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Remote master-slave interactive medical system and method

A medical system, interactive technology, applied in the surgical system user interface, medical science, surgery and other directions, can solve the problems of poor interaction accuracy and real-time performance, high price, laborious dragging, etc. Realistic operation, accurate and reliable effect

Active Publication Date: 2021-03-30
北京天使之手机器人科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] One of the existing technologies is to collect the hand posture signal of the expert end through visual recognition to control the operation of the slave end robot. However, this method is easily blocked and easily affected by the light source. It has high requirements for the algorithm, and the interaction accuracy and real-time performance will be higher Difference
[0005] One of the existing technologies, the main end adopts commercial main hands such as forcedimension and haptic, and the working space of haptic is small, which cannot meet the requirements of B-ultrasound detection range
Forcedimension is expensive, and because there are driving components such as motors inside, dragging is relatively laborious
[0006] One of the existing technologies, the main end uses an analog B-ultrasound probe + touch panel to detect the position (X, Y direction). Since the touch panel is flat, it cannot simulate the real hand feeling (curved surface of the human body, soft and hard, etc.) during the doctor's examination, and Unable to implement side inspection of human body

Method used

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  • Remote master-slave interactive medical system and method
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  • Remote master-slave interactive medical system and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0061] like figure 1 As shown, a remote master-slave interactive medical system includes:

[0062] The main-end operating arm has a grip portion 11 for the operation of the main-end doctor; the main-end operating arm is provided with an encoder, a ranging sensor 6, a three-axis inclination sensor 10 and a main-end multi-dimensional force sensor 12;

[0063] Prosthesis 19; simulates a real human body, and is used to contact with the grip part to realize simulated operation, and the multi-dimensional force sensor 12 at the main end detects the applied force of the doctor in real time;

[0064] The slave-end robot 14 is provided with a slave-end multidimensional force sensor; the slave-end robot 14 communicates with the master-end operating arm, and acts in real time according to the signal processed by the slave-end computing unit;

[0065] The display unit displays in real time the attitude information of the master end, the multi-dimensional force information of the master en...

Embodiment approach

[0088] In a preferred embodiment of the present invention, adjustable damping is provided on the lifting mechanism, at the pivots between the base and the boom, and at the pivots between the boom and the forearm, and corresponding damping adjustment knobs 8 can also be set at corresponding positions.

[0089] According to the doctor's operating habits, the damping force of the movement can be adjusted arbitrarily to improve the realism of operation.

[0090] The manual linkage component is manually controlled by the operator, and the expert doctor manually controls the grip part 11 to move up and down and rotate in all directions in space. The structure of the manual linkage components is simple and easy to operate, which highly matches the operation of the actual operation process of experts.

[0091] Specifically, the lifting mechanism 7 is slidably arranged on the forearm. Preferably, the lifting mechanism 7 is connected with the forearm through slide rails. The lifting mec...

Embodiment 2

[0101] The present invention also relates to a remote master-slave interactive medical method, comprising: a master operating arm, a server, a display unit, a prosthesis, and a slave robot;

[0102] 1) Before the operation, the slave robot measures the body shape and surface to obtain the three-dimensional shape and surface information of the patient's surgical area;

[0103] 2) The doctor operates the main-end operating arm to move on the prosthesis, and the main-end computing unit collects the position, attitude, and force signals of the main-end operating arm and feeds them back to the slave robot after calculation and processing;

[0104] 3) The slave-end robot executes actions according to the received pose signal until the force on the slave-end is consistent with that of the master-end;

[0105] 4) The master doctor adjusts the operation and force application according to the medical image and force data fed back from the slave displayed on the display unit;

[0106] 5...

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Abstract

The invention relates to a remote master-slave interactive medical system and method, wherein the system comprises a master end operation arm, a prosthesis, a slave end robot and a display unit; the master end operation arm is provided with a holding part and is used for the operation of a master end doctor; the master end operation arm is provided with an encoder, a distance measuring sensor, a three-axis inclination angle sensor and a master end multi-dimensional force sensor; the prosthesis is used for making contact with the tail end of the handheld part of the master end operation arm tosimulate operation of a doctor, and contact force is collected by the master end multi-dimensional force sensor; the slave end robot is provided with a slave end multi-dimensional force sensor; the slave end robot is in interconnection communication with the master end operation arm and acts in real time according to the position, posture and stress information of the master end operation arm; andthe display unit is used for displaying a master end pose, a force signal, a slave end on-site audio and video, an medical image and a slave end robot three-dimensional force signal in real time. According to the invention, master-slave real-time interaction, feedback and verification are realized so as to ensure that a real scene can be simulated to achieve accurate medical operation.

Description

technical field [0001] The invention relates to the technical field of telemedicine, in particular to a remote master-slave interactive medical system and method. Background technique [0002] With the improvement of medical technology, remote interactive medical treatment is widely used. At present, most of the existing remote methods are experts guiding remote medical operations through video and audio; however, it requires high professional skills of doctors. Medical surgery or Medical examination, such as ultrasound examination, puncture, ultrasound-guided puncture, etc., due to the high concentration of medical resources in our country, most of the experts with this skill are distributed in first-tier cities such as Beijing, Shanghai, Guangzhou, Shenzhen, etc. Doctors in the majority of grassroots medical units rarely have high medical qualifications. skills; this will inevitably affect the timely treatment of local patients; [0003] As an improvement: [0004] One o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/35A61B34/00A61B34/10A61B90/00
CPCA61B34/35A61B34/76A61B34/25A61B90/06A61B34/10A61B2034/305A61B2090/065A61B2090/061A61B2034/105
Inventor 陈锦清
Owner 北京天使之手机器人科技有限公司