft medical silicone, which can prevent slipping and damage to surgical equipment.

More advantageously, one side of the first finger connecting plate Q3302 is tilted outward to form a first finger camera bracket. At least one first finger camera Q3301 is connected to the finger camera bracket, and the first finger camera Q3301 faces toward the finger camera bracket. The first finger consumable Q3309 is arranged in the direction described above. The first finger camera Q3301 is used to observe the environment at the finger end.

One of the first connecting pieces Q3306 and Q3312 is a clockwise thread, and the other first connecting piece Q3306 and Q3312 is a counterclockwise thread. Therefore, when the motor rotates, the two first finger consumables Q3309 will move relative or oppositely to achieve Clamping and opening of objects. After clamping the object, the first three-dimensional pressure sensors Q3307 and Q3311 will feel the pressure value. After reaching a certain value, the motor stops moving. During the grabbing process, the first finger camera Q3301 will always pay attention to the shape of the object to ensure that the equipment will not be pinched.

Referring to Figure 9, the second finger device Q3400 includes:

The second finger connecting plate Q3402, the top of the second finger connecting plate Q3402 is connected to the end of the other robotic arm, and the bottom of the second finger connecting plate Q3402 is formed with two parallel arranged and downwardly protruding mounting strips;

Two second finger guide rails Q3415, the second finger guide rails Q3415 are correspondingly installed below the installation strip, and at least two second finger sliders slide on each of the second finger guide rails Q3415;

a second finger screw motor Q3404, which is fixed below the second finger connection plate Q3402 through a second finger motor bracket and is located between the two installation strips;

Transition plate Q3406, the top of the transition plate Q3406 has a connecting block that is threadedly connected to the screw of the second finger screw motor Q3404, and the transition plate Q3406 is fixed to the bottom surface of the second finger slider;

Two third hand guide rails Q3405 are arranged parallel to the bottom of the transition plate Q3406 and perpendicular to the second hand guide rail Q3415. The lower part of each third hand guide rail Q3405 slides. At least two third finger sliders;

The third finger screw motor Q3407 is fixed between the two second finger guide rails Q3415 through a motor bracket;

The second connecting pieces Q3408, Q3414 are connected to each of the third finger sliders. One second connecting piece Q3408, Q3414 is connected to the second connecting piece Q3408, Q3414. The two second connecting pieces Q3408, Q3414 are respectively connected with the third finger wire. The screw thread of the screw motor Q3407 matches the clockwise thread and the counterclockwise thread;

The second three-dimensional pressure sensors Q3409 and Q3412 are connected to one of the second three-dimensional pressure sensors Q3409 and Q3412 below each of the second connecting pieces Q3408 and Q3414; and

The second finger consumable Q3411 is connected below each of the second three-dimensional pressure sensors Q3409 and Q3412. The inner surface of the second finger consumable Q3411 is made of soft medical silicone.

Among them, a groove is formed inside the second finger consumable Q3411, and the second iron piece is placed in the groove and magnetically connected with the electromagnet to facilitate the replacement of the consumable. The second finger consumable Q3411 is a disposable consumable sterilized by ethylene oxide, and a new set is used for each operation. The inner surface of the second finger consumable Q3411 is made of soft medical silicone, which can prevent slipping and damage to surgical equipment.

Advantageously, second electromagnets Q3410 and Q3413 are fixed between the second three-dimensional pressure sensors Q3409 and Q3412 and the second finger consumable Q3411, and the second finger consumable Q3411 has a structure connected to the second electromagnet. Q3410, the second iron piece magnetically connected to Q3413.

More advantageously, the second finger connecting plate Q3402 extends obliquely to both sides to form a second finger camera bracket, and each of the second finger camera brackets is connected to at least one second finger camera Q3401, Q3403. Finger cameras Q3401 and Q3403 are arranged toward the second finger consumable Q3411.

A second connecting piece Q3408, Q3414 is a clockwise thread, and the other second connecting piece Q3408, Q3414 is a counterclockwise thread. Therefore, in the third finger screw motor Q3407 (the third one refers to the sequence of the screw motor (not referring to the third finger)) when rotating, the two second finger consumables Q3411 will perform relative or opposite movements to clamp and open the object. After clamping the object, the second three-dimensional pressure sensors Q3409 and Q3412 will feel the pressure value. After reaching a certain value, the motor stops moving. During the grabbing process, the second finger cameras Q3401 and Q3403 will always pay attention to the shape of the object to ensure that the equipment will not be damaged. Driven by the second finger screw motor Q3404, the entire finger device below can move left and right. With the clamping action of the third finger screw motor Q3407, the reciprocating motion of the guide wire, outer sheath, etc. can be realized. Specifically, the rotation of the second finger screw motor Q3404 causes the second finger consumable Q3411 to move to the rightmost end, the rotation of the third finger screw motor Q3407 causes the second finger consumable Q3411 to clamp the guide wire or sheath, and the second three-dimensional pressure sensor Q3409 , Q3412 is used to feel the clamping force. After clamping, turn the second finger screw motor Q3404 to move the finger to the left to the extreme left. The third finger screw motor Q3407 opens the guide wire or outer sheath and turns the second finger screw motor. Q3404 returns to its original position and repeats this cycle until it reaches the desired position.

During the puncture work of the surgical puncture robot, take the radial artery puncture of the wrist as an example: after the operation starts, the required puncture surgical consumables are placed on the catheter bed, and the robot moves to the side of the catheter bed. Use the robot's first finger device to find the patient's wrist. After locating the radial artery, use your fingers to feel the pulse of the radial artery. You can use one finger to feel the pulse and the other finger to hang in the air to feel the three-dimensional pressure sensor on the finger consumable. Search for the pulse. If the position is wrong during the search, change the position and continue searching. If the pulse is felt, the finger camera will locate this position and use this position as the puncture point. The pulse detection process is: if the pressure value changes regularly, it means it is a pulse; if the pressure value does not change, it means it is not a pulse. The three-dimensional pressure sensor can be FA702-D or silicon piezoresistive. The size of the pressure sensor depends on the use. choose. The first finger device of the robot grabs a cotton ball dipped in alcohol and wipes the skin adjacent to the radial artery. The first finger device of the robot grabs the syringe of anesthetic, moves it to the attachment of the radial artery, and gently penetrates the skin. The robot's second finger device pushes the syringe to a certain dose and then stops. The first finger device holds the syringe. After waiting for a moment, use the robot's first finger device to gently grasp the patient's arm, and the robot's second finger device to grab the puncture needle. After using the second finger camera to find the puncture point, driven by the second finger screw motor, the robot slowly Slowly insert the puncture needle into the skin, and at the same time, use the two cameras of the second finger device to observe whether there is blood return. If blood return is found, stop moving the motor. 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 some, and then the second finger device grabs the puncture guidewire and inserts it into the puncture needle. Slowly push the guide wire back and forth for a certain distance. The first finger device holds the puncture port, and the second finger device pulls out the puncture needle. The second finger device grasps the outer sheath, and the first finger device grasps the distal end of the puncture guidewire. The second finger device inserts the outer sheath into the guide wire, then the first finger device holds the puncture port, and the second finger device penetrates the outer sheath into the blood vessel along the guide wire, and pushes it forward until the outer sheath port reaches the puncture port. mouth place. This completes the entire puncture process. After the puncture is completed, the robot retreats to the corner without affecting subsequent operations of the surgery.

Catheter guidewire replacement robot Q4, see Figure 10-13, is used in interventional surgery to replace interventional surgery consumables such as guidewires, balloons or stent catheters. It can be used with the interventional surgery robot to replace the guide wire catheter, or with the assistance of a doctor to complete the replacement of the guide wire catheter. The invention is used to complete the insertion and withdrawal of the guide wire, the catheter is inserted into the guide wire and pushed into the Y valve, the catheter is withdrawn from the guide wire and other surgical operations. It can be ensured that during the replacement of the guide wire catheter, the catheter and the guide wire will not be displaced, ensuring the safety of the operation.

The catheter guidewire replacement robot Q4 includes a base device, a head and a driving arm device Q4400. The driving arm device Q4400 is used to complete the action of replacing the guidewire catheter. There are 3 sets of arms, each of which can move independently. Three sets of arms are installed on a connecting plate. The connecting plate can move forward and backward through two sets of screw motors and two sets of linear guide rails to extend and retract the arms. The three sets of arms have basically the same structure and can all move left and right. There is a clamping mechanism within each set of arms that clamps and releases the guidewire or catheter. A pressure sensor is provided in the clamping device for detecting the clamping force. The three sets of arms must coordinate with each other when working.

The driving arm device Q4400 includes an arm bracket Q4312. The arm bracket Q4312 is a gantry-shaped frame, the lower part of which is connected to the base device. Two sets of Y-axis linear guide rails Q4308 are fixed parallel to the top plane, and each of the Y-axis linear guide rails Q4308 A first slider slides on both of them, and a working plate Q4306 is fixed on the top surface of the first slider. The top surface of the arm bracket Q4312 is located between the two Y-axis linear guide rails Q4308. There are two sets of Y-axis linear guide rails Q4308 arranged in parallel. Axis screw motor Q4309, the screw of each group of Y-axis screw motor Q4309 is driven in conjunction with the corresponding first threaded hole on the working plate Q4306; the top surface of the working plate Q4306 is close to the catheter bed The first arm mechanism, the second arm mechanism and the third arm mechanism are arranged in parallel directions in sequence, and the Y-axis screw motor Q4309 is connected to the driving device on the base. Driven by the Y-axis screw motor Q4309, the working plate Q4306 can move left and right to complete the extension and retraction of the entire arm.

Referring to Figures 11 and 12, the first arm mechanism, the second arm mechanism and the third arm mechanism have the same structure, and all include a right-angle frame Q4423. The right-angle frame Q4423 includes an L-shaped connecting section and a clamping section, so The connecting section slides on the X-axis linear guide Q4419 fixed on the arm bracket Q4312. A Y guide rail is installed on the top of the connecting section. A third slider slides on the Y guide rail. The third slider The top is fixedly connected to a right-angle connecting piece Q4422 with a third threaded hole. The connecting section is located at the rear of the Y-direction rail. The Y-direction screw motor Q4402 is fixed through the Y-direction motor bracket Q4401. The Y-direction screw motor The screw of Q4402 cooperates with the third threaded hole for transmission, and the Y-direction screw motor Q4402 is connected to the driving device; a clamping piece Q4420 is connected to the front of the right-angle connecting piece Q4422, and the clamping piece Q4420 is connected to the The clamping sections cooperate to form the clamping mechanism. The Y-direction screw motor Q4402 drives the third slider to move, thereby realizing the clamping of the clamping section and the clamping piece Q4420.

Advantageously, as shown in Figure 11, the front end of the right-angle connecting piece Q4422 has a first connecting boss, and the clamping member Q4420 is a right-angled piece, and its upper part has a second connecting boss that matches the first connecting boss. platform, the first connection boss and the second connection boss are connected, the clamping section is perpendicular to the connection section and downward, located in front of the working plate and arm support, close to the side of the catheter bed; the clamping The lower part of piece Q4420 has the same shape as the clamping section, and a clamping area is formed between the two. Medical silicone sheets Q4418 are fixed on the inner walls on both sides of the clamping area to prevent slipping.

The first connection boss and the second connection boss are arranged in a staggered manner and are used to connect the two ends of the pressure sensor Q4421, and the pressure sensor Q4421 is connected to the host of the base device for detecting the clamping force. As a result, the clamping force is fed back to the host through the pressure sensor Q4421, and the host sends instructions to the control device to drive the corresponding motor. Ensure the clamping force is controllable.

The corresponding right-angle frame Q4423 in the first arm mechanism, the second arm mechanism and the third arm mechanism is connected to an X-direction drive plate Q44231 on the side away from the clamping section, and each of the X-direction drive plates Q44231 corresponds to a group of X The X-direction driving mechanism Q44232 is connected to the driving device. X-direction drive mechanism Q44232. In order to facilitate driving, the three X-direction drive plates Q44231 are of different lengths according to the layout. There are three sets of drive screw motors (Q4404, Q4403, Q4407) and three sets of drive motor brackets (Q4405, Q4406, Q4408). ).

Figures 12 and 13 show from left to right the first arm mechanism, the second arm mechanism, and the third arm mechanism. The arm device faces the catheter side, and the robot needs to control the first arm mechanism to clamp the guide wire at the front end Q4105. Then fix the first arm mechanism so that it remains stationary. The third arm mechanism grabs the head end of the catheter Q4103, the second arm mechanism grabs the tail end of the guide wire Q4102, adjusts the position to penetrate the catheter Q4103 into the guide wire Q4102, and then the third arm mechanism pushes the catheter Q4103 forward and approaches When using the second arm mechanism, release the second arm mechanism, then control the second arm mechanism to move about 2cm in the direction of the Y valve, control the second arm mechanism to clamp the guide wire, and control the third arm mechanism to continue pushing the catheter Q4103 forward. Move and cycle in sequence until the tail end of the guide wire Q4102 passes about 3cm from the catheter Q4103, operate the third arm mechanism to retreat, move to the rear end Q4101, and clamp the guide wire Q4102 exposed from the middle end of the catheter Q4103. Then control the second arm mechanism at the middle end Q4104, clamp the conduit Q4103 and push it in the direction of the Y valve, and the second arm mechanism pushes the conduit Q4103 forward. Operate the third arm mechanism to move backward until the guide wire Q4102 is pulled into a straight line. When the second arm mechanism moves to the first arm mechanism, it stops moving the second arm mechanism, controls the first arm mechanism to grasp the Y valve Q4106, and then controls the second arm mechanism to push the catheter Q4103 into the Y valve Q4106, and after reaching the Y valve , release the second arm mechanism, and move back about 2cm, clamp the catheter and move it forward, in sequence, until the head end of the catheter Q4103 completely enters the Y valve Q4106.

When it is necessary to take out the catheter Q4103 from the guide wire Q4102, at this time, both the catheter and the guide wire are in the human blood vessel. When withdrawing the catheter, it is necessary to ensure that the displacement of the guidewire does not change. Control the third arm mechanism to clamp the guide wire Q4102 2-3cm away from the outlet of Y valve Q4106, control the first arm mechanism to clamp Y valve Q4106, and control the second arm mechanism to clamp the catheter Q4103 at the outlet of Y valve Q4106 to ensure the first The position of the three-arm mechanism does not move. Control the second arm mechanism to move backward until it is close to the third arm mechanism and then stop. Then release the third arm mechanism and move backward 2cm before clamping the guide wire. Control the second arm mechanism to continue to move backward until it is close to the third arm mechanism and stop, and cycle in sequence until the head end of the catheter is 2-3cm away from the tail end of Y valve Q4106, and then control the first arm mechanism to move to Y valve Q4106 At the exit position, clamp the guide wire and make sure it does not move. The second arm mechanism and the third arm mechanism are then controlled to move backward together until the catheter leaves the guide wire.

When replacing the guide wire, first insert the guide wire into the Y valve Q4106, control the third arm mechanism and the second arm mechanism to clamp the guide wire close to the head end, and the first arm mechanism clamps the Y valve Q4106 and maintains its position Without moving, control the third arm mechanism and the second arm mechanism to push the guide wire forward into the Y valve Q4106. The second arm mechanism moves to the exit of the Y valve and stops. Then release the third arm mechanism, move backward 2cm, and then Clamp the guide wire, release the second arm mechanism, move it backward 2cm and then clamp the guide wire. Then the third arm mechanism and the second arm mechanism move forward together until the second arm mechanism moves to the Y valve outlet and then stops. This cycle continues until 10-12 sets of movements are completed and then stops.

When the guide wire Q4102 needs to be taken out, the first arm mechanism is controlled to clamp the Y valve Q4106 and keep its position unchanged. Control the third arm mechanism to move to the outlet of Y valve Q4106, clamp the guide wire Q4102, and then move it backward until the head end of the guide wire Q4102 completely leaves the tail end of the Y valve Q4106. At this time, it is proved that the guide wire is completely take out.

The consumables delivery robot Q5, see Figure 16, is used to automatically manage and deliver surgical consumables. The entire process is automated, saving human resources. The overall device has a compact structure and small size, making it very suitable for the environment in the catheterization room. Including base device, head and execution device.

Referring to Figure 17, the execution device includes two arm assemblies symmetrically arranged on both sides of the head; the arm assembly includes an arm linear guide rail Q5226 fixed on the top surface of the U-shaped lifting frame Q5237, and an arm slider is slidingly connected to the arm linear guide rail Q5226. Q5230, the arm slider Q5230 is fixed with the connecting piece Q5224, and the connecting piece Q5224 is fixed with the rear arm Q5225; the front end of the rear arm Q5225 is rotatably connected to the middle arm connecting piece Q5229, and the fifth servo motor Q5222 is installed on the rear arm Q5225. The power shaft of the servo motor Q5222 is fixed to the middle arm connecting piece Q5229; the middle arm connecting piece Q5229 is fixed to the middle arm Q5228. The front end of the middle arm Q5228 is rotatably connected to the forearm Q5231. The sixth servo motor Q5220 is installed on the middle arm Q5228. The sixth servo motor The Q5220 power shaft is fixed to the forearm Q5231; the seventh servo motor Q5227 is fixed to the front end of the forearm Q5231, and the third electric gripper Q5232 is fixed to the power shaft of the seventh servo motor Q5227; the arm screw motor Q5223 is installed on the U-shaped lifting frame Q5237. The shaft end screw of the arm screw motor Q5223 is threadedly connected to the threaded hole on the side of the connecting piece Q5224.

The consumable delivery robot Q5 is used to deliver surgical consumables to interventional surgeries. Among them, the base and the lifting part are mainly used to realize the movement of the robot and the lifting of the robot. The base controls the movement of the entire robot, including four sets of wheel devices controlled by motors. The lifting part can raise or lower the height of the system head assembly and arm assembly. The head and execution device are mainly used to complete system identification and arm control. The head is the observation and output end of the system. There are 2 cameras set up to observe the external environment. A second touch screen is provided for providing information feedback to the user and receiving the user's instructions, and is the user's control terminal. The head can move in all directions to better observe the environment. The arm component is used to grasp objects. The arm assembly can telescope forward and backward, and the arms can be expanded when grabbing is needed. After the grasp is complete, the arm is retracted. Through the arm assembly, the grabbing of surgical consumables and the opening of the packaging can be completed.

Advantageously, the consumables delivery robot Q5 can be used in conjunction with the existing consumables management system, or it can be equipped with a separate consumables management system. It can communicate wirelessly with the consumables management system through Bluetooth and other forms, and can work well together.

The fast charging robot Q6, see Figures 14 and 15, quickly charges each robot in the operating room to ensure that each robot can continue to work. The fast charging robot Q6 is used in conjunction with the charging cabinet in the charging area. The charging cabinet is used to charge the battery and the charging robot itself. Using a fast-charging robot to automatically change batteries for other robots, the entire battery replacement process is fast and can be completed within 1 minute. After receiving the signal that the battery needs to be replaced, the charging robot can automatically carry a fully charged battery, drive to the robot that needs to replace the battery, replace its "old" battery, and install a "new" battery. The "old" battery is then taken back to the charging cabinet outside the operating room and recharged. The entire process can be automated by robots. Also includes base unit, head and torso units.

The charging cabinet Q6100 is located outside the operating room (charging area 9) and has a touch screen Q6103 for human-computer interaction. The control host is installed in the shell of the charging cabinet Q6100 and is connected to the network where the interventional surgery robot is located, and can receive specific information. Which robot needs to change the battery signal, the touch screen Q6103 receives and feedbacks the information, and transmits it to the control host for data processing and storage; a transformer for providing stable and appropriate power input is installed inside the housing; there are multiple external ones for charging Charging grid Q6102 can be equipped with ten charging grids to meet the needs of surgical robot battery charging; each of the charging grids Q6102 has a charging socket that matches the plug of the battery Q6105; there is a charging port below the charging grid Q6102 Robot charging hole; the fast charging robot Q6 is an autonomous walking robot that communicates with the control host. It is used to replace the battery of the low-power robot in the interventional surgery robot, and put the replaced battery into the charging slot Q6102 It is charged inside and has a charging head Q6204 that matches the charging hole.

When charging, the charging hole at the bottom of the battery Q6105 and the charging plug in the charging cabinet Q6100 are connected. There is an iron piece installed on the front end of the battery Q6105, which will be adsorbed and connected to the electromagnet in the charging cabinet to fix the battery. When the battery Q6105 is placed in the charging cell Q6102, the system will automatically start charging the battery. When the battery is full, it will automatically cut off the power and give a prompt on the touch screen. At the same time, it will also send a message to the charging robot Q6200. , allowing the robot to quickly find a ready battery. The system can support 10 sets of batteries to be charged at the same time, which can effectively meet the battery replacement needs of multiple robots. When the charging robot itself is out of power, it can be charged on the charging table under the charging cabinet. There are two sets of charging stations on the charging cabinet, which can allow two fast charging robots Q6 to charge at the same time.

Among them, the trunk device is used to push and retract the battery and lift the system. The torso device can telescope front and back, up and down, and push out the battery when it needs to be pushed. After the action is completed, it can be withdrawn. Through the overall cooperation of the system, the battery replacement action can be completed.

Referring to Figure 15, it specifically includes a support plate Q6225. The support plate Q6225 is located on the walking chassis of the base device. The top of the support plate Q6225 has a relatively vertically movable accommodation grid Q62271. The accommodation grid Q62271 has two horizontally arranged There are two accommodation compartments, one for accommodating and transporting a fully charged battery Q6105, and the other for accommodating and transporting a low-power battery Q6105; the top of the accommodation compartment Q62271 is connected to the head mechanism; one end of it is away from the head mechanism A connecting plate Q6227 extends outward, and a retractable and movable grabbing and pushing mechanism is provided on the connecting plate Q6227 relative to the two accommodation compartments. The grabbing and pushing mechanism is connected to the driver.

There are two brackets Q6226 fixed on the support plate Q6225 on both sides of the accommodation grid Q62271. A vertical linear guide rail Q6224 is fixed on the inner surface of each bracket Q6226, and on each of the vertical linear guide rails Q6224 Both are slidingly connected with first sliders, and the first sliders on the two sets of brackets Q6226 are fixed to the outer wall of the accommodation grid Q62271; both sides of the connecting plate Q6227 have first threaded holes, which are fixed to the support plate. The two vertical screw motor assemblies Q6212 and Q6228 on Q6225 are matched with the two first threaded holes, and the vertical screw motor assemblies Q6212 and Q6228 are electrically connected to the driver. Thus, the vertical screw motor components Q6212 and Q6228 cooperate with the first threaded holes on the left and right sides of the connecting plate Q6227 to complete the lifting.

Referring to Figure 15, the grabbing and pushing mechanism includes two sets of horizontal linear guide rails Q6216. The horizontal linear guide rails Q6216 are fixed on the connecting plate Q6227 and are located behind the accommodation grid Q62271. Each of the horizontal linear guide rails Q6216 The guide rails Q6216 are slidingly connected with second slide blocks. Each set of second slide blocks is fixed with a push rod Q6211. Each push rod Q6211 has a second threaded hole at the bottom and an electromagnet at its end. , used to absorb the iron pieces on the battery Q6105; the connecting plate Q6227 is located outside the two sets of horizontal linear guides Q6216, and is fixed with two horizontal screw motor assemblies Q6229. The screws of the horizontal screw motor assembly Q6229 are connected to The second threaded hole fits and is electrically connected to the driver. Therefore, the horizontal screw motor assembly Q6229 cooperates with the second threaded hole to realize the extension and retraction of the push rod. The electromagnet at the front end of the push rod cooperates with the iron piece on the battery to grab the battery.

The cleaning robot Q7, see Figures 18 and 19, mainly consists of three parts, the base device Q7100, the torso device Q7200, and the head and arm device Q7300. The overall device can move in the catheterization room of interventional surgery to complete the cleaning of the floor, catheter bed and other items in the catheterization room, ensuring a clean and sterile environment in the catheterization room.

The base device Q7100 is mainly used to realize the movement of the robot and complete the floor cleaning action. It consists of three parts: the movement device, the sweeping device Q7101, and the floor wiping device Q7102. The movement device is used to control the overall robot movement, and the sweeping device Q7101 is used to complete the sweeping action of the robot. , to clean the garbage and dust on the ground, the floor wiping device Q7102 is used to complete the robot's floor wiping action; the movement device, sweeping device Q7101, and floor wiping device Q7102 are integrally installed on a base plate Q7103, and each of the four corners of the upper surface of the base plate Q7103 is equipped with a Column Q7104 used to support the torso device Q7200.

The motion device consists of four sets of wheel assemblies with the same structure and driven by motors, one of which is explained below. The wheel assembly includes a wheel Q7105, a wheel connecting plate Q7106, a first servo motor Q7107, and a second servo motor Q7108; the wheel connecting plate Q7106 is in a right-angled shape, and a wheel connecting plate through hole is provided on the lower vertical plate; the first servo motor Q7107 is fixed In the inner space of the wheel connecting plate Q7106, and its motor shaft passes through the through hole of the wheel connecting plate and is connected to the wheel Q7105 on the outside of the lower vertical plate. The first servo motor Q7107 controls the forward and backward movement of the wheel Q7105; the four corners of the bottom plate Q7103 Each has a motor mounting hole. The second servo motor Q7108 is fixed in the motor mounting hole at the corresponding position on the base plate Q7103, and its motor shaft passes through the motor mounting hole and is connected to the upper horizontal plate of the wheel connecting plate Q7106. The second servo motor Q7108 controls the steering of wheel Q7105. The first servo motor Q7107 and the second servo motor Q7108 cooperate, and the four sets of wheels Q7105 move together to achieve all-round movement of the entire robot.

The trunk device Q7200 is mainly used to support and lift the robot, including the support plate Q7210 and the control and power supply equipment, sweeping control device, mopping control device, and lifting device installed on the support plate Q7210; the bottom of the support plate Q7210 and the top of the column Q7104 connected; the control and power supply equipment supplies power to the system and serves as the control information processing center of the entire system; the sweeping control device is connected to the sweeping device Q7101 to control the height of the sweeping device Q7101 to realize different working modes of the system; the sweeping control device is connected The floor wiping device Q7102 is used to control the height of the floor wiping device Q7102 to realize different working modes of the system; the lifting device is connected to the head and arm device Q7300 and is used to raise or lower the height of the head and arm device Q7300.

The head and arm device Q7300 is mainly used to complete system identification and arm control, including the head and arm device bracket Q7301 and the head device and arm device installed on the head and arm device bracket Q7301. The head and arm device bracket Q7301 Connected to the lifting device, the head device is the observation and output end of the system, and the arm device is used to complete the grabbing of objects. The head device can move in all directions to achieve better observation of the environment. The arm device is used to grasp objects. The arm device can telescope forward and backward, and the arms can be unfolded when grabbing is needed. After the grasp is complete, the arm is retracted. Through the arm system, the cleaning of items on the catheter bed can be completed.

The structures of the base device and the head device of each of the above-mentioned robots can be the same, which is beneficial to reducing costs and improving the interchangeability of robot parts. The base can realize automatic walking, and the head or head device can realize 360-degree horizontal rotation and pitching movement, making it convenient to flexibly observe the surrounding environment. Each robot is equipped with a communication module to achieve communication of the entire system.

The contrast medium injection device can adopt existing technology, such as an electric contrast medium injection device disclosed in patent document CN215608391U.

The automatic transfer vehicle 8 can be an existing transfer vehicle or a transfer system with automatic charging function. See Figures 20-22, including the transfer vehicle 8100, automatic fixation and automatic charging device (equivalent to the transfer vehicle charging pile 81 ), in which the automatic fixing and automatic charging device includes: a shell, which is hidden and embedded in the ground 8101, and its cover 8316 can be opened to expose the accommodation cavity formed inside; a fixing mechanism 8304, the fixing mechanism 8304 Located in the accommodation cavity, it is used to automatically extend and fix the transfer vehicle; an automatic charging mechanism, the automatic charging mechanism is located inside the accommodation cavity, and its charging plug 8311 is connected to an external power supply and is retractable in the accommodation cavity, Used for charging the transfer vehicle; and a control cabinet 8200, the control cabinet 8200 is used for displaying, storing information, parameter settings and processing data, and is connected with the automatic charging mechanism and the fixing mechanism 304. Using this solution can ensure that the automatic transfer device is charged, thereby ensuring the normal operation of the automatic transfer device.

The bottom of the automatic transfer device has a fixing part that cooperates with the fixing mechanism 8304, and the bottom of the automatic transfer device has a charging head that cooperates with the charging plug 8311. The two poles of the charging plug 8311 are connected to the live wire and neutral wire of the network power supply respectively, and a travel switch is also provided to detect whether the two plugs are connected.

Specifically, the bottom of the automatic transfer device is provided with four fixing holes 8102 relative to the four fixing mechanisms 8304; the charging head 8110 is located in a flip cover 8103 at the bottom of the automatic transfer device, and the flip cover 8103 is opened downward. , a position sensor 8104 is installed next to it, and the position sensor 8104 is communicatively connected to the position sensor base station 8301. When the fixing rods of the fixing mechanism 8304 are inserted into the fixing holes, the automatic transfer device is firmly fixed and will not cause the car body to move randomly.

The position sensor 8104 is used to cooperate with the position sensor base station 8301 to assist the automatic transfer device in positioning. After receiving the coordinates of the position sensor base station 8301, the automatic transfer device controls the moving vehicle body so that the automatic transfer device reaches a determined position.

The DSA device can be implemented using existing technology.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "an example," "specific examples," or "some examples" or the like means that specific features are described in connection with the embodiment or example. , structures, materials or features are included in at least one embodiment or example of the invention. In this specification, the schematic expressions of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may join and combine the different embodiments or examples described in this specification.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above-mentioned embodiments are illustrative and should not be construed as limitations of the present invention. Those of ordinary skill in the art can make modifications to the above-mentioned embodiments within the scope of the present invention. The embodiments are subject to changes, modifications, substitutions and variations.

Claims

An interventional unmanned operating room system, which is characterized by including:

Catheterization room (1), the catheterization room (1) is an area for interventional surgery, and has a catheterization bed (101) therein;

A control room (2), the control room (2) is provided immediately adjacent to the catheter room (1), and an observation window (201) is provided between the catheter room (1) and the control room (2);

Robot, the catheter laboratory (1) has an interventional surgery robot (Q1), a main control robot (Q2), a puncture robot (Q3), and a catheter guidewire replacement robot (Q4) that work together; the catheter bed (101 ) is equipped with a DSA device (3) and a contrast medium injection device (4);

Monitoring device (5). The control room (2) is provided with the monitoring device (5) that is communicatively connected to the above-mentioned robot, DSA device (3) and contrast agent injection device (4), and is used to display various equipment and The robot's information is updated synchronously in real time for doctors to supervise; and

A controller (6) is provided in the control room (2) for human-computer interaction between the doctor and the robot.
An interventional unmanned operating room system according to claim 1, characterized in that there is a ward (7) near the catheterization room (2) for patients to rest.
An interventional unmanned operating room system according to claim 2, characterized in that an automatic transfer vehicle (8) moves between the ward (7) and the catheterization laboratory (1) for automatically transferring patients. .
An interventional unmanned operating room system according to claim 3, characterized in that a transfer vehicle charging pile (81) is fixed in the ward (7) for charging the automatic transfer vehicle (8).
An interventional unmanned operating room system according to claim 1, characterized in that the robot further includes a consumables delivery robot (Q5), the consumables delivery robot (Q5) records surgical consumables information and is used to transfer the surgical consumables Sent to the catheterization laboratory (1), which is communicatively connected with the monitoring device (5) and the controller (6).
An interventional unmanned operating room system according to claim 1, characterized in that the robot further includes a fast charging robot (Q6), the fast charging robot (Q6) is communicatively connected with a plurality of robots for replacement Low battery.
An interventional unmanned operating room system according to claim 6, characterized in that a charging area (9) for charging replaced low-power batteries is provided outside the catheterization room (1), and the charging area (9) 9) is provided with a charging position for the fast charging robot (Q6).
An interventional unmanned operating room system according to any one of claims 1-7, characterized in that it also includes a cleaning robot (Q7) communicatively connected with the controller (6), the cleaning robot (Q7) ) is used to automatically clean the catheter laboratory (1) after the operation.
An interventional unmanned operating room system according to any one of claims 1 to 7, characterized in that the monitoring device (5) includes a plurality of display screens (51) supported by a screen bracket (52).
An interventional unmanned operating room system according to any one of claims 1 to 7, characterized in that the authority of the robot has priority, and the main control robot (Q2) has the maximum authority and is the instructor of the operation. , used for image diagnosis and instructing other robots to work together.