Tortuous blood vessel crossing control device and blood vessel robot system
A technology of robots and blood vessels, which is applied in the field of surgical robots, can solve problems such as difficult to guarantee the result of traversing and rely on doctor's experience, and achieve good traversing effects, reduced difficulty, and high degree of intelligence
Active Publication Date: 2022-03-11
APEIRON SURGICAL CO LTD
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Problems solved by technology
[0003] The present invention provides a tortuous blood vessel traversing control device and a vascular robot system to solve the technical problem that in the existing vascular interventional surgery, when manual traversing of tortuous blood vessels is required, it is difficult to guarantee the result of the traversal result, depending heavily on the experience of doctors
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[0057] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0058] It should be noted that when a component is referred to as being “fixed on” or “disposed on” another component, it may be directly or indirectly located on the other component. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. The indicated orientation or position is based on the orientation or position shown in the drawings, and is only for conv...
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The invention provides a tortuous blood vessel traversing control device and a blood vessel robot system. The device is arranged on a blood vessel robot. The blood vessel robot includes a catheter and a motor. The device includes a center point determination module, which is used to respond to the start command of the automatic traversing mode or detect the arrival of the front end of the catheter. The first target position is to determine and record the center point of the blood vessel section corresponding to the front end of the catheter; the target position determination module is used to control the front end of the catheter to use the currently recorded blood vessel section The center point is the starting point, and moves forward to the next first target position; the planning path determination module is used to determine the movement path according to the recorded center points of the blood vessel section if the number of recorded center points of the blood vessel section meets the preset number The path curve of the catheter, and according to the current position of the catheter tip and the path curve, determine the target point of movement through the tortuous blood vessel. The device can automatically pass through tortuous blood vessels, and has a high degree of automation.
Description
technical field [0001] The present invention relates to the technical field of surgical robots, and more specifically, to a tortuous blood vessel traversing control device and a blood vessel robot system. Background technique [0002] With the development of science and technology, vascular interventional surgery has been applied to the treatment of vascular diseases. At present, when performing vascular interventional surgery, it is necessary to pass through the blood vessel through a catheter, and finally reach the real affected area, and then perform corresponding treatment. However, in the face of tortuous vessels (such as figure 1 As shown in the left and right pictures), the doctor needs to manually control the traversing of the tortuous part of the blood vessel based on experience, and the manual traversing of the tortuous blood vessel is heavily dependent on the doctor's experience, and it is difficult to guarantee the result of the crossing. Contents of the inven...
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IPC IPC(8): A61B34/30A61B34/10A61B90/00
CPCA61B34/30A61B34/10A61B90/06A61B2034/303A61B2034/301A61B2034/107A61B2034/108A61B2090/064
Inventor 王迎智袁平马晓忠
Owner APEIRON SURGICAL CO LTD