Vascular intervention robot integrated system

Abstract

The utility model provides a vascular intervention robot integrated system. The vascular intervention robot integrated system comprises a display device, a master-end manipulator, a slave-end robot, a preoperative planning device and an imaging device, wherein the master-end manipulator, the slave-end robot, the preoperative planning device and the imaging device are all connected with the display device. The master-end manipulator is in communication connection with the slave-end robot, and the master-end manipulator is provided with an operating mechanism used for controlling the slave-end robot to control the medical instrument; the slave end robot operates the medical instrument under the control of the operating mechanism and sends an instrument state signal to the display equipment; the image equipment is used for collecting an image signal of a specific object and sending the image signal to the display equipment; the preoperative planning equipment is used for collecting a preoperative planning signal of a specific object and sending the preoperative planning signal to the display equipment; and the display equipment is configured to carry out combined display on images corresponding to the instrument state signal, the image signal and the preoperative planning signal, so that an operator can clearly observe the intraoperative and preoperative conditions of a specific object on one display equipment.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of intervention robot, specifically, a blood vessel intervention robot integrated system. BACKGROUND

[0002] In the existing blood vessel intervention operating room, a display large screen of digital subtraction angiography equipment is hung on the top of the operating room, an electrocardiogram equipment is placed in front of the operating bed, an intravascular ultrasound equipment in operation is placed in the empty place, etc. The operator needs to switch the visual line back and forth between the display interfaces of various equipments in the operating room to view the content, the display content of the equipment exists the risk of being blocked, and the operator needs to determine the next operation after switching the visual line back and forth, which brings inconvenience to the operation of the operator and is low in operation efficiency. SUMMARY

[0003] The main purpose of the utility model is to provide a blood vessel intervention robot integrated system, which aims to solve the technical problem that the existing operator needs to switch the visual line back and forth between the display interfaces of various equipments in the operating room to view the content, the content of the equipment exists the risk of being blocked, and the operator needs to determine the next operation after switching the visual line back and forth, which brings great inconvenience to the operation of the operator.

[0004] A blood vessel intervention robot integrated system, comprising: a display device, a master operator, a slave robot, a preoperative planning device and an image device, which are connected with the display device;

[0005] The master operator is in communication connection with the slave robot, and the master operator is provided with an operation mechanism for controlling the slave robot to control a medical instrument;

[0006] The slave robot controls the medical instrument under the control of the operation mechanism and sends an instrument state signal to the display device;

[0007] The image device is used for collecting an image signal of a specific object and sending the image signal to the display device;

[0008] The preoperative planning device is used for collecting a preoperative planning signal of the specific object and sending the preoperative planning signal to the display device;

[0009] The display device is configured to combine and display the images corresponding to the instrument state signal, the image signal and the preoperative planning signal.

[0010] Preferably, the image device is connected with the display device through the slave robot, or through the slave robot and the master operator;

[0011] The image device comprises an electrocardiogram device, a digital subtraction angiography device and an intravascular ultrasound device.

[0012] The electrocardiograph sends electrocardiograph signals to the display device through the slave robot, or through the slave robot and the master operator; the digital subtraction angiograph sends angiograph images to the display device through the slave robot, or through the slave robot and the master operator; the intravascular ultrasound device sends ultrasound images to the display device through the slave robot, or through the slave robot and the master operator;

[0013] The display device is configured to display the images corresponding to the instrument state signal, electrocardiograph signal, angiograph image, ultrasound image and preoperative planning signal.

[0014] Preferably, the display device is provided with an area for displaying the images corresponding to the instrument state signal, electrocardiograph signal, angiograph image, ultrasound image and preoperative planning signal.

[0015] Preferably, the master operator and the slave robot are connected through a local area network bus.

[0016] Preferably, the slave robot is connected to the digital subtraction angiograph through a digital video interface line or a high-definition multimedia interface line.

[0017] Preferably, the slave robot is connected to the intravascular ultrasound device through a digital video interface line or a video transmission interface line; the slave robot is connected to the electrocardiograph through a digital video interface line.

[0018] Preferably, the operation mechanism controls the rotation of the medical instrument of the slave robot, the slave robot sends the instrument state signal to the display device, and the display device displays the medical instrument rotation video corresponding to the instrument state signal.

[0019] Preferably, the operation mechanism controls the movement of the medical instrument of the slave robot, the slave robot sends the instrument state signal to the display device, and the display device displays the medical instrument movement video corresponding to the instrument state signal.

[0020] Preferably, the instrument state signal includes at least one of a catheter state signal and a guide wire state signal.

[0021] Preferably, the display device sends a catheter delivery limit reminder signal when the catheter state signal is a catheter limit signal.

[0022] Beneficial effects:

[0023] The utility model discloses a kind of surgical robot systems, comprising: display device, image signal acquisition module, instrument state signal acquisition module and preoperative planning signal acquisition module, image signal acquisition module, instrument state signal acquisition module and preoperative planning signal acquisition module are connected to display device. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a kind of vascular intervention robot integrated system's schematic diagram of the first embodiment of the utility model.

[0025] Figure 2 It is a kind of vascular intervention robot integrated system's schematic diagram of the second embodiment of the utility model.

[0026] Figure 3 It is a kind of vascular intervention robot integrated system's schematic diagram of the third embodiment of the utility model.

[0027] Figure 4 It is a kind of vascular intervention robot integrated system's schematic diagram of the fourth embodiment of the utility model.

[0028] The utility model aims to realize, function feature and advantage will be further explained with reference to the drawings in conjunction with embodiment. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantage of the utility model more clear and distinct, the utility model is further explained in detail in the following with reference to the drawings and embodiment.It should be understood that the specific embodiments described herein are only used to explain the utility model, and are not used to limit the utility model.

[0030] The skilled in the art can understand that, unless specifically stated, the singular form "a", "an" and "the" used herein can also include plural forms.It should be further understood that the phrase "comprising" used in the specification of the utility model means that there are features, integers, steps, operations, elements, modules and / or assemblies, but does not exclude the existence or addition of one or more other features, integers, steps, operations, elements, modules, assemblies and / or their groups.It should be understood that when it is said that an element is "connected" or "coupled" to another element, it can be directly connected or coupled to other elements, or there can be intermediate elements.In addition, "connection" or "coupling" used herein can include wireless connection or wireless coupling.The phrase "and / or" used herein includes all or any module and all combinations of one or more associated listed items.

[0031] Those skilled in the art of the technology can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with those in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as such herein.

[0032] As Figure 1 shown, a schematic diagram of a vascular interventional robot integrated system according to a first embodiment of the present application is provided. The vascular interventional robot integrated system comprises a display device, a master operator, a slave robot, a preoperative planning device and an imaging device, all of which are connected to the display device; the master operator is in communication connection with the slave robot, and the master operator is provided with an operating mechanism for controlling the slave robot to control a medical instrument; the slave robot controls the medical instrument under the control of the operating mechanism and sends an instrument state signal to the display device; the imaging device is used to collect an image signal of a specific object and send the image signal to the display device; the preoperative planning device is used to collect a preoperative planning signal of the specific object and send it to the display device; the display device is configured to display the images corresponding to the instrument state signal, the image signal and the preoperative planning signal.

[0033] The instrument state signal of the present application indicates the state of the medical instrument, for example, the rotation and movement of the medical instrument. The imaging device is used to collect image data of the specific object (i.e. the patient) during the operation, so that the operator (i.e. the doctor) can understand the position of the medical instrument during the operation, the lesion site and the body state of the specific object, and provide intuitive and meaningful image data. The preoperative planning device is a device for collecting and integrating data of the specific object before the operation, which includes but is not limited to an infrared instrument, a microscope and a surgical path planning computer, etc.

[0034] The present application combines and displays the images corresponding to the instrument state signal, the image signal and the preoperative planning signal of the specific object during the operation, so that the operator can clearly and synchronously observe the intraoperative and preoperative conditions of the specific object on one display device, improve the operation efficiency, and has high practicability.

[0035] As Figures 2-4As shown, a schematic diagram of a vascular interventional robot integrated system according to the second, third and fourth embodiments of the present application is provided. The image device is connected with the display device through the slave robot, or through the slave robot and the master operator. The image device comprises an electrocardiograph, a digital subtraction angiography device and an intravascular ultrasound device. The electrocardiograph sends an electrocardiograph signal to the display device through the slave robot, or through the slave robot and the master operator. The digital subtraction angiography device sends an angiography image to the display device through the slave robot, or through the slave robot and the master operator. The intravascular ultrasound device sends an ultrasound image to the display device through the slave robot, or through the slave robot and the master operator. The display device is configured to display the images corresponding to the instrument state signal, the electrocardiograph signal, the angiography image, the ultrasound image and the preoperative planning signal. In this embodiment, the electrocardiograph signal is a signal recorded by the electrocardiograph from the body surface of a specific object to record the electrical activity changes of the heart in each cardiac cycle. The digital subtraction angiography device is a device for generating vascular images of a specific object through contrast agents, and the intravascular ultrasound device is a device for generating image information in the body of a specific object through ultrasound imaging technology.

[0036] In an embodiment, the display device is provided with a region for displaying images corresponding to the instrument state signal, the electrocardiograph signal, the angiography image, the ultrasound image and the preoperative planning signal. The region for displaying images corresponding to the instrument state signal, the electrocardiograph signal, the angiography image, the ultrasound image and the preoperative planning signal is an independent display region, i.e., the images corresponding to the instrument state signal, the electrocardiograph signal, the angiography image, the ultrasound image and the preoperative planning signal are one-to-one corresponding to the region. Further, according to the needs of the operator, the region can be divided into an independent display region and an overlapping display region. At this time, the independent display region is used to display the image corresponding to the electrocardiograph signal, and the overlapping display region is used to display at least two of the images corresponding to the instrument state signal, the angiography image, the ultrasound image and the preoperative planning signal, thereby providing the operator with more intuitive operation reference images and serving the surgery. Exemplarily, the image corresponding to the instrument state signal and the angiography image are displayed in association, thereby displaying the position of the medical instrument in the angiography image to the operator, so that the operator can intuitively understand the position of the medical instrument in the body of the specific object and serve the surgery.

[0037] In an embodiment, the master operator is connected with the slave robot through a local area network bus. Specifically, the master operator is arranged outside the operating room, and the slave robot is arranged inside the operating room. The master operator is connected with the slave robot through a controller area network bus. Therefore, the operator controls the slave robot to perform surgery by operating the master operator, so as to realize zero-radiation surgery.

[0038] In an embodiment, the slave robot is connected with the digital subtraction angiography device through a digital video interface line and a high-definition multimedia interface line. The slave robot is connected with the intravascular ultrasound device through a digital video interface line or a video transmission interface line. The slave robot is connected with the electrocardiogram device through a digital video interface line. In this embodiment, the digital subtraction angiography device and the intravascular ultrasound device are arranged in the operating room. The slave robot and the master operator are connected with the display device. Specifically, the electrocardiogram device, the intravascular ultrasound device and the digital subtraction angiography device send electrocardiogram signals, angiography images and ultrasound images to the slave robot. The slave robot forwards the signals to the master operator, and the master operator sends the signals to the display device.

[0039] In an embodiment, the operation mechanism controls the rotation of the medical instrument of the slave robot. The slave robot sends the instrument state signal to the display device. The display device displays the rotation video of the medical instrument corresponding to the instrument state signal. Specifically, the instrument state signal includes at least one of a catheter state signal and a guide wire state signal. Therefore, when the instrument state signal is the catheter state signal, the display device synchronously displays the rotation video of the catheter. When the instrument state signal is the guide wire state signal, the display device synchronously displays the rotation video of the guide wire.

[0040] In an embodiment, the operation mechanism controls the movement of the medical instrument of the slave robot. The slave robot sends the instrument state signal to the display device. The display device displays the movement video of the medical instrument corresponding to the instrument state signal. Specifically, the instrument state signal includes at least one of a catheter state signal and a guide wire state signal. Therefore, when the instrument state signal is the catheter state signal, the display device synchronously displays the movement video of the catheter. When the instrument state signal is the guide wire state signal, the display device synchronously displays the movement video of the guide wire.

[0041] In an embodiment, the display device sends a catheter delivery limit reminder signal when the catheter state signal is a catheter limit signal. In this embodiment, the display of the catheter delivery limit reminder signal can be a sound signal, a light-off signal and a text signal on the display device, which are not limited herein as long as the signals can remind the operator.

[0042] The above merely describes preferred embodiments of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields, which are made by using the content of the present application specification and drawings, are also included in the patent protection scope of the present application.

Claims

1. A vascular intervention robot integrated system, characterized by, The application relates to a display device, a master operator connected with the display device, a slave robot, a preoperative planning device and an imaging device. The master operator is connected with the slave robot in communication, and the master operator is provided with an operation mechanism for controlling the slave robot to manipulate a medical instrument. The slave robot manipulates the medical instrument under the control of the operation mechanism and sends an instrument state signal to the display device. The imaging device is used for collecting an imaging signal of a specific object and sending the imaging signal to the display device. The preoperative planning device is used for collecting a preoperative planning signal of the specific object and sending the preoperative planning signal to the display device. The display device is configured to combine and display images corresponding to the instrument state signal, the imaging signal and the preoperative planning signal. The imaging device is connected with the display device through the slave robot or through the slave robot and the master operator.

2. The vascular intervention robot-integrated system of claim 1, wherein, The imaging device comprises an electrocardiograph, a digital subtraction angiography device and an intravascular ultrasound device. The electrocardiograph sends an electrocardiograph signal to the display device through the slave robot or through the slave robot and the master operator; the digital subtraction angiography device sends an angiography image to the display device through the slave robot or through the slave robot and the master operator; and the intravascular ultrasound device sends an ultrasound image to the display device through the slave robot or through the slave robot and the master operator. The display device is configured to combine and display images corresponding to the instrument state signal, the electrocardiograph signal, the angiography image, the ultrasound image and the preoperative planning signal. The display device is provided with an area for displaying images corresponding to the instrument state signal, the electrocardiograph signal, the angiography image, the ultrasound image and the preoperative planning signal.

3. The vascular intervention robot-integrated system of claim 2, wherein The master operator is connected with the slave robot through a local area network bus.

4. The vascular intervention robot-integrated system of claim 2, wherein The slave robot is connected with the digital subtraction angiography device through a digital video interface line or a high-definition multimedia interface line.

5. The vascular intervention robot unification system of claim 2, wherein, The slave robot is connected with the intravascular ultrasound device through a digital video interface line or a video transmission interface line; and the slave robot is connected with the electrocardiograph through a digital video interface line.

6. The vascular intervention robot unification system of claim 2, wherein, The operation mechanism controls the rotation of the medical instrument of the slave robot, the slave robot sends the instrument state signal to the display device, and the display device displays a medical instrument rotation video corresponding to the instrument state signal.

7. The vascular intervention robot unification system of claim 2, wherein, The operation mechanism controls the movement of the medical instrument of the slave robot, the slave robot sends the instrument state signal to the display device, and the display device displays a medical instrument movement video corresponding to the instrument state signal.

8. The vascular intervention robot unification system of claim 2, wherein, The instrument state signal comprises at least one of a catheter state signal and a guide wire state signal.

9. The vascular intervention robot unification system of claim 2, wherein, When the catheter state signal is a catheter limit signal, the display device sends a catheter delivery limit reminding signal.

10. The vascular intervention robot unification system of claim 9, wherein, ​

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