Catheter robot system for minimally invasive interventional operation in blood vessel

A robotic system and minimally invasive intervention technology, applied in the field of robotic systems, can solve problems such as unintuitiveness, high requirements for doctors' operating skills and experience in intubation, and influence, to ensure accuracy and stability, avoid X-ray radiation, and assist effect of surgery

Active Publication Date: 2011-04-27
杭州唯精医疗机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

With the development of science and technology and the increase in the number of patients, traditional interventional surgery has gradually exposed some shortcomings, which mainly focus on the following points: (1) Traditional surgery requires doctors to be present at the surgical site, but the surgical environment on site is poor, and artificial intervention The accuracy and safety of the catheter are difficult to be guaranteed; (2) the number of patients in different places is increasing, but the number of doctors with skilled intubation skills is limited, which cannot meet the needs of patients in different places; (3) the distal end of the traditional catheter has a fixed shape, To a certain extent, the difficulty of intubation surgery is increased, and the doctor's operation skills and experience in intubation are required to be high; (4) the traditional guiding image is a two-dimensional image, which is not intuitive, and the auxiliary reference information provided for the doctor is limited, and Two-dimensional images are obtained through X-ray irradiation, too much X-ray irradiation will have a certain impact on the body of the patient and the operating doctor
In response to the above deficiencies, traditional surgical methods and means have limited the development of minimally invasive interventional surgery, and a solution and technical method are needed to improve the manipulation ability of the catheter, improve the accuracy of catheter delivery, ensure the safety of intubation, and minimize the The use of X-rays to reduce the damage to patients and doctors can liberate doctors from the operation site, and enables doctors to perform operations on patients in different places in the control room, and doctors in the control room can obtain more intuitive information about the operation site, which can Better assist doctors in surgical operations

Method used

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  • Catheter robot system for minimally invasive interventional operation in blood vessel
  • Catheter robot system for minimally invasive interventional operation in blood vessel
  • Catheter robot system for minimally invasive interventional operation in blood vessel

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specific Embodiment approach 1

[0007] Specific implementation mode one: combine Figure 1 to Figure 8 , Figure 12 , Figure 13 and Figure 22 ~ Figure 27Explain that the system in this embodiment includes a display 2 for displaying three-dimensional virtual guidance images, a main handle 3 and a computer host 4; Handle 8, master-slave interventional device 9, magnetic field generator 10, controllable catheter 12 and mechanical arm fixing base 14; master-slave interventional device 9 includes handle manipulation mechanism 9-1 and catheter manipulation mechanism 9-2; displays three-dimensional virtual guide image The display 2, the master handle 3 and the computer host 4 are respectively arranged in the control room 11, and the control cabinet 6, the mechanical arm 7, the catheter handle 8, the master-slave intervention device 9, and the magnetic field generator are installed in the control room 11. The device 10, the controllable catheter 12, and the fixed base 14 of the mechanical arm are respectively a...

specific Embodiment approach 2

[0009] Specific implementation mode two: combination figure 1 , Figure 5 and Figure 6 Note that the catheter handle 8 in this embodiment includes the handle inner sliding sleeve 8-1, the handle outer sliding sleeve 8-3, the limit screw 8-4 and one or two rubber rings 8-2; the handle outer sliding sleeve 8- One end of 3 is an open end, and the other end of the outer sliding sleeve 8-3 of the handle is a closed end, and the closed end of the outer sliding sleeve 8-3 of the handle is provided with a position sensor lead wire passing through the hole 8-3-1, and the inner sliding sleeve of the handle is 8-3-1. One end of the sleeve 8-1 is set in the inner cavity of the handle outer sliding sleeve 8-3, and one or two rubber rings 8-2 are arranged between the handle inner sliding sleeve 8-1 and the handle outer sliding sleeve 8-3, and the handle The outer sliding sleeve 8-3 and the inner sliding sleeve 8-1 of the handle are slidably matched in the axial direction (the function of...

specific Embodiment approach 3

[0010] Specific implementation mode three: combination Figure 1 ~ Figure 4 and Figure 6 Note that the controllable catheter 12 in this embodiment includes a catheter head section 12-1, a bend controllable section 12-3, a sheath section 12-5, a pull wire 12-6, and one or two pose sensors 12-4 Catheter head section 12-1, bending controllable section 12-3 and sheath tube section 12-5 are affixed together successively to form a coaxial cavity pipe, and the front end of catheter head section 12-1 is a closed end (catheter head The section 12-1 and the sheath section 12-5 have relatively strong bending rigidity, the bending controllable section 12-3 has a smaller bending stiffness than the first two sections), and the rear end of the sheath section 12-5 is open end, the hollow tube is provided with a traction steel wire 12-6, one end of the traction steel wire 12-6 is fixedly connected to the front end of the catheter head section 12-1, and the other end of the traction steel wir...

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Abstract

The invention discloses a catheter robot system for a minimally invasive interventional operation in a blood vessel, relating to a robot system for assisting the minimally invasive interventional operation in the blood vessel, which aims to lower the radiation hazard to patients and doctors on site, realize compartmental interventional operation at different sites and feed back the conveying force of a catheter. A main hand handle and a computer mainframe are arranged in a control room; a control cabinet, a catheter handle, master and slave intervention devices, a magnetic field generator and a controllable catheter are arranged in an operation room; a pose signal of the main hand handle is delivered to the control cabinet after processed by the computer mainframe; the control cabinet is internally provided with a motion control card and a driver; the motion control card receives a command to send an instruction to the driver; the driver delivers a control signal to the motors of the master and slave intervention devices, thereby controlling the intervention devices to realize the pushing / pulling, rotation and bending operations of the controllable catheter; a pose sensor acquires pose information on a controllable bent section, and the pose signal is delivered by the motion control card to the computer mainframe for signal processing. The invention is used for the minimally invasive interventional operation in the blood vessel.

Description

technical field [0001] The invention relates to a robot system for assisting intravascular minimally invasive interventional operations. Background technique [0002] The traditional minimally invasive intravascular interventional surgery is that the doctor uses the two-dimensional guidance image obtained by X-rays to perform the interventional operation, and manipulates the catheter and guide wire to reach the target blood vessel of the lesion for subsequent surgical operations. It is a medical treatment for patients with diagnosis and treatment. Operation. With the development of science and technology and the increase in the number of patients, traditional interventional surgery has gradually exposed some shortcomings, which mainly focus on the following points: (1) Traditional surgery requires doctors to be present at the surgical site, but the surgical environment on site is poor, and artificial intervention The accuracy and safety of the catheter are difficult to be g...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B19/00A61B34/37
Inventor 付宜利王树国高安柱刘浩梁兆光李凯
Owner 杭州唯精医疗机器人有限公司
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