Master-slave minimally invasive vascular interventional surgery remote operation system

Abstract

The invention discloses a master-slave minimally invasive vascular interventional surgery remote operation system and belongs to the technical field of medical equipment. The system comprises a doctor control platform, a master-end control computer, visual feedback detection equipment, a wire and tube guiding manipulator, a slave-end control computer and a slave-end pose adjusting platform. The doctor control platform conducts motion of simulating the medical behavior of guiding a tube and a wire according to operation of a doctor and transmits motion information corresponding to the motion to the master-end control computer; the master-end control computer transmits the received motion information as a motion control command to the slave-end control computer; the slave-end control computer transmits the received motion control command to the wire and tube guiding manipulator; the wire and tube guiding manipulator moves according to the received motion control command and then conducts the medical behavior on a patient. Through the system, intervention can be completed according to operation information of the doctor, haptical information can be fed back to the doctor in real time, and therefore safety and operability of interventional surgery are improved.

Description

technical field [0001] The invention belongs to the technical field of medical equipment, and in particular relates to a remote operating system for master-slave minimally invasive vascular interventional surgery. Background technique [0002] Cardiovascular system disease is the most common type of disease in human beings. It is a major cause of death of the world's population and poses a serious threat to human health. Vascular diseases mainly include vascular tumors, thrombosis, vascular malformations, vasoconstriction, and vascular sclerosis. Vascular minimally invasive interventional surgery is a medical surgery mainly used for the diagnosis and treatment of cardiovascular and cerebrovascular diseases. Under the guidance of medical imaging equipment, with the help of interventional catheters along the lumen of blood vessels to reach distant lesion parts, such as coronary arteries, brain, liver and kidney blood vessels, and then perform minimally invasive treatment on t...

AI Technical Summary

Problems solved by technology

Tactile feedback has been involved in many studies, but the feedback method is far from the traditional way of directly touching surgical instruments. At the same time, the doctor's operation method is also very different from the traditional method, which makes the accumulation of traditional interventional surgery Experience skills are not well utilized, which is not in line with ergonomic requirements

Moreover, in the actual operation, the doctor's operation must be frequent replacement or simultaneous operation of the catheter and guide wire.

In many studies, the design of the catheter operation robot device at the surgical site is based on the friction roller method, which is easy to cause damage to the catheter, and the damaged catheter may also cause damage to the blood vessel. At the same time, there is a propulsion error in the friction push itself

And there is no function of operating the catheter and guide wire at the same time

Images