Vascular interventional operation system
By using sterile consumable modules and display devices in the vascular interventional surgery system, the position and stroke range on the guide rails are displayed in real time, which solves the problem of displacement accuracy control in vascular interventional surgery and improves the safety and accuracy of the surgery.
Patent Information
- Application Number
- CN202420710208.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Priority Date
- 2024-03-27
- Filing Date
- 2024-04-08
- Publication Date
- 2025-01-07
- Estimated Expiration
- 2034-04-08
AI Technical Summary
In vascular interventional surgery, it is difficult for doctors to obtain sufficiently high displacement accuracy information through the robot motion picture, which makes it difficult to control the displacement accuracy of interventional consumables in the blood vessels, affecting the safety of the surgery.
A vascular interventional surgical system is designed, including a sterile consumables module and a display device. The sterile consumables module slides on the guide rail to drive the vascular interventional consumables to move in both directions. The display device displays the module position and stroke range in real time to provide higher precision displacement. information.
By displaying the position and travel range of the sterile consumable module on the guide rail in real time, doctors can control the intervention process more clearly and intuitively, improving the accuracy and safety of vascular interventional surgery.
Smart Images
Figure CN222304018U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of medical instruments, in particular to a vascular intervention surgery system. Background Art
[0002] The vascular interventional surgical robot is an electronic medical device used to deliver interventional vascular consumables such as guidewires and catheters into human blood vessels. The robot's operating system can be set up outside the operating room where the patient is located and remotely controlled by the doctor to avoid the doctor being exposed to radiation hazards from equipment such as X-rays during the operation.
[0003] Since the doctor is not in the surgical scene, some means must be used to enable the doctor to clearly understand the real-time status of the patient and the robot body to ensure the safety of the operation and the controllability of the system. In the related technology, timely information is provided to remote doctors operating the operation by shooting the action pictures of the robot body. Doctors can judge the delivery of interventional consumables by the robot through the above action pictures, but in vascular interventional surgery, in order to ensure safety, the displacement accuracy of consumables such as catheters and guidewires in blood vessels is relatively high, generally at the millimeter level. The robot can advance or withdraw interventional consumables with millimeter-level accuracy, but the robot's action pictures are difficult to show sufficiently high displacement accuracy, and it is difficult for doctors to obtain effective information through the action pictures. Utility Model Content
[0004] In view of this, the utility model provides a vascular intervention surgery system, comprising:
[0005] A robot body and a main-end control console, the main-end control console includes a control device and a display device, the robot body is connected to the control device and the display device respectively; the robot body further includes a guide rail and a sterile consumables module, the sterile consumables module drives the first vascular intervention consumable to move in two directions along the length direction by sliding on the guide rail; a delivery mechanism is provided in the sterile consumables module, which is used to drive the second vascular intervention consumable mounted in the first vascular intervention consumable to move in two directions along the length direction; the control device is used to control the movement of the sterile consumables module and the delivery mechanism; the display device is used to display the position of the sterile consumables module on the guide rail.
[0006] Optionally, the control device is connected to the display device, and the display device is used to display a slider image corresponding to the sterile consumables module, and the position of the slider image corresponds to the position of the sterile consumables module on the guide rail.
[0007] Optionally, the display device is used to display a first image corresponding to a first vascular intervention consumable, the size of the first image remains unchanged, and the position of the first image changes with the position of the slider image.
[0008] Optionally, the display device is used to display a second image corresponding to the portion where the front end of the second vascular intervention consumable exceeds the front end of the first vascular intervention consumable, and the size of the second image varies with the length of the excess portion.
[0009] Optionally, the display device is used to display the length value of the excess portion.
[0010] Optionally, the display device is used to display a ruler image corresponding to the travel range of the guide rail, and the position of the slider image changes within the travel indicated by the ruler image.
[0011] Optionally, the end of the first vascular intervention consumable extends into the sterile consumable module so that the sterile consumable module is fixedly connected to the first vascular intervention consumable; and the end of the first vascular intervention consumable is aligned with the starting end of the ruler image.
[0012] Optionally, the display device is used to display the position value of the end.
[0013] Optionally, the vascular interventional surgery system further includes a first camera device connected to the display device, and used to capture images of the contrast agent injection port during surgery; the display device is used to display the images captured by the first camera device.
[0014] Optionally, the vascular interventional surgery system further includes a second camera device connected to the display device and used for photographing the location of the vascular sheath during surgery, and the display device is used for displaying images photographed by the second camera device.
[0015] The vascular interventional surgery system provided by the embodiment of the utility model advances and retracts vascular interventional consumables by moving a sterile consumable module on a guide rail. The moving distance of the sterile consumable module on the guide rail completely corresponds to the distance the vascular interventional consumable enters the human body. The real-time position of the sterile consumable module on the guide rail is displayed to the operator through a display device, thereby providing higher-precision displacement information. At the same time, the display content can also be used to understand in real time the remaining amount of interventional consumables pushed by the robot, so that the doctor can control the intervention process more clearly and intuitively. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0017] Figure 1This is a schematic diagram of the structure of a vascular interventional surgery system in an embodiment of the present application;
[0018] Figure 2 Schematic diagram of the structure of the robot body in the embodiment of the present application;
[0019] Figure 3 An interface displayed by the display device in the embodiment of the present application;
[0020] Figure 4 Another interface displayed by the display device in the embodiment of the present application;
[0021] Figure 5 A third interface displayed by the display device in the embodiment of the present application;
[0022] Figure 6 It is a schematic diagram of the structure of another vascular interventional surgery system in an embodiment of the present application. DETAILED DESCRIPTION
[0023] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0024] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
[0025] like Figure 1 As shown, this embodiment provides a vascular interventional surgery system, including: a robot body 1 and a main-end control console, the main-end control console includes a control device 2 and a display device 3, the robot body 1 is connected to the control device 2 and the display device 3 respectively; wherein, the robot body 1 includes a guide rail 11 and a sterile consumable module 12, the sterile consumable module 12 can move along the guide rail 11, and the sterile consumable module 12 drives the first vascular interventional consumable 01 to move bidirectionally along the length direction by sliding on the guide rail 11.
[0026] The sterile consumable module 12 is provided with a delivery mechanism 121, which is used to drive the second vascular intervention consumable 02 sleeved in the first vascular intervention consumable 01 to move bidirectionally along the length direction. In some embodiments, the first vascular intervention consumable 01 can be a catheter, and the second vascular intervention consumable 02 can be a guidewire, which is sleeved in the catheter and guides the catheter to move in the human blood vessel.
[0027] The control device 2 is used to control the movement of the sterile consumables module 12 and the delivery mechanism 121. Figure 2In the orientation shown, the control device 2 can control the sterile consumable module 12 to move to the left on the guide rail 11 to push the first vascular intervention consumable 01 to move to the left (relative to the human body, it can be called upward and forward), and to move to the right to pull the first vascular intervention consumable 01 to move to the right (equivalent to the human body, it is usually called downward and withdrawn).
[0028] The control device 2 can control the delivery mechanism 121 to make the second vascular intervention consumable 02 advance or retract in the blood vessel. The delivery mechanism 121 specifically uses the rotation of one or more capstans or wheel groups to advance or retract the guide wire, and its position relative to the sterile consumable module 12 remains unchanged.
[0029] In some embodiments, the sterile consumables module 12 and the delivery mechanism 121 can enable the two vascular intervention consumables to perform the above-mentioned movements independently of each other, or can also perform the above-mentioned movements synchronously.
[0030] The control device 2 can specifically be provided with two joysticks, corresponding to the sterile consumables module 12 and the delivery mechanism 121 respectively. There are multiple options for the movement of the joysticks, and the present application does not limit the operation mode thereof.
[0031] The display device 3 is used to display the position of the sterile consumables module 12 on the guide rail 11. The display device 3 can display the position change by responding to the action of the robot body 1, or by responding to the action of the control device 2.
[0032] According to the above structure, the travel of the guide rail 11 is equivalent to the travel distance of the first vascular intervention consumable 01, that is, the amount of movement of the sterile consumable module 12 on the guide rail 11 is equal to the distance that the catheter can travel in the human blood vessel. The display device 3 displays the current position of the sterile consumable module 12 on the guide rail 11 in the form of numbers, graphics, or a combination thereof, which can clearly express the distance that the catheter has currently traveled in the blood vessel, and can also clearly display the remaining distance that can be moved.
[0033] like Figure 3 , Figure 4 As shown, in one embodiment, the display device 3 is used to display a slider image 31 corresponding to the sterile consumables module 12, and the position of the slider image 31 corresponds to the position of the sterile consumables module 12 on the guide rail 11. Figure 3 In the interface shown, the slider image 31 is at the starting position. When the user controls the sterile consumables module 12 to move forward through the operating device 2, the slider image 31 moves accordingly. Figure 4 The interface shown shows the position of the slider image 31 after it is moved.
[0034] like Figure 5As shown, in one embodiment, the display device 3 is used to display a first image 51 corresponding to the first vascular intervention consumable 01, the size of the first image 51 remains unchanged, and the position of the first image 51 changes with the position of the slider image 31. The first image 51 is a schematic diagram of the catheter, and its left and right movements correspond to the advancement and withdrawal of the catheter. The first image 51 moves synchronously with the slider image 31, corresponding to the sterile consumable module 12 pushing or pulling the catheter.
[0035] The display device 3 is used to display a second image 52 corresponding to the portion of the front end of the second vascular intervention consumable 02 that exceeds the front end of the first vascular intervention consumable 01, and the size of the second image 52 varies with the length of the excess portion. The moving distance of the guide wire can be determined according to the movement of the delivery mechanism 121 (such as the rotation of the motor, the rotation amount of the roller, etc.), and the moving distance of the catheter can be determined according to the movement amount of the sterile consumable module 12 on the guide rail. Without considering the possible errors in the movement process, the above two moving distances can be subtracted to obtain the distance difference.
[0036] In actual application, during the upward movement of the guidewire and the catheter, the guidewire is generally in front and the catheter is behind, that is, the delivery mechanism 121 first advances the guidewire for a distance, and then the sterile consumables module 12 advances the catheter for a distance, and the guidewire is kept in front during the process. Therefore, this embodiment only displays the excess distance, that is, when the result of subtracting the moving distance of the guidewire from the moving distance of the catheter is positive, the result is expressed by the length of the second image 52; when this result is negative or 0, the second image 52 is not displayed.
[0037] Furthermore, the display device 3 is used to display the length value of the excess part. Figure 5 In the interface shown, the value 179 mm above the second image 52 indicates that the current guidewire extends beyond the catheter by 179 mm.
[0038] like Figure 3-5 As shown, in some embodiments, the display device 3 is used to display a scale image corresponding to the travel range of the guide rail 11, and the position of the slider image 31 changes within the travel indicated by the scale image. In this embodiment, the travel indicated by the nominal image is 0-750, indicating that the maximum travel of the sterile consumables module is 750mm and the catheter can move forward 750mm from the starting position.
[0039] In some embodiments, the end of the first vascular intervention consumable 01 extends into the sterile consumable module 12, so that the sterile consumable module 12 is fixedly connected to the first vascular intervention consumable 01. Figure 3-5 In the interface shown, the end of the first image 51 extends into the slider image 31 to simulate the connection relationship between the first vascular intervention consumable 01 and the sterile consumable module 12 .
[0040] In the initial state, the end of the first image 51 is aligned with the start end of the ruler image. Figure 3 In the interface shown, the dotted line at the end of the first image 51 shows the starting end of the catheter tip being aligned with the ruler image.
[0041] Furthermore, the display device 3 is used to display the position value of the end. Figure 3 In the interface shown, the position value 0 indicates that the catheter is at the starting position; Figure 4 In the interface shown, the position value of 464 mm indicates that the catheter has moved forward 464 mm.
[0042] like Figure 6 As shown, in one embodiment, the vascular interventional surgery system also includes a first camera device 4, which is connected to the display device 3 and is used to take images of the contrast agent injection port during the operation; the display device 3 is used to display the images taken by the first camera device 4. In a specific embodiment, a connector for injecting contrast agent is connected to the end of the catheter in the sterile consumables module, which can be a Y-shaped valve made of a transparent material, whose first end is connected to the end of the catheter, the guide wire penetrates and extends into the catheter from its second end, and its third end is used to connect the equipment for injecting contrast agent, and can be opened and closed. When contrast agent needs to be injected, the guide wire must be withdrawn from the catheter by a certain distance, so that the guide wire is in an appropriate position that does not affect the injection of contrast agent, and the contrast agent can be injected into the catheter. The appropriate position can be that the front end of the guide wire is located in the Y valve, or a small section close to the front end of the guide wire is located in the Y valve. If the front end or front section of the guide wire is located in this connector, it means that the guide wire no longer affects the injection of contrast agent into the catheter.
[0043] In this embodiment, a camera device is provided here and an image is displayed, so that the user can see through the display device 3 whether the guide wire is withdrawn to the appropriate position, thereby realizing the operation of remotely injecting the contrast agent.
[0044] like Figure 6 As shown, in one embodiment, the vascular interventional surgery system further includes a second camera 5, which is connected to the display device 3 and is used to photograph the state of the vascular sheath during the operation, and the display device 3 is used to display the image photographed by the second camera 5. The vascular sheath is a device used as an entrance for vascular intervention consumables to enter human blood vessels during interventional surgery. In this embodiment, a camera is provided at the entrance of the guide wire and the catheter and the image is displayed, so that the user can see through the display device 3 whether the vascular intervention consumables are moving smoothly, whether the vascular sheath is detached from the human body, etc., thereby improving the safety of remote vascular interventional surgery.
[0045] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention of the utility model.
Claims
1. A vascular interventional surgery system, characterized in that: include: A robot body and a main-end control console, wherein the main-end control console includes a control device and a display device, and the robot body is connected to the control device and the display device respectively; the robot body further includes a guide rail and a sterile consumables module, wherein the sterile consumables module drives the first vascular intervention consumable to move bidirectionally along the length direction by sliding on the guide rail; a delivery mechanism is provided in the sterile consumables module, which is used to drive the second vascular intervention consumable sleeved in the first vascular intervention consumable to move bidirectionally along the length direction; The control device is used to control the movement of the sterile consumables module and the delivery mechanism; The display device is used to display the position of the sterile consumables module on the guide rail.
2. The vascular interventional surgery system according to claim 1, characterized in that: The control device is connected to the display device, and the display device is used to display a slider image corresponding to the sterile consumables module, and the position of the slider image corresponds to the position of the sterile consumables module on the guide rail.
3. The vascular interventional surgery system according to claim 2, characterized in that: The display device is used to display a first image corresponding to a first vascular intervention consumable, the size of the first image remains unchanged, and the position of the first image changes with the position of the slider image.
4. The vascular interventional surgery system according to claim 3, characterized in that: The display device is used to display a second image corresponding to the portion where the front end of the second vascular intervention consumable exceeds the front end of the first vascular intervention consumable, and the size of the second image varies with the length of the excess portion.
5. The vascular interventional surgery system according to claim 4, characterized in that: The display device is used to display the length value of the exceeding portion.
6. The vascular intervention surgery system according to any one of claims 2 to 5, characterized in that: The display device is used to display a scale image corresponding to the travel range of the guide rail, and the position of the slider image changes within the travel range indicated by the scale image.
7. The vascular interventional surgery system according to claim 6, characterized in that: The end of the first vascular intervention consumable extends into the sterile consumable module so that the sterile consumable module is fixedly connected to the first vascular intervention consumable; the end of the first vascular intervention consumable is aligned with the starting end of the ruler image.
8. The vascular interventional surgery system according to claim 7, characterized in that: The display device is used to display the position value of the end.
9. The vascular intervention surgery system according to claim 1, characterized in that: The vascular intervention surgery system also includes a first camera device connected to the display device and used to capture images of the contrast agent injection port during surgery; the display device is used to display the images captured by the first camera device.
10. The vascular interventional surgery system according to claim 1, characterized in that: The vascular intervention surgery system also includes a second camera device connected to the display device and used to photograph the location of the vascular sheath during surgery. The display device is used to display the image captured by the second camera device.