Safety protection method in robot-assisted cardiovascular interventional operation

A robot-assisted and interventional surgery technology, applied in the field of surgical navigation, to achieve the effects of strong engineering applicability, convenient implementation, and low cost

Inactive Publication Date: 2017-11-21
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For robot-assisted interventional surgery, there is still no mature research at home and abroad to achieve the purpose of safety protection for blood vessel walls and other soft tissues by establishing a protection model between the guide wire and the vessel wall

Method used

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  • Safety protection method in robot-assisted cardiovascular interventional operation
  • Safety protection method in robot-assisted cardiovascular interventional operation
  • Safety protection method in robot-assisted cardiovascular interventional operation

Examples

Experimental program
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Embodiment

[0055] The present embodiment is realized in a personal computer of an Intel(R) Core(TM) i5CPU@2.66GHZ, an NVIDA GeForceGTX260 and 4GB internal memory, and the whole safety protection system adopts C++ programming language to realize, adopts QT to write interface. The third-party libraries used in the implementation of the system include VTK, Boost, and CGAL.

[0056] The implementation process of this embodiment is as follows figure 1 As shown, a safety protection method in a robot-assisted cardiovascular interventional operation specifically includes the following steps:

[0057] The first step is to segment the target blood vessel from the human abdomen CT and use the triangular surface mesh to geometrically model the blood vessel; the triangle surface mesh of the blood vessel is first to segment the blood vessel data file in STL format from the human CT data , and then use Netgen to generate a triangular surface mesh, and finally smooth the triangular surface mesh to gene...

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PUM

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Abstract

The invention relates to a safety protection method in robot-assisted cardiovascular interventional surgery, comprising: 1) geometrically modeling blood vessels; The curvature of the position point is normalized; 3) According to the curvature and radius information of the blood vessel, the inner area is dynamically divided, and the primary safety protection measures in robot-assisted cardiovascular interventional surgery are established; 4) The guide wire is tracked in real time with the help of an electromagnetic tracker The position of the front end is interpolated and reconstructed using the cardinal spline curve to establish the geometric model of the guide wire; 5) Calculate the inflection point and branch of the blood vessel under the surgical path, and dynamically constrain the advancing speed and angle of the guide wire; 6) Adjust the guide wire Perform collision detection with the vessel wall; 7) predict the collision response according to the collision detection result. Compared with the prior art, the invention has the advantages of stability, reliability, convenient realization, low cost, strong engineering applicability and the like.

Description

technical field [0001] The present invention relates to surgical navigation technology, in particular to a safety protection method in robot-assisted cardiovascular interventional surgery. The direct purpose is not to obtain diagnosis results or health status, but to obtain a processing method as an intermediate result from a living human body or animal body . Background technique [0002] With the improvement of human living standards, changes in living and eating habits and other factors, the incidence of cardiovascular disease (Cardiovascular Disease, CVD) has been rising year after year, and has become the main factor of the mortality rate of Chinese residents. According to the statistics of "China Cardiovascular Disease Report 2015", the incidence of cardiovascular disease has increased by 70% year-on-year in the past ten years. The pathogenesis of cardiovascular disease is complex and changeable, including traditional family history, smoking, high blood pressure and o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/20
CPCA61B34/20A61B2034/2051
Inventor 顾力栩陶丽
Owner SHANGHAI JIAO TONG UNIV
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