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A remote master-slave interactive medical system and method

A medical system and interactive technology, applied in the user interface of surgical systems, medical science, surgery, etc., can solve the problems of poor interactive accuracy and real-time performance, high price, easy to be blocked, etc., achieve flexible and free plane movements, and improve operation A sense of reality and the effect of meeting the detection requirements

Active Publication Date: 2022-08-05
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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  • A remote master-slave interactive medical system and method
  • A remote master-slave interactive medical system and method
  • A 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 holding part 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] The prosthesis 19; simulates a real human body, and is used for contacting with the holding part to realize a simulated operation, and the main-end multi-dimensional force sensor 12 detects the applied force of the doctor in real time;

[0064] The slave-end robot 14 is provided with a slave-end multi-dimensional 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 the master-end attitude information, the master-end multi-dimensional force information, the slave-end liv...

Embodiment approach

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

[0090] The manual linkage component is manually controlled by the operator, and the expert doctor manually controls the grip portion 11 to move up and down in space and to rotate in all directions. The structure of the manual linkage part is simple and easy to operate, and it is highly matched with the operation of the expert's actual surgical process.

[0091] Specifically, the lifting mechanism 7 is slidably arranged on the forearm. Preferably, the lifting mechanism 7 is connected to the forearm through a slide rail. The lif...

Embodiment 2

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

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

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

[0104] 3) The slave robot performs actions according to the received pose signal, until the force on the slave is consistent with the master and stops the action;

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

[...

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Abstract

The invention relates to a remote master-slave interactive medical system and method, comprising: a master-end operating arm with a grip part for the operation of the master-end doctor; the master-end operating arm is provided with an encoder and a distance measuring sensor, A three-axis inclination sensor and a main-end multi-dimensional force sensor; a prosthesis, which is used to contact the end of the hand-held part of the main-end manipulator arm to simulate the operation of a doctor, and the contact force is collected by the main-end multi-dimensional force sensor; the slave-end robot is equipped with slave multi-dimensional force sensor at the end; the slave robot communicates with the master manipulator arm, and acts in real time according to the position, posture and force information of the master manipulator arm; the display unit, which displays the master end pose and force signal in real time, Live audio and video, medical images, and 3D force signals of slave robots. The present invention realizes master-slave real-time interaction, feedback and verification to ensure that the real scene can be simulated to achieve accurate medical operations.

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 has been widely used. At present, most of the existing remote methods are that experts guide remote medical operations through video and audio; Medical examinations, such as ultrasound examination, puncture, ultrasound-guided puncture, etc., due to the high concentration of medical resources in my country, most of the experts with this skill are located in first-tier cities such as Beijing, Shanghai, Guangzhou and Shenzhen. skills; this will inevitably affect the timely treatment of local patients; [0003] As an improvement: [0004] One of the existing technologies is to collect the hand gesture signal of the expert through visual recognition to control the operation of the slave robot. However, this met...

Claims

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Application Information

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Patent Type & Authority Patents(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