Coronary artery intervention auxiliary device under DSA equipment

Abstract

The invention provides a coronary artery intervention auxiliary device under DSA equipment, and relates to the technical field of medical auxiliary equipment, and the coronary artery intervention auxiliary device comprises an auxiliary operation platform which comprises an arm supporting platform, one end of the arm supporting platform is connected with a hand supporting platform through a first driving mechanism, and a physiological data monitoring element is integrated on the surface of a wrist placing area on the hand supporting platform; the driving controller drives the mechanical arm to drive the auxiliary operation platform to move to a preparation position according to an upper body image, collected by the camera, of the patient; the displacement deviation between the current wrist position of the patient and the wrist placing area is recognized according to a platform image, collected by the camera, of the hand supporting platform; according to the displacement deviation, a first driving mechanism is controlled to drive a hand supporting platform to move, so that the wrist of the patient is located at the wrist placing position. The device has the beneficial effects that the right arm of a patient is uniformly supported from the shoulder to the wrist, and the safety and convenience of surgical operation are greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical auxiliary equipment, and particularly relates to a DSA device lower coronary artery intervention auxiliary device. BACKGROUND

[0002] Digital subtraction angiography (DSA) equipment is the core equipment for realizing blood vessel imaging and precise operation in coronary artery intervention surgery, and the right radial artery approach has become the preferred approach for more than 90% of coronary artery intervention surgeries due to its small trauma and fast postoperative recovery. The approach requires the patient to lie on the DSA bed in a standard supine position, and at the same time, the right arm is naturally extended so that the radial artery is fully exposed for the operator to operate. However, the current clinically used DSA bed is limited by imaging requirements and overall structure, and the bed body width is usually only 60-70cm. After the patient lies flat, his right hand and forearm will inevitably exceed the edge of the bed body and be in an unsupported state, and this structural defect directly leads to a series of clinical operation pain points.

[0003] Firstly, there is no adaptive support platform for the right hand and forearm, which seriously affects the convenience and safety of surgical operation. Coronary artery intervention surgery requires frequent use of fine instruments such as catheters, guide wires and contrast medium injectors. The stable placement and precise operation of these instruments depend on a flat support platform. In the existing clinic, in order to solve the problem of narrow DSA bed, some medical institutions will temporarily place a simple tray or folding bracket beside the bed as an auxiliary operation platform, but such a platform has obvious defects: on the one hand, the simple platform has no fixed connection structure with the DSA bed, and is easy to shift due to intraoperative collision, which increases the risk of instrument sliding off, and may even interfere with the surgical operation path; on the other hand, the platform cannot be flexibly adjusted according to the patient's body type (such as height and arm length difference), and the operator often needs to bend or side to operate, which not only increases muscle fatigue, but also may reduce the instrument control accuracy due to improper operation posture, prolong the operation time, and even increase the risk of complications such as blood vessel injury and contrast medium leakage.

[0004] Secondly, the existing auxiliary operation platform lacks integrated physiological data monitoring function, and it is difficult to meet the real-time monitoring demand in operation. In coronary intervention operation, the stability of patient's vital signs (such as body temperature, blood pressure, heart rate and blood oxygen saturation) is the key to ensure the safety of operation, especially the local circulation state of radial artery puncture site, which directly affects the operation effect and postoperative recovery. At present, physiological data monitoring mainly depends on independent external monitor, and the monitoring probe needs to be connected to the patient's limbs through a wire. The wire is easy to entangle on the auxiliary platform or surgical instruments temporarily set up, which not only interferes with the operation process, but also may cause the probe to fall off due to the pulling of the wire, causing the monitoring data to be interrupted; at the same time, the display screen of the monitor is usually placed 1-2 meters away from the side of the operation area. When the operator is concentrating on the radial artery puncture, catheter pushing and other delicate operations, he needs to frequently turn his head to check the monitoring data, and the angle of sight switching is 30°-60°. Not only the attention is dispersed, but also the key operation details may be missed in the moment of sight transfer. If there is an abnormal situation such as sudden drop of blood pressure and decrease of blood oxygen saturation, the operator needs to delay 1-2 seconds to realize it, which exists the safety hazard of information acquisition lag. Some medical institutions try to paste simple monitoring patches on the surface of the auxiliary platform, but such patches have no fixed positioning structure and are easy to shift with the micro-motion of the patient's limbs, resulting in the decrease of monitoring data accuracy and the inability to provide reliable real-time data support for the operator.

[0005] Furthermore, the position adjustment of the auxiliary operation platform depends on manual operation, which is low in efficiency and accuracy. Due to the significant individual differences in height, shoulder width and arm length of different patients, before each operation, the medical staff needs to manually move and adjust the position and angle of the auxiliary platform, which takes an average of 3-5 minutes for single adjustment, prolonging the operation preparation time and making it difficult to realize the precise fitting of the platform and the patient's right arm. Therefore, the fitting degree of the arm support area and the forearm is often insufficient, and the wrist placement position deviates from the optimal puncture area, resulting in the fatigue of the patient's limbs during operation, the involuntary body position change and the further increase of the puncture deviation risk.

[0006] In summary, the auxiliary operation structure matched with the current DSA device has the problems of no suitable support for right hand due to the limitation of the width of DSA bed, lack of integrated physiological monitoring function, and dependence on manual position adjustment, which seriously affects the efficiency, safety and accuracy of coronary intervention operation. Therefore, it is urgent to develop a DSA device under coronary intervention auxiliary device which can be linked with a mechanical arm, has automatic position calibration and integrated physiological data monitoring function, to solve the above clinical problems and provide safer, more efficient and more accurate operation support for coronary intervention operation. SUMMARY

[0007] In view of the problems in the prior art, the present application provides a DSA device under coronary intervention auxiliary device, comprising: An auxiliary operation platform is fixed to the end of the mechanical arm, and the auxiliary operation platform comprises an arm support platform, one end of the arm support platform is connected to a hand support platform through a first driving mechanism, and a wrist placement area on the hand support platform is integrated with a physiological data monitoring element; A driving controller is connected to the mechanical arm, the first driving mechanism, a camera fixed to the top of the DSA bed, the physiological data monitoring element and an external display device respectively, and the driving controller comprises: A first control module is configured to control the camera to capture an upper body image of a patient after the patient lies on the DSA bed in a standard supine position, and drive the mechanical arm to move the auxiliary operation platform to a preparation position according to the upper body image. A deviation identification module is configured to control the camera to capture a platform image of the hand support platform after the patient places a right arm on the auxiliary operation platform, and identify a displacement deviation between a current wrist position of the patient and the wrist placement area according to the platform image. A second control module is connected to the deviation identification module and configured to control the first driving mechanism to move the hand support platform according to the displacement deviation, so that the wrist of the patient is located at the wrist placement position. A display control module is configured to send patient data detected by the physiological data monitoring element in real time to the external display device for display, so as to be viewed by an operator.

[0008] Preferably, the arm support platform is a telescopic structure and is internally integrated with a second driving mechanism; and the first control module comprises: A first image processing unit is configured to identify a lateral boundary of a trunk of the patient and estimate an arm length of the patient according to the upper body image. A first control unit is connected to the first image processing unit and configured to control the second driving mechanism to adjust the arm support platform to a corresponding length according to the arm length. A second control unit is connected to the first image processing unit and configured to translate the lateral boundary of the trunk to the right side of the patient by a preset distance to obtain the preparation position, and then drive the mechanical arm to move the auxiliary operation platform to the preparation position, so that an outermost end of the arm support platform away from the hand support platform is flush with the preparation position.

[0009] Preferably, the first image processing unit comprises a first processing subunit configured to identify a right shoulder joint and a right wrist joint of the patient in the upper body image, and estimate the arm length of the patient according to a distance between the right shoulder joint and the right wrist joint.

[0010] Preferably, the first control unit comprises: a first calculation sub-unit, configured to calculate a platform telescopic amount according to the arm length and a current length of the arm support platform; a first control sub-unit, connected to the first calculation sub-unit, configured to control the second driving mechanism to act according to the platform telescopic amount so as to adjust the arm support platform to a corresponding length.

[0011] Preferably, the calculation formula of the platform telescopic amount is as follows: the platform telescopic amount = the arm length * natural arm bending coefficient - the current length.

[0012] Preferably, the second control unit comprises a second control sub-unit, configured to drive the mechanical arm to adjust the auxiliary operation platform to a preset arm abduction angle, and then move to the standby position.

[0013] Preferably, the deviation identification module comprises: an image recognition unit, configured to identify a projection point pixel coordinate of an arterial projection point of the patient's wrist in the platform image and a center pixel coordinate of the wrist placement area; a deviation calculation unit, connected to the image recognition unit, configured to calculate a pixel deviation between the projection point pixel coordinate and the center pixel coordinate, and convert the pixel deviation into the displacement deviation in the physical world.

[0014] Preferably, the arterial projection point is the midpoint of the line connecting the radial styloid process and the ulnar styloid process.

[0015] Preferably, a pressure sensor array is distributed on the arm support platform and connected to the driving controller, and the driving controller further comprises a pre-warning module, configured to receive pressure values of the patient's arms applied to each part of the arm support platform detected by the pressure sensor array, and generate pre-warning information and send it to the external display component for real-time display when any of the pressure values exceeds a pressure threshold value.

[0016] Preferably, it further comprises a gantry fixed to the right side of the DSA bed, one end of the mechanical arm is fixed to the gantry, and the other end of the mechanical arm is fixed to the middle part of the back of the arm support platform.

[0017] The above technical solution has the following advantages or beneficial effects: 1) Through the combination structure of the mechanical arm and the auxiliary operation platform, a flexible adjustable adaptive support system is constructed, the auxiliary operation platform is fixed at the end of the mechanical arm, the mechanical arm can realize multi-degree-of-freedom movement in three-dimensional space, combined with the automatic positioning function of the first control module based on the image of the upper body of the patient, the platform can be quickly moved to the preliminary position adapted to the right arm of the patient, without manual carrying and adjusting, avoiding the displacement risk caused by the simple platform without fixed connection, ensuring that the fine instruments such as catheter and guide wire are always on a stable operation plane; 2) The auxiliary operation platform is divided into arm support platform and hand support platform, and the position of the hand support platform can be independently adjusted by the first driving mechanism to realize personalized fitting, so that the right arm of the patient is uniformly supported from the shoulder to the wrist, the limb fatigue is significantly reduced, thereby effectively reducing the incidence of body position change during operation, avoiding the complications such as puncture deviation, blood vessel injury and contrast medium leakage caused by body position change as much as possible, and greatly improving the safety and convenience of operation; 3) The physiological data monitoring element is directly integrated on the surface of the wrist placement area of the hand support platform, closely fits with the wrist skin and is fixed in position, avoiding the deviation problem caused by the traditional patch due to limb micro-motion, and significantly improving the monitoring accuracy; at the same time, the monitoring data is transmitted to the external display device in real time through the display control module, and the display device can be flexibly arranged in the operation visual field range according to the needs of the operator, such as beside the DSA device display screen or above the operation table, so that the operator can synchronously view the operation details and physiological data without turning his head, the line-of-sight switching time is shortened to 0, and the information acquisition lag risk is completely eliminated, if abnormal conditions such as sudden drop of blood pressure and too low blood oxygen saturation occur, they can be detected and intervened in time, greatly reducing the operation risk caused by monitoring lag; in addition, the integrated design eliminates the external connecting wire of the traditional monitor, avoiding the monitoring data interruption problem caused by the wire winding around the instrument or pulling the probe, ensuring the continuity of monitoring data during the whole operation; 4) The deviation recognition is realized through camera image acquisition, and the closed-loop control logic of automatic driving adjustment is realized, so that the intelligent positioning and calibration of the auxiliary operation platform are realized, the positioning efficiency and accuracy of the platform are effectively improved, and the operation preparation time is shortened. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 In a preferred embodiment of the present application, a structure diagram of a DSA device lower coronary artery intervention auxiliary device. DETAILED DESCRIPTION

[0019] The present application will be described in detail below in conjunction with the drawings and specific embodiments. The present application is not limited to this embodiment, as long as it conforms to the main idea of the present application, other embodiments can also belong to the scope of the present application.

[0020] In the preferred embodiment of the present application, based on the above-mentioned problems existing in the prior art, a DSA device assisted coronary intervention auxiliary device is provided, as shown in the drawings, comprising: Figure 1 An auxiliary operation platform 1 is fixed to the end of the mechanical arm 2, and the auxiliary operation platform 1 comprises an arm support platform 11, one end of the arm support platform 11 is connected to a hand support platform 13 through a first driving mechanism 12, and the surface of the wrist placement area on the hand support platform 13 is integrated with a physiological data monitoring element 14. A driving controller 3 is connected to the mechanical arm 2, the first driving mechanism 12, a camera 4 fixed to the top of the DSA bed, the physiological data monitoring element 14 and an external display device 5, respectively, and the driving controller 3 comprises: A first control module 31 is used to control the camera 4 to capture the upper body image of the patient after the patient lies on the DSA bed in the standard supine position, and drive the mechanical arm 2 to move the auxiliary operation platform 1 to the standby position according to the upper body image. A deviation identification module 32 is used to control the camera 4 to capture the platform image of the hand support platform 13 after the patient places the right arm on the auxiliary operation platform 1, and identify the displacement deviation between the current wrist position of the patient and the wrist placement area according to the platform image. A second control module 33 connected to the deviation identification module 32 is used to control the first driving mechanism 12 to drive the hand support platform 13 to move according to the displacement deviation, so that the wrist of the patient is located at the wrist placement position. A display control module 34 is used to send the patient data detected by the physiological data monitoring element 14 in real time to the external display device 5 for display for the operator to view. Specifically, in the embodiment, the above-mentioned driving controller 3 is preferably integrated into a terminal device with an operation panel, such as a mobile terminal or a computer, and corresponding operation buttons can be provided on the operation panel, including but not limited to a standby support platform button and a position adjustment button.

[0021] More preferably, the above-mentioned terminal device supports wireless connection, and medical staff can freely operate the mobile terminal in the operation area, without being fixed in front of a specific console. For example, when guiding the patient to lie down, the real-time picture of the camera can be previewed on the terminal at the same time to confirm whether the patient's body position meets the standard supine position requirement, reducing the number of times to go back and forth to the console.

[0022]

[0023] ​In addition, the terminal device also has an operation permission grading function: only the operator or the head nurse can click the preparation support platform button (password or fingerprint verification is required), to avoid unauthorized personnel from misoperation and starting the device; and the position adjustment button can be authorized for the nurse to operate, to realize the division of labor mode of the operator focusing on surgical preparation and the nurse cooperating to complete platform calibration, and to improve the cooperation efficiency of the surgical team. At the same time, the operation panel of the terminal device also displays the device running state in real time, such as the mechanical arm power, the camera connection state, and the monitoring element working state. If there is an abnormality such as insufficient mechanical arm power or camera signal interruption, the medical staff can troubleshoot the problem at the first time to avoid surgical delay due to device failure.

[0024] In an actual surgical scene, the specific operation process of the DSA device under coronary artery intervention auxiliary device of the application is as follows: The medical staff first guides the patient to lie on the DSA bed in a standard supine position. After the patient lies down, the medical staff can generate a start instruction by clicking the preparation support platform button to start the DSA device under coronary artery intervention auxiliary device of the application. The camera 2 acquires the upper body image of the patient based on the start instruction and sends it to the drive controller 3, and then the drive controller 3 drives the mechanical arm 2 to move the auxiliary operation platform 1 to the preparation position according to the upper body image.

[0025] Then the medical staff guides the patient to naturally stretch the right arm and place it on the auxiliary operation platform 1. After placing it in place, the medical staff can generate an adjustment instruction by clicking the position adjustment button. The camera 2 acquires the platform image of the hand support platform 13 based on the adjustment instruction and sends it to the drive controller 3, and then the drive controller 3 identifies the displacement deviation between the current wrist position of the patient and the wrist placement area according to the platform image, and then controls the first driving mechanism 12 to drive the hand support platform 13 to move according to the displacement deviation, so that the patient's wrist is accurately placed in the wrist placement position, so that the physiological data monitoring element 14 integrated on the surface of the wrist placement area can accurately collect physiological data. The entire calibration process does not require manual measurement or estimation of deviation by medical staff, completely relies on automatic identification and adjustment of the system, reduces the human error rate, and ensures that the physiological data monitoring element can accurately adhere to the wrist skin after each calibration, and the monitoring data error is controlled within the clinically allowed range.

[0026] The above-mentioned auxiliary operation platform 1 is preferably made of carbon fiber composite material, which ensures lightweight and sufficient rigidity, and the platform edge can be designed as a low-arc rise to prevent instruments from falling off.

[0027] The surface of the aforementioned arm support platform 11 is preferably made of medical-grade silicone material, with corresponding arc-shaped grooves. When the patient's forearm is placed on the platform, the silicone material effectively prevents slippage, and the arc-shaped grooves restrict the lateral sliding of the forearm. Combined with the positioning function of the hand support platform, this effectively improves the stability of the entire right arm. Even when the surgeon performs operations requiring significant force, such as catheter pushing or guidewire rotation, it can prevent the patient's arm from shifting due to force, ensuring precise instrument operation. The curvature of the aforementioned arc-shaped grooves is preferably matched to the physiological curvature of the human forearm, and the groove depth is preferably 2 cm.

[0028] The surface of the connection between the arm support platform 11 and the hand support platform 13 is preferably provided with a flexible buffer layer. The flexible buffer layer can be made of medical polyurethane material to adapt to the natural bending state of the patient's arm, avoid the arm pressure caused by the rigid connection of the platform, improve the patient's arm comfort during the operation, and further reduce the risk of the patient's body position change caused by discomfort.

[0029] The aforementioned hand support platform 13 is preferably covered with a layer of medical-grade flexible silicone or film to protect the physiological data monitoring element 14 while providing a comfortable and non-slip contact surface for the patient, and to ensure uniform contact between the sensor and the skin, thereby reducing motion artifacts.

[0030] The aforementioned physiological data monitoring element 14 includes, but is not limited to: The bioelectrode uses flexible circuit materials to make comfortable contact with the skin and continuously monitor ECG signals.

[0031] A reflective photoplethysmography (PPG) sensor is used to continuously monitor blood oxygen saturation (SpO2) and pulse, and can then combine pulse wave signals with RCG signals to calculate blood pressure values ​​without the need for frequent cuff inflation. Once the wrist is properly positioned, the reflective PPG sensor is precisely aligned with the anatomical location where the radial artery pulsation is strongest (near the radial styloid process), which is crucial for obtaining high-quality blood oxygen and pulse wave signals.

[0032] Temperature sensor used to detect the patient's body surface temperature.

[0033] The collected physiological data is transmitted to the external display component 5 in real time, allowing the surgeon to fully understand the patient's condition without taking their eyes off the patient.

[0034] The aforementioned camera 2 is preferably a depth camera, which can be fixed on the DSA rack or the operating room ceiling, and its field of view can cover the DSA bed and the patient's upper body.

[0035] In a preferred embodiment of the present invention, the arm support platform 11 is a telescopic structure and integrates a second drive mechanism 15 internally; then the first control module 31 includes: The first image processing unit 311 is configured to identify a lateral boundary of the torso of the patient and estimate the arm length of the patient according to the upper body image. The first control unit 312 is connected to the first image processing unit 311 and configured to control the second driving mechanism 15 to adjust the arm support platform 11 to a corresponding length according to the arm length. The second control unit 313 is connected to the first image processing unit 311 and configured to translate the lateral boundary of the torso to a right side of the patient by a preset distance to obtain a preparation position, and then drive the auxiliary operation platform 1 to move to the preparation position by the mechanical arm 2, so that an outermost end of the arm support platform 11 away from the hand support platform 13 is flush with the preparation position.

[0036] Specifically, in order to accurately adapt to the arm length of different patients, in the embodiment, the arm support platform 11 is designed as a high-rigidity telescopic structure, and the specific structure is not limited as long as it can realize telescopic, for example, a multi-section sliding rail can be adopted to realize the telescopic structure, which is completely consistent with the telescopic sliding rail structure of the instrument tray on the side of the operating bed and the monitor support, and linear sliding is realized by nested cooperation of the inner rail and the outer rail. The second driving mechanism 15 is integrated in the arm support platform 11, and the driving mechanism preferably adopts an existing high-precision stepping motor or servo motor in combination with a ball screw transmission scheme to ensure smooth, quiet and accurate positioning during the telescopic process.

[0037] Further, the first image processing unit 311 includes a first processing subunit 3111 configured to identify the right shoulder joint and the right wrist joint of the patient in the upper body image, and estimate the arm length of the patient according to the distance between the right shoulder joint and the right wrist joint.

[0038] Preferably, the upper body image is an RGB-D (color + depth) image, and the first processing subunit 3111 estimates the arm length of the patient according to the distance between the right shoulder joint and the right wrist joint in combination with a pre-stored human anatomy statistical model. The first image processing unit 311 is further configured to accurately identify the lateral boundary of the torso of the patient by a semantic segmentation model.

[0039] Further, the first control unit 312 includes: The first calculation subunit 3121 is configured to calculate a platform telescopic amount according to the arm length and the current length of the arm support platform; The first control subunit 3122 is connected to the first calculation subunit 3121 and configured to control the second driving mechanism 15 to adjust the arm support platform 11 to a corresponding length according to the platform telescopic amount.

[0040] Specifically, after the first calculation sub-unit 3121 calculates the platform extension amount, the first control sub-unit 3122 sends an accurate pulse or analog quantity instruction to the second driving mechanism 15 to drive the arm support platform 11 to extend or contract smoothly to the optimal length matching the current patient arm length, ensuring that the entire forearm from the patient's shoulder to the wrist can be fully and uniformly supported, fundamentally solving the problem of insufficient support or cramped operation space caused by individual differences, realizing personalized physical adaptation, and ensuring that the wrists of patients with different arm lengths can all fall within the adjustable range of the hand support platform 13.

[0041] In addition, the second control unit 313 receives the torso outer boundary information from the first image processing unit 311, and based on a preset safety protocol, translates the boundary to the right side of the patient by a preset safety distance to calculate a preliminary position of the mechanical arm movement. This preliminary position ensures that the platform is at an optimal starting point that is within reach without interfering with the patient and the DSA device. The second control unit 313 then generates a path planning instruction to drive the mechanical arm 2 to smoothly and accurately move the entire auxiliary operation platform 1 to this preliminary position. At this time, the outermost end of the arm support platform 11 away from the hand support platform 13 (i.e., the end close to the patient's shoulder) must be flush with the preliminary position. This alignment creates the most ergonomic conditions for the next step of the patient naturally placing the arm, allowing the arm to fall on the platform in the most comfortable posture.

[0042] The above process realizes an automatic closed-loop process of measurement, extension, and positioning within a very short time after the patient lies down, significantly improving the efficiency and automation level of surgical preparation, and by actively adapting to the patient's body type, provides a stable, comfortable, and personalized operation basis for the operator, while maximizing the safety and comfort of the patient, fully embodying the precision and humanization of intelligent medical devices.

[0043] In a preferred embodiment of the present application, the calculation formula of the platform extension amount is as follows: Platform extension amount = arm length * natural arm bending coefficient - current length.

[0044] Specifically, in the embodiment, the natural arm bending coefficient is valued between 0.7 and 0.9, so as to simulate the most comfortable and natural forearm bending state of the patient during the operation, and avoid the problem that the platform is excessively elongated and the patient's arm is forced to be fully stretched, causing muscle tension and discomfort, caused by directly using the measured full arm length. In other words, after introducing the natural arm bending coefficient, the calculated platform stretching amount corresponds to an ergonomic and relaxed arm bending shape, which ensures that the platform actively maintains the patient's arm in a comfortable posture with low pressure and low fatigue while providing comprehensive support, significantly improving the patient's experience and safety during long-term operation.

[0045] In a preferred embodiment of the present application, the second control unit 313 comprises a second control subunit 3131 for driving the mechanical arm 2 to adjust the auxiliary operating platform 1 to a preset arm abduction angle, and then move to the standby position.

[0046] Specifically, in the embodiment, by driving the mechanical arm 2 to adjust the auxiliary operating platform 1 to a preset and optimized arm abduction angle, and then guiding the platform to move to the aforementioned standby position, it is ensured that the platform has been optimally prepared for the arm when it reaches the standby position.

[0047] The preset arm abduction angle is 60-80 degrees, which can effectively avoid compression and excessive traction of the brachial plexus, and is a recognized safe and comfortable range.

[0048] Considering that the above-mentioned preset arm abduction angle can be applied to most patients, but cannot cover all clinical scenarios, such as special patients with arthritis, periarthritis, thoracic deformity or previous shoulder surgery, who may not be able to tolerate the standard 60-80 degree abduction angle. More preferably, the embodiment can also correspondingly provide a configurable angle input port, so that medical staff can manually input an arm abduction angle required for this operation according to the specific situation of this operation and the individual physiological conditions of the patient, to adapt to the needs of different patients, so as to realize precise and personalized care for special patients, greatly expanding the application population of the present application.

[0049] In a preferred embodiment of the present application, the deviation recognition module 32 comprises: An image recognition unit 321 for recognizing the projection point pixel coordinates of the arterial projection point of the patient's wrist in the platform image and the center pixel coordinates of the wrist placement area; A deviation calculation unit 322 connected to the image recognition unit 321, for calculating the pixel deviation between the projection point pixel coordinates and the center pixel coordinates, and converting the pixel deviation into a displacement deviation in the physical world.

[0050] In a preferred embodiment of the present application, the arterial projection point is the midpoint of the line connecting the radial styloid process and the ulnar styloid process.

[0051] Specifically, in this embodiment, it is preferable to call a pre-trained wrist bone feature model, capture the bone protuberance profile of the radial styloid process and the ulnar styloid process through edge detection, then connect the pixel points of the two styloid processes through linear fitting, and calculate the pixel coordinates of the midpoint of the line, which are the pixel coordinates of the arterial projection point.

[0052] Further, the installation parameters of the camera 2 are combined in advance, such as the vertical distance between the camera and the hand support platform 13, the lens focal length, and the calibration grid on the platform surface, to construct a conversion matrix of pixel coordinates to physical coordinates, realizing accurate conversion of pixel deviation to displacement deviation in the physical world. Wherein, the above-mentioned calibration grid can be a millimeter-level calibration grid engraved on the surface of the hand support platform before leaving the factory, which is used to establish the corresponding relationship between pixels and physical length, i.e. each 1 pixel corresponds to a physical length, such as 0.1mm / pixel. Then, after obtaining the pixel deviation (including the deviation values in X-axis direction and Y-axis direction) of the arterial projection point and the center of the wrist placement area, the pixel deviation in each direction is multiplied by 0.1mm / pixel to obtain the physical displacement deviation. For example, if the X-axis pixel deviation is 20 pixels, the corresponding physical displacement deviation is 2mm. To realize the displacement deviation adjustment in the X-axis direction and the Y-axis direction, the corresponding first driving mechanism can refer to the design of the existing technology workbench to realize it by using two micro high-precision linear motors, which are responsible for translation in the X direction and the Y direction respectively.

[0053] Further, the point 2-3mm below the midpoint of the line connecting the radial styloid process and the ulnar styloid process is the main running area of the radial artery, which is the core target area of radial artery puncture in coronary intervention surgery. Taking this midpoint as the arterial projection point makes the identification of displacement deviation directly related to the core operation area of the surgery: after calculating the physical displacement deviation, adjusting the hand support platform essentially precisely aligns the puncture target area with the center of the wrist placement area. Since the center is pre-set as the core monitoring area of the physiological data monitoring element below, it not only ensures that the operator does not need to adjust the puncture position additionally during subsequent radial artery puncture, but also ensures that the physiological data monitoring element can precisely adhere to the skin around the puncture area, obtaining physiological data such as local skin temperature and peripheral oxygen saturation that can better reflect the local circulation state of the puncture site, effectively improving the relevance of monitoring data and surgical operation. For example, if local vascular spasm occurs after puncture, the monitoring element can quickly capture the abnormality through the change of blood oxygen in this area, providing 1-2 minutes of early warning compared with the traditional way of monitoring non-puncture areas, giving the operator time to take intervention measures (such as injecting nitroglycerin).

[0054] In the preferred embodiment of the present application, the arm support platform 11 is provided with a pressure sensor array 111 connected to the drive controller 3, and the drive controller 3 further comprises a warning module 35 for receiving the pressure values detected by the pressure sensor array 111 on the arm support platform 11 and generating a warning information when any pressure value exceeds the pressure threshold value, which is sent to the external display component 5 for real-time display.

[0055] Specifically, in the present embodiment, the pressure sensor array 111 preferably uniformly covers the entire surface of the arm support platform with a spacing of 5mm x 5mm. This high-density arrangement can accurately identify local high-pressure points where the arm contacts the platform, such as elbow and wrist edge compression caused by improper arm placement posture, and avoid pressure blind spots caused by excessive sensor spacing. The sensor is preferably packaged with flexible polyimide material, with a thickness of only 0.2mm, and is attached below the medical silicone layer on the platform surface, which does not affect the comfort of the patient's arm placement and can adapt to slight deformation of the platform, such as minor vibrations during robot arm adjustment, effectively reducing sensor failure rate and ensuring long-term stable operation.

[0056] Meanwhile, the pressure sensor array 111 preferably also has a dynamic range self-adaptive function. For obese patients (with heavier arms and pressures up to 30-40kPa), the array can automatically adjust the sensitivity of the measurement range to avoid problems such as inaccurate light pressure measurement and excessive heavy pressure range caused by fixed range, making pressure measurement for patients of different weights have high accuracy. In addition, the pressure sensor array 111 can calculate the overall contact area and average pressure value of the arm through multi-sensor data fusion, providing a quantitative basis for subsequent judgment of arm placement. Specifically, when the average pressure value is between 5-35kPa and the contact area exceeds 60% of the total area of the arm support platform, the system determines that the arm has been placed correctly, avoiding improper placement caused by only partial contact with the platform, such as elbow support and wrist suspension.

[0057] In addition, the warning module preferably also has a sub-regional pressure threshold database to set different threshold values according to the physiological tolerance of different parts of the arm: the elbow area (with rich muscle tissue and high tolerance) is set to 35kPa, and the wrist area (with dense nerves and blood vessels and low tolerance) is set to 20kPa, avoiding problems such as no warning for the elbow and excessive warning for the wrist caused by a uniform threshold. By monitoring the pressure distribution, if there is an abnormally high pressure point, i.e. any pressure value exceeds the pressure threshold value, it may indicate that the patient's position is not suitable or there is a risk of nerve compression, and a warning information can be issued.

[0058] Further, the early warning module can also analyze the pressure change trend in real time: if the pressure in a certain area increases rapidly from 10kPa to 25kPa within 10 seconds (for example, the patient unconsciously shrugs during the operation, causing the arm compression to increase), even if the threshold is not reached, a sudden pressure increase warning will be triggered, and potential risks will be prompted in advance; in addition, the warning will also be associated with the blood oxygen and heart rate data collected by the physiological data monitoring element: if the pressure in a certain area exceeds the threshold value at the same time, the oxygen saturation of the wrist decreases, it is determined that there is a risk of nerve and blood vessel compression, and the highest level of warning is triggered to avoid misjudgment of a single pressure indicator.

[0059] The above early warning information can be reminded in the following way: When the pressure slightly exceeds the threshold, only a yellow text prompt will pop up on the external display component 5, such as "elbow pressure is slightly high, please adjust the arm posture"; when the pressure exceeds the threshold, an orange prompt box can be popped up on the external display component 5 accompanied by a low-frequency buzzing sound; when there is a high risk of compression, a red flashing prompt box is popped up on the display component, a high-frequency buzzing sound is emitted, and a push notification is sent to the mobile terminal of the medical staff, ensuring that the operator and the nurse can be aware of it in the first time. This hierarchical response method not only avoids excessive early warning caused by slight pressure fluctuations that interfere with the operation, but also quickly attracts attention when there is a high risk, effectively shortens the response time of the early warning, and thus reduces the risk of nerve damage caused by limb compression during the operation.

[0060] In a preferred embodiment of the present application, a gantry support is fixed to the right side of the DSA bed, one end of the mechanical arm 2 is fixed to the gantry support, and the other end of the mechanical arm 2 is fixed to the middle part of the back of the arm support platform 11.

[0061] Specifically, in this embodiment, the gantry support body is preferably made of medical-grade 304 stainless steel, which has a tensile strength of 515MPa and a bending strength of more than 480MPa, can withstand the long-term load of the mechanical arm and the auxiliary operation platform, and has corrosion resistance, can withstand alcohol and chlorine-containing disinfectant wiping commonly used in DSA operating rooms, and is much better than traditional aluminum alloy supports.

[0062] Further, the mechanical arm end is connected to the middle of the back of the platform, so that the force point of the platform is located at the geometric center, avoiding the tilting of the platform caused by force deviation. When the auxiliary operation platform bears the instrument operation force of the operator or the pressure of the patient's arm, the central force can ensure uniform pressure distribution of each point of the platform, the data collected by the pressure sensor array is more accurate, and the pressure monitoring error caused by the tilting of the platform is reduced. From the perspective of kinematics, the mechanical arm is fixed to the middle of the cross beam of the gantry support, and the movement track can form a fan-shaped area with the support as the center, covering all the support needs of the patient's right arm from the shoulder to the wrist. In addition, the connection part of the mechanical arm and the support is preferably designed as a damping bearing, and the bearing damping coefficient can be adjusted in the range of 0.1-0.5 N·m through adjusting bolts, which can ensure the smoothness of the mechanical arm movement and lock the position after the platform is positioned, avoiding the displacement of the platform caused by external force touch, further improving the safety of the operation.

[0063] This installation method also solves the disadvantages of traditional mechanical arms fixed on the wall or the ground: wall fixing is limited by the position of the operating room wall, and the mechanical arm has insufficient movement range; ground fixing occupies the space of the operating room floor and is easy to collide with the movement of medical staff. The gantry support is fixed on the right side of the DSA bed, without the need to modify the DSA bed, and the movement space of the mechanical arm is completely expanded around the patient's right arm, effectively reducing the risk of equipment collision and avoiding the influence of operation process caused by equipment blocking. In addition, after the operation is completed, the mechanical arm can be controlled to drive the platform to rotate around the cross beam of the gantry support to any position, avoiding the occupation of the platform space beside the bed, and facilitating the transfer of the patient by the medical staff.

[0064] The above only describes the preferred embodiments of the present application, and does not limit the implementation and protection scope of the present application. For those skilled in the art, it should be realized that any equivalent replacement and obvious changes made according to the content of the present application should be included in the protection scope of the present application.

Claims

1. A DSA device under coronary intervention auxiliary device, characterized in that, The application relates to a medical auxiliary operation platform. The auxiliary operation platform is fixed to the end of the mechanical arm and comprises an arm supporting platform, one end of the arm supporting platform being connected to a hand supporting platform through a first driving mechanism, and the surface of a wrist placement area on the hand supporting platform being integrated with a physiological data monitoring element. A driving controller is connected to the mechanical arm, the first driving mechanism, a camera fixed to the top of a DSA bed, the physiological data monitoring element and an external display device, and comprises: A first control module is used for controlling the camera to collect an upper body image of a patient after the patient lies on the DSA bed in a standard prone position, and driving the mechanical arm to move the auxiliary operation platform to a standby position according to the upper body image. A deviation identification module is used for controlling the camera to collect a platform image of the hand supporting platform after the patient places a right arm on the auxiliary operation platform, and identifying the displacement deviation between the current wrist position of the patient and the wrist placement area according to the platform image. A second control module connected to the deviation identification module is used for controlling the first driving mechanism to drive the hand supporting platform to move according to the displacement deviation, so that the wrist of the patient is located at the wrist placement position. A display control module is used for sending the patient data detected by the physiological data monitoring element in real time to the external display device for display, so as to be viewed by an operator.

2. The DSA device assisted coronary intervention auxiliary device according to claim 1, characterized in that, The arm supporting platform is a telescopic structure and is internally integrated with a second driving mechanism. The first control module comprises: A first image processing unit is used for identifying the lateral boundary of the trunk of the patient and estimating the arm length of the patient according to the upper body image. A first control unit connected to the first image processing unit is used for controlling the second driving mechanism to act according to the arm length, so as to adjust the arm supporting platform to a corresponding length. A second control unit connected to the first image processing unit is used for translating the lateral boundary of the trunk to the right side of the patient by a preset distance to obtain the standby position, and then driving the mechanical arm to move the auxiliary operation platform to the standby position, so that the outermost end of the arm supporting platform away from the hand supporting platform is flush with the standby position.

3. The DSA device assisted coronary intervention auxiliary device according to claim 2, characterized in that, The first image processing unit comprises a first processing subunit, which is used for identifying the right shoulder joint and the right wrist joint of the patient in the upper body image, and estimating the arm length of the patient according to the distance between the right shoulder joint and the right wrist joint.

4. The DSA device-facilitated coronary intervention auxiliary device according to claim 2, characterized in that, The first control unit comprises: A first calculation subunit is used for calculating a platform telescopic amount according to the arm length and the current length of the arm supporting platform. A first control subunit connected to the first calculation subunit is used for controlling the second driving mechanism to act according to the platform telescopic amount, so as to adjust the arm supporting platform to a corresponding length.

5. The DSA device-facilitated coronary intervention auxiliary device according to claim 4, characterized in that, The calculation formula of the platform telescopic amount is as follows: The platform telescopic amount = the arm length * arm natural bending coefficient - the current length.

6. The DSA device-facilitated coronary intervention auxiliary device according to claim 1, characterized in that, The second control unit comprises a second control subunit for driving the mechanical arm to adjust the auxiliary operation platform to a preset arm abduction angle, and then move to the standby position.

7. The DSA device-facilitated coronary intervention assistance apparatus according to claim 1, characterized in that, The deviation identification module comprises: An image recognition unit is configured to identify a projection point pixel coordinate of an arterial projection point of the patient's wrist in the platform image and a center pixel coordinate of the wrist placement region; A deviation calculation unit is connected to the image recognition unit and configured to calculate a pixel deviation between the projection point pixel coordinate and the center pixel coordinate and convert the pixel deviation into the displacement deviation in the physical world.

8. The DSA device-facilitated coronary intervention assistance apparatus according to claim 7, characterized in that, The arterial projection point is a midpoint of a line connecting a radial styloid process and an ulnar styloid process.

9. The DSA device-facilitated coronary intervention auxiliary device according to claim 1, characterized in that, The arm support platform is provided with an array of pressure sensors connected to the drive controller, and the drive controller further comprises a warning module configured to receive pressure values applied by the patient's arms to the arm support platform detected by the array of pressure sensors and generate warning information and send the warning information to the external display component for real-time display when any of the pressure values exceeds a pressure threshold.

10. The DSA device-facilitated coronary intervention auxiliary device according to claim 1, characterized in that, Further comprising a gantry fixed to the right side of the DSA bed, one end of the mechanical arm is fixed to the gantry, and the other end of the mechanical arm is fixed to the middle part of the back of the arm support platform.

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