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Remote interactive ultrasound-guided puncture system and method with primary end force feedback

An interactive and remote technology, applied in the field of telemedicine, can solve the problems of poor interactive accuracy and real-time performance, high price, laborious dragging, etc., and achieve the effect of flexible and free plane movements, meeting the detection requirements, and high accuracy and reliability

Pending Publication Date: 2022-07-26
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 interactive ultrasound-guided puncture system and method with primary end force feedback
  • Remote interactive ultrasound-guided puncture system and method with primary end force feedback
  • Remote interactive ultrasound-guided puncture system and method with primary end force feedback

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0076] like figure 1 shown, a remote interactive ultrasound-guided puncture system with primary-end force feedback, comprising:

[0077] a prosthesis 19 for simulating a real human body;

[0078] The main-end operating arm has a holding part 11 for the operation of the main-end doctor; the holding part 11 is in contact with the prosthesis 19 to realize simulated operation; the main-end operating arm is provided with an encoder and a distance measuring sensor 6. The three-axis inclination sensor 10 and the main-end multi-dimensional force sensor 12; based on the data monitored by the encoder, the ranging sensor and the inclination sensor, obtain the position and attitude information of the holding part;

[0079] The main-end multi-dimensional force sensor is used to detect the force information of the grip portion in real time, that is, the main-end multi-dimensional force sensor 12 detects the force applied by the doctor in real time;

[0080] A simulated operating table, th...

Embodiment approach

[0105] 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.

[0106] According to the doctor's operating habits, the damping force of the movement can be adjusted arbitrarily to improve the realism of the operation.

[0107] 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 procedure.

[0108] 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 l...

Embodiment 2

[0128] The present invention also relates to a remote master-slave interactive ultrasonic guided puncture method, using the remote interactive ultrasonic guided puncture system with master end force feedback of the first embodiment, including the following steps:

[0129] 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;

[0130] 2) The doctor at the main end controls the drive mechanism to adjust the spatial position and posture of the prosthesis 19 according to the operation needs. The doctor operates the main end operating arm to move on the prosthesis 19. When the body 19 rises and falls, the master doctor can feel the feedback force of the prosthesis 19, and the master calculation unit collects the position, posture, and force signals of the master manipulator and feeds them back to the slave robot after calculation and processing;

[0131] 3) The sl...

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Abstract

The invention relates to a remote interactive ultrasonic guided puncture system and method with a master-end force feedback function. The remote interactive ultrasonic guided puncture system comprises a prosthesis, a master-end operating arm, a simulated operating table, a slave-end robot and a display unit. The main end operation arm is provided with a holding part, and the holding part makes contact with the prosthesis to achieve simulation operation. The main end operation arm is provided with an encoder, a distance measuring sensor, a tilt angle sensor and a main end multi-dimensional force sensor, and the position, posture information and stress information of a holding part can be obtained. The simulated operating table comprises a table top and a driving mechanism; the slave end robot is provided with a slave end multi-dimensional force sensor used for detecting the attaching force in real time. The slave end communicates with the master end, and acts in real time according to the position, posture and stress information of the holding part; the display unit displays the posture information and the multi-dimensional force information of the master end and the on-site audio and video information and the medical image of the slave end and the force signal of the slave end robot in real time. According to the invention, master-slave real-time interaction, feedback and verification are realized, the simulation scene is more real, and the medical operation is more accurate.

Description

technical field [0001] The invention relates to the technical field of telemedicine, in particular to a remote interactive ultrasonic guided puncture system and method with force feedback of a main end. 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 operati...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/35A61B34/00A61B34/20A61B17/34A61B90/00
CPCA61B34/35A61B34/76A61B34/77A61B34/20A61B17/3403A61B90/06A61B2034/2059A61B2034/2065A61B2034/2063A61B2034/2072A61B2017/3413A61B2017/3405A61B2090/064A61B2090/067
Inventor 陈锦清
Owner 北京天使之手机器人科技有限公司