• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a safety alert method and system for the action of the guide wire of the interventional operation robot, which has the following steps: step 1, obtain the distance between the guide wire and the inner wall of the cavity channel, and the resistance of the inner wall of the cavity channel against the guide wire when acting in the cavity channel; step 2, controlling said guide wire to perform corresponding actions according to the relationship between said distance and the threshold defined on the basis of the distance, and/or the relationship between said resistance and the threshold defined on the resistance. The alert strategy of the invention is fixed in a multidimensional way by means of image detection and resistance detection, the rate of the negative fault being low. With the automatic error correction by a movement in the opposite direction, the risk of not being able to correct immediately can be avoided in case of danger due to the tension of the user during the operation; the overall degree of automation of the operation control of the interventional robot is improved.
    公开号:FR3113232A1
    申请号:FR2104593
    申请日:2021-04-30
    公开日:2022-02-11
    发明作者:Jing Xie；Tao Huang
    申请人:Beijing Wemed Medical Equipment Co Ltd；
    IPC主号:
    专利说明:

    [0001] The present invention relates to the technical field of the minimally invasive interventional operation. In particular, it relates to the technology for detecting the robot's guidewire action during its interventional surgery, and more specifically, it relates to a safety alert method and system for the robot's guidewire action surgical intervention.
    [0002] Basic techniques
    [0003] Minimally invasive interventional treatment is a new discipline developed rapidly in recent years, which merges diagnostic imaging and clinical treatment. The traditional interventional operation requires the doctor to stand beside the catheter bed, and perform manipulations corresponding to the image localization information acquired by real-time X-ray radiation. As a typical interventional operation lasts between 40 minutes and 1.5 hours, it is not avoidable for the doctor to undergo the X-ray radiation non-stop, and especially in China, many interventional doctors are overloaded, whose number of 'operations is several times more than that of European or American doctors. Large amount and long-term radiation leads to many occupational diseases such as leukocytopenia, decreased immunity and hair loss, and greatly increases the incidence of leukocyte diseases, cancer, etc., it threatens seriously the health of interventional physicians.
    [0004] In order to solve the problem of excessive exposure of medical and nursing staff to X-rays during the interventional operation, the research on robot level of the interventional operation is increasing in recent years. The robot realizes the movements of the catheter and the guidewire by simulating the movement of the doctor's hands, while the doctor performs the manipulations remotely, without the need to be next to the catheter bed, thus avoiding the problem of ray radiation, and therefore manifests great clinical value.
    [0005] On the other hand, as a high-risk intrusive operation, safety is the most important consideration for an interventional operation, especially for the auxiliary devices of the operation to control the guidewire remotely like the interventional robot. Because the operator does not manipulate at the patient site, he is not able to immediately collect the full scene of the operation site effectively, which is more likely to lead to the risk of operations. For this, it is necessary to avoid as much as possible the injury of the cavity channel in the body (vascular, non-vascular) caused by the unexpected movement of the guide wire through intelligent technology.
    [0006] Therefore, how to warn the safety for robot guidewire actions in the cavity channel in the organism and overcome the above-mentioned problems is an important research direction for technicians in this field.
    [0007] Description of the invention
    [0008] The present invention provides a safety alert method and system for the actions of the guide wire of the interventional operation robot, the objective of which is to solve the problem that the auxiliary devices of the operation to control the guide wire existing remote guidance are not able to predict and judge the dangerous actions of the real-time guidewire effectively, to provide technical support for the automatic control of the interventional robot.
    [0009] Therefore, the object of the present invention is to provide a safety alert method for the guidewire actions of the interventional operation robot, which includes the following steps:
    [0010] Step 1, get the distance between the guidewire and the inner wall of the cavity channel, and the resistance of the inner wall of the cavity channel against the guidewire when the guidewire is running in the cavity channel;
    [0011] Step 2, controlling said guide wire to perform corresponding actions according to the relationship between said distance and the threshold set on the distance, and/or the relationship between said resistance and the threshold set on the resistance.
    [0012] Preferably, said step 1 specifically comprises the acquisition of the detection image by the guide wire in the cavity channel, depending on the calculation and analysis of which the distance between said guide wire and the wall of the vessel is obtained.
    [0013] The present invention relates to a guidewire alert mechanism, which, by examining the distance between the guidewire and the inner wall of the cavity channel, and the resistance of the inner wall of the cavity channel to the guidewire when the guide wire works in the cavity channel, realizes the self-correction of the interventional operation robot during the operation process, thus solving the risks against security related with the self-correction inability of the robot to transaction.
    [0014] Preferably, said step 1 specifically comprises that, the displacement of the dynamometer connecting rod is converted into a resistance value by the pressure sensor, which is activated by converting the displacement of the guidewire during its process from action to displacement of the dynamometer connecting rod. Said dynamometer connecting rod and pressure sensor perform the detection of pressure value outside the human body, which does not cause additional load on the guide wire of the interventional robot during operation manipulation. The detection result is accurate and reliable.
    [0015] Preferably, said step 2 comprises that, when the distance between the end of the guide wire and the interior wall of the cavity channel exceeds the defined distance threshold and said resistance exceeds the defined resistance threshold, the action of the guidance stops automatically.
    [0016] Preferably, said step 2 comprises that, when the distance between the end of the guidewire and the interior wall of the cavity channel exceeds the defined distance threshold but said resistance does not exceed the defined resistance threshold, the current action of the guide wire continues to be carried out automatically.
    [0017] Preferably, said step 2 comprises that, during the advance of the guide wire, if the resistance of the guide wire reaches the defined threshold of the resistance, the advance of the guide wire stops automatically, and an announcement voice emitted, the guide wire is automatically recoiled until the resistance is below the set resistance threshold.
    [0018] Preferably, said step 2 comprises that, during the recoil of the guide wire, if the resistance of the guide wire reaches the defined threshold of the resistance, the recoil of the guide wire stops automatically, and a voice announcement emitted, the guide wire advances automatically until the resistance is below the set resistance threshold.
    [0019] Preferably, said step 2 comprises that, during the rotation of the guide wire, if the resistance value of the guide wire reaches the resistance threshold defined, the rotation of the guide wire stops automatically, and a voice announcement emitted, and the rotation of the guide wire in the reverse direction is performed automatically until the resistance value is less than the defined resistance threshold.
    [0020] The present invention also provides a safety alert system for the guidewire actions of the interventional operation robot, including the image sensing device, the pressure sensing device, the resistance conversion device of the guide wire, and the control unit of the interventional robot; wherein,
    [0021] Said image sensing device is intended to obtain the sensing image of the guide wire in the cavity channel;
    [0022] Said guidewire resistance converting device transmits to the resistance sensing device the displacement of the guidewire during its action, and converts it into trigger actions of different resistance for the resistance sensing device;
    [0023] Said resistance detection device detects the resistance detection signal emitted by the actions triggered in the different resistances;
    [0024] The control unit of said interventional robot is electrically connected to said image detection device and to said resistance detection device, intended to receive the detection image described and the resistance detection signal, to be obtained, after the calculation and the analysis, the distance of said guide wire to the vascular wall and the resistance of the internal wall of the cavity channel against the guide wire, and to send the corresponding control signal of the action of the guide wire according to the relationship between said distance and the defined threshold of distance, and/or the relationship between said resistance and the defined threshold of resistance.
    [0025] Preferably, the invention also comprises an interventional robot propelling mechanism, said interventional robot propelling mechanism holding the guidewire, said resistance detecting device and said guidewire resistance converting device being installed on said mechanism for propelling the interventional robot, the displacement during the action of the guide wire being transmitted by said mechanism for propelling the interventional robot;
    [0026] Said interventional robot propulsion mechanism is also intended to control the action of the guidewire according to the corresponding control signal of the actions of the guidewire; said actions include stopping, advancing, retreating, and rotating.
    [0027] Preferably, the present invention also has a built-in sound acquisition module, which emits a real-time voice announcement when the resistance of the guide wire reaches the set resistance threshold, which greatly improves the safety of the operation.
    [0028] The resistance detection device and the resistance conversion device of the guidewire for the safety alert system for the actions of the guidewire of the interventional operation robot in the scope of the present invention directly combine the mechanism of propulsion of the interventional robot, which makes the degree of integration high, the detection process simple and reliable, and there is no influence on the process of controlling the actions of the guide wire.
    [0029] A safety alert method and system disclosed by the present invention for the guidewire actions of the interventional operation robot has the following beneficial effects:
    [0030] 1. The alert strategy is fixed in a multidimensional way by means of image detection and resistance detection, the negative fault rate being low;
    [0031] 2. With the automatic error correction by a movement in a reverse direction, the risk of not being able to correct immediately can be avoided in case of danger due to the tension of the user during the operation;
    [0032] 3. Give an active announcement to the user by sound, in order to avoid the risk due to the unconscious malfunction of the user;
    [0033] 4. The overall automation degree of interventional robot operation control is improved.
    [0034] Description of the drawings
    [0035] In order to more clearly illustrate the exemplary embodiments of the invention or the technical solutions in the existing techniques, the drawings which are to be used in the description of the exemplary embodiments or the existing techniques will be briefly described below. It is obvious that the drawings which accompany the description below are only examples of embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained from the provided drawings without creative work.
    [0036] The shows the composition diagram of the safety alert system for the guidewire actions of the interventional operation robot provided by the present invention.
    [0037] The is the diagram of the installation structure of the resistance detecting device and the resistance converting device provided by the invention.
    [0038] The illustrates the structural diagram of the interventional robot control terminal proposed by the invention.
    [0039] The relates to the block diagram of the composition of the control unit of the interventional robot proposed by the invention.
    [0040] The shows a flowchart for the safety alert method for interventional operation robot guidewire actions provided by the invention.
    [0041] In which, for the figures, 101 and 102 denote the display of DSA images; 103 designates the control terminal of the interventional robot; 104 designates the exposure control pedal; 105 designates the loudspeaker; 106 designates the microphone; 107 designates the control unit of the interventional robot; 108 designates the connection cable between the interventional robot control device and the interventional robot control unit; 109 designates the connection cable between the interventional robot control unit and the interventional robot; 110 designates the propulsion mechanism of the interventional robot; 111 denotes the DSA device; 201 designates the connecting rod of the catheter displacement; 202 denotes the connecting rod of the guide wire rotation; 203 denotes the connecting rod of the guide wire displacement; 301 denotes the guide wire; 302 designates the set of cams; 303 designates the fixing sole I ; 304 designates the fixing sole II; 305 designates the pressure sensor; 306 designates the dynamometric attachment; 307 designates the electromagnet; 308 designates the clamping device I ; 309 designates clamping device II; 401 designates the communication module; 402 designates the video capture module; 403 designates the central processing unit; 404 designates the power source module.
    [0042] detailed description
    [0043] A detailed description of exemplary embodiments of the invention will be found below. Exemplary embodiments are illustrated in the accompanying reference figures, in which, identical or similar labels indicate identical or similar elements, or elements having identical or similar functions, from beginning to end. The exemplary embodiments described below by the accompanying reference figures are exemplary, which are intended to interpret the invention, and they cannot be interpreted as a limitation of the invention.
    [0044] In the description of the invention, it should be understood that the orientations or relative positions indicated by the terms " up", " down", " front", " rear", " left", " the line", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., are the orientations or relative positions based on reference figures , it is merely to facilitate the description of the invention and to simplify the description, but not to state or imply that the device or element indicated must have a specific orientation, and to construct and operate in the specific orientation, therefore, they cannot be interpreted as a limitation of the invention.
    [0045] Furthermore, terms such as "firstly" and "secondly" are used for descriptive purposes only, and should not be construed as an indication or insinuation of relative importance, or an implied suggestion of character count. techniques indicated. Therefore, the characters indicated by "first" and "second" may include, explicitly or implicitly, one or more characters. In the description of the invention, unless otherwise expressly and specifically limited, the expression "several" indicates two or more.
    [0046] In the invention, unless there are express and specific limitations to the contrary, the terms "installation", "link", "connection", "fixation", etc., must be interpreted in the broad sense, for example, it may be 'a fixed connection, a removable connection or an integrated connection ; it can be a mechanical connection or an electrical connection; it can be a direct or indirect connection through an intermediary medium; it can be an internal connection of two elements or an interaction relationship between two elements. For ordinary technicians in this field, the specific meaning of the aforementioned terms in the invention may be understood as the case may be.
    [0047] In the invention, except where otherwise expressly and specifically limited, the first character is "greater" or "less than" the second character, which includes that a contact be direct between the first and the second character, or a contact which is not direct between the first and the second character, but by other characters between them. Additionally, the first character is "on" or "above" the second character, which includes the first character being vertically or obliquely above the second character, or simply the horizontal height of the first character being greater to that of the second character. The first character is "under" or "below" the second character, which implies that the first character is vertically or obliquely below the second character, or simply that the horizontal height of the first character is less than that of the second character. Application example:
    [0048] The application example of safety alert method and system for interventional operation robot guidewire actions will be described in detail according to Figures 1-5 below.
    [0049] As shown in Fig. 1 and Fig. 4, the example application of the invention discloses a safety alert system for the guidewire actions of the interventional operation robot, comprising the device for image detection, the resistance detection device, the guide wire resistance conversion device, the interventional robot control terminal 103, the exposure control pedal 104, the interventional robot control unit 107 , the connection cable between the control device of the interventional robot and the control unit of the interventional robot 108, the connection cable between the control unit of the interventional robot and the interventional robot 109, the propulsion mechanism of the interventional robot 110.
    [0050] The image sensing device is for the sensing image acquisition of the guide wire in the cavity channel, the DSA device 111 which has a video capture module 402 can be used to collect the image from 'angiography';
    [0051] The guidewire resistance converting device transmits to the resistance sensing device the displacement of the guidewire during its action, and converts it into different resistance trigger actions for the resistance sensing device;
    [0052] The resistance detection device detects the resistance detection signal emitted by the actions triggered in the different resistances, and transmits it to the central processing unit 403 of the control unit 107 of the interventional robot by the communication module 401 ;
    [0053] The interventional robot control unit 107 electrically connects the image sensing device and the resistance sensing device, to receive the sensing image and the resistance sensing signal. The central processing unit 403 obtains after calculation and analysis the distance of the guidewire to the vascular wall and the resistance of the inner wall of the cavity channel against the guidewire, and sends the corresponding control signal for guidewire actions based on the relationship between distance and the set distance threshold, and/or the relationship between resistance and the set resistance threshold. The interventional robot control unit 107 also has the power source module 404, which supplies power to the central processing unit 403 and corresponding elements.
    [0054] The propulsion mechanism 110 of the interventional robot carries out the automatic control process by receiving the control signal generated by the control unit 107 of the interventional robot, and it carries out the manual control process by receiving the control signal sent by the terminal control 103 of the interventional robot.
    [0055] The control unit 107 of the interventional robot is connected to two image displays DSA 101 and 102 to display the detection images acquired by the device DSA 111.
    [0056] The control unit 107 of the interventional robot is also connected to the loudspeaker 105 and the microphone 106, for the voice announcement function and the voice acquisition function.
    [0057] As shown in Figure 2, guidewire 301 is held on both sets of clamps: clamp I 308 and clamp II 309. Clamp I 308 can slide along the length of the guide wire 301 under control of the electric motor, to provide the two sets of clamping devices of the interventional operation robot with the alternating driving force to push and pull the guide wire. The clamp II 309 can move perpendicular to the length of the guide wire 301 under the control of the electric motor, to provide the two sets of clamps of the interventional operation robot with the driving force to clamp the guide wire. And the clamping device I 308 and the clamping device II 309 can slide parallel to the clamping surface of the clamping device I 308 under the control of the electric motor, so as to provide the two sets of clamping devices of the interventional operation robot the driving force to turn the guide wire. The guidewire resistance converting device is installed on one side of the I clamp 308, the device including the disassembly and assembly structural member, and the dynamometer attachment 306 connected with the structural member wherein, the disassembly and assembly structural member can adopt the electromagnet 307 which attracts the clamp II 309 and the dynamometer clamp 306, and fix them in one assembly. The two pressure sensors 305 are installed and fixed respectively by the fixing shoe I 303 and the fixing shoe II 304. The fixing shoe I 303 and the fixing shoe II 304 can move along the length of the guide 301 under control of the electric motor to drive the alternating movement of the pressure sensor 305, of the dynamometric attachment 306, of the disassembly and assembly structure, of the clamping device I 308 and of the clamping device II 309, in order to to realize the forward and backward movement of the guide wire in the cavity channel of the human body by the reciprocating pushing and pulling of the guide wire. After tightening the guide wire 301, the dynamometer attachment 306, the disassembly and assembly structure, the clamp I 308 and the clamp II 309, as a movable assembly, are connected slidably to the fixing shoe I 303 and the fixing shoe II 304, with the connection mode that the dynamometer attachment 306 is installed on the fixing shoe I 303 and the fixing shoe II by a sliding block and a slide; in order to maintain synchronous movement with the dynamometer attachment 306, the clamping device II 309 can adopt the same way of sliding connection with the fixing sole I 303 and the fixing sole II; said structure serves to provide microdisplacement relative to pressure sensor 305 as guidewire 301 experiences resistance.
    [0058] The dynamometer clamp 306 has two protrusions installed facing each other, the opposite direction of which faces the length direction of the guide wire 301. The sensing terminal of the pressure sensor 305 is located between the two protrusions, and in contact with them. When there is a change in force on the guide wire 301, the slight deformation is transmitted to the pressure sensor 305 by the dynamometer attachment 306, which makes it possible to measure the change in force.
    [0059] Two sets of cams 302 are respectively located on the back of the fixing shoe I 303 and the back of the fixing shoe II 304, and they rotate around the same rotary axis under control of the stepper motor, to actuate the reciprocating movement. of the fixing shoe I 303 and the fixing shoe II 304 in the direction perpendicular to the guide wire 301, which causes the reciprocating movement of the clamping device I 308, and which thus achieves the object of reciprocating tightening and loosening automatic guide wire.
    [0060] As shown in Fig. 3, the interventional robot control terminal 103 which has the catheter displacement link 201, the guidewire rotation link 202 and the guidewire displacement link 203, is intended to manually control the sending of the control signal to the propulsion mechanism 110 of the interventional robot.
    [0061] As shown in Figure 5, the safety alert method for interventional operation robot guidewire actions, proposed by this sample application, includes the following steps:
    [0062] S1, obtain the distance between the guidewire and the inner wall of the cavity channel, and the resistance of the inner wall of the cavity channel against the guidewire when the guidewire operates in the cavity channel;
    [0063] S2, controlling said guide wire to perform corresponding actions according to the relationship between said distance and the threshold set on the distance, and/or the relationship between said resistance and the threshold set on the resistance.
    [0064] The specific execution procedure for obtaining distance and resistance in the S1 frame includes:
    [0065] The acquisition of the detection image by the guidewire in the cavity channel, depending on the calculation and analysis of which the distance between the guidewire and the vessel wall is obtained.
    [0066] The displacement of the dynamometer connecting rod is converted into a resistance value by the pressure sensor, which is activated by converting the displacement of the guide wire during its process of action into displacement of the dynamometer connecting rod.
    [0067] The specific execution procedure for the control of the guidewire to perform the corresponding actions in the S2 frame includes:
    [0068] When the distance between the tip of the guidewire and the inner wall of the cavity channel exceeds the set distance threshold and the resistance exceeds the set resistance threshold, the guidewire action automatically stops.
    [0069] When the distance between the tip of the guidewire and the inner wall of the cavity channel exceeds the set distance threshold but the resistance does not exceed the set resistance threshold, the current action of the guidewire continues to perform automatically.
    [0070] During guidewire advancement, if the resistance of the guidewire reaches the set resistance threshold, the guidewire advancement automatically stops, and a voice announcement is emitted, the guidewire recoil will stop. performs automatically until the resistance drops below the set resistance threshold.
    [0071] During the guide wire backing up, if the resistance of the guide wire reaches the set threshold of the resistance, the backing up of the guide wire will stop automatically, and a voice announcement will be emitted, the feed of the guide wire will stop. performs automatically until the resistance drops below the set resistance threshold.
    [0072] During the rotation of the guide wire, if the resistance value of the guide wire reaches the set resistance threshold, the rotation of the guide wire automatically stops, and a voice announcement issued, the rotation of the guide wire in the direction reversed occurs automatically until the resistance value is below the set resistance threshold.
    [0073] The working process of the system is that:
    [0074] When I-clamp 308 clamps guidewire 301, movement of the guidewire is driven by cam assembly 302; when the guide wire 301 is subjected to the resistance during the moving process, the friction between the surface of the guide wire and the clamp I 308/the clamp II 309 changes, and the resistance of the guide wire is obtained by the acquisition of the pressure sensor 305. The propulsion mechanism 110 of the interventional robot transmits the resistance value obtained to the control unit 107 of the interventional robot by the cable 109 in can protocol mode;
    [0075] The detection image collected by the DSA 111 device is transmitted to the control unit 107 of the interventional robot via the DSA universal HDMI interface by the cable 109 in the form of an HDMI video stream.
    [0076] Once the central processing unit 403 acquires the current resistance, after having memorized it in real time, it smooths it and eliminates jitters with the Kalman filter, and then compares it with the defined resistance threshold. If the resistance is greater than the set resistance threshold, the high-risk state is determined, and sends the relevant instructions to the interventional robot's propulsion mechanism 100 via the cable 109, and then the interventional robot's propulsion mechanism 110 stops the corresponding actions of the guide wire by controlling the set of internal cams and other corresponding mechanisms.
    [0077] After collecting the current DSA angiography image, the central processing unit 403 first preprocesses the original image by normalizing and pulling the curve, then identifies the position of the wire tip of guidance and vessel wall edge contour based on morphological detection method. After calculating and obtaining the distance between the guidewire and the edge of the vessel wall, it compares it with the defined distance threshold. If the distance is less than the defined distance threshold, the central processing unit considers it in a high-risk state, and sends the relevant instructions to the propulsion mechanism 110 of the interventional robot via the cable 109, and the propulsion mechanism of the interventional robot 110 stops the corresponding actions of the corresponding guide wire by controlling the set of internal cams and other corresponding mechanisms. See Figure 5 for the related process.
    [0078] In the ordinary condition, the guide wire is controlled to perform three main movements (forward, backward, rotation) using the three connecting rods on the control device 103 of the interventional robot. The actual control procedure is shown below.
    [0079] When the connecting rod 203 of the guide wire displacement is used, the control command is sent to the propulsion mechanism 110 of the interventional robot through the interventional robot control unit 107, and the propulsion mechanism 110 of the robot interventional performs the advance and retreat of the guide wire according to the command of actions. The control unit 107 of the interventional robot simultaneously performs an analysis of the resistance value of the guide wire transmitted by the propulsion mechanism 110 of the interventional robot and the DSA images transmitted by the DSA device 111, once the danger is produced. , the command is sent to the propulsion mechanism 110 of the interventional robot so that the wire moves in a reverse direction instead of the current direction. And then, the loudspeaker 105 alert is triggered automatically, until the interventional robot control unit 107 judges the clearance of the current risk based on the analysis of the resistance value of the wire of guidance transmitted by the propulsion mechanism 110 of the interventional robot and the DSA image transmitted by the DSA device 111, then the stop command is sent to the propulsion mechanism 110 of the interventional robot to stop the current movement and alert of the loudspeaker 105.
    [0080] When the connecting rod of the guide wire rotation 202 is used, the control command is sent to the propulsion mechanism 110 of the interventional robot through the interventional robot control unit 107, and the propulsion mechanism 110 of the interventional robot realizes the rotation of the guide wire clockwise or counterclockwise according to the command of actions. The control module unit 107 of the interventional robot simultaneously performs an analysis of the resistance value of the guide wire which is transmitted by the propulsion mechanism of the interventional robot 110 and the DSA image transmitted by the DSA device 111, once that the danger is determined, the command is sent to the propulsion mechanism of the interventional robot 110 to automatically turn it in a direction opposite to the current direction. And then, the loudspeaker 105 alert is triggered automatically, until the interventional robot control unit 107 judges the clearance of the current risk based on the analysis of the resistance value of the wire of guidance transmitted by the propulsion mechanism 110 of the interventional robot and the DSA image transmitted by the DSA device 111, then the stop command is sent to the propulsion mechanism 110 of the interventional robot to stop the current movement and alert of the loudspeaker 105.
    [0081] When the connecting rod 201 of the catheter movement is used, the control command is sent to the propulsion mechanism 110 of the interventional robot through the control unit 107 of the interventional robot, and the propulsion mechanism 110 of the interventional robot realizes advancing and retracting the catheter according to the command of actions. The control unit 107 of the interventional robot simultaneously performs an analysis of the resistance value of the guide wire transmitted by the interventional robot 110 and the DSA images transmitted by the DSA device 111, once the danger is produced, the command is sent to the propulsion mechanism 110 of the interventional robot to cause the wire to move in a reverse direction instead of the current direction. And then, the loudspeaker 105 alert is triggered automatically, until the interventional robot control unit 107 judges the clearance of the current risk based on the analysis of the resistance value of the wire of guidance transmitted by the propulsion mechanism 110 of the interventional robot and the DSA image transmitted by the DSA device 111, then the stop command is sent to the propulsion mechanism 110 of the interventional robot to stop the current movement and alert of the loudspeaker 105.
    [0082] Each application example of this instruction is described step by step, and each application example emphasizes the difference from the other examples. The similar parts between each exemplary embodiment can be consulted relative to each other. As for the device disclosed by the application example, since it corresponds to the method disclosed by the application example, the description is relatively simple, and the relevant parts can refer to the description of the method part.
    [0083] The above description of the disclosed application examples enables those skilled in the art to make or use the invention. The changes in these sample applications are obvious to those skilled in this field. The general principles defined in this document can be implemented in other application examples without departing from the spirit or scope of the invention. Therefore, the invention will not be limited to the examples of application indicated in this document, but will comply with the broadest scope of the principles and new features disclosed in this document.
    权利要求:
    Claims (10)
    [0001]
    A safety alert method for interventional operation robot guidewire action, characterized by comprising the following steps: Step 1, get the distance between the guide wire (301) and the inner wall of the cavity channel, and the resistance of the inner wall of the cavity channel against the guide wire (301) when the guide wire (301) works in cavity channel; Step 2, controlling said guide wire (301) to perform corresponding actions according to the relationship between said distance and the threshold set on the basis of the distance, and/or the relationship between said resistance and the threshold set on the resistance.
    [0002]
    A safety alert method for the action of the guidewire of said interventional operation robot according to claim 1, characterized in that: said step 1 specifically comprises the acquisition of the detection image by the guidewire (301) in the cavity channel, depending on the calculation and analysis of which the distance between said guide wire (301) and the vessel wall is obtained.
    [0003]
    A safety alert method for the guidewire action of said interventional operation robot according to claim 1, characterized in that: said step 1 specifically comprises that, the displacement of the dynamometer connecting rod is converted into a value of resistance by the pressure sensor (305), which (305) is activated by converting the displacement of the guide wire (301) during its process from action to displacement of the dynamometer connecting rod.
    [0004]
    A safety alert method for the action of the guidewire of said interventional operation robot according to claim 1, characterized in that: said step 2 comprises that, when the distance between the end of the guidewire (301 ) and the inner wall of the cavity channel exceeds the set distance threshold and said resistance exceeds the set resistance threshold, the action of the guide wire (301) automatically stops.
    [0005]
    A safety alert method for the action of the guidewire of said interventional operation robot according to claim 1, characterized in that: said step 2 comprises that, when the distance between the end of the guidewire (301 ) and the interior wall of the cavity channel exceeds the set distance threshold, but said resistance does not exceed the set resistance threshold, the action of the guide wire (301) continues automatically.
    [0006]
    A safety alert method for the action of the guidewire of said interventional operation robot according to claim 1, characterized in that: said step 2 comprises that, during advancement of the guidewire (301) , if the resistance of the guide wire (301) reaches the set resistance threshold, the advancing of the guide wire (301) automatically stops, and a voice announcement is emitted, the backward movement of the guide wire (301) s performs automatically until the resistance drops below the set resistance threshold.
    [0007]
    A safety alert method for the action of the guidewire of said interventional operation robot according to claim 1, characterized in that: said step 2 comprises that, during the recoil of the guidewire (301), if the resistance of the guide wire (301) reaches the set resistance threshold, the recoil of the guide wire (301) automatically stops, and a voice announcement emitted, the advance of the guide wire (301) is automatically carried out until until the resistance value is below the set resistance threshold.
    [0008]
    A safety alert method for the action of the guidewire of said interventional operation robot according to claim 1, characterized in that: said step 2 comprises that, during the rotation of the guidewire (301), if the resistance value of the guide wire (301) reaches the set resistance threshold, the rotation of the guide wire (301) automatically stops, and a voice announcement is issued, and the rotation of the guide wire (301) in the direction reversed occurs automatically until the resistance value is below the set resistance threshold.
    [0009]
    A safety alert system for guidewire action (301) of a method for guidewire action of said interventional operation robot according to any one of claims 1-8, characterized in that that: it comprises an image sensing device, a resistance sensing device, a guide wire resistance converting device (301), and a control unit (107) of the interventional robot; wherein, Said image sensing device is for obtaining the sensing image of the guide wire (301) in the cavity channel; Said guidewire resistance converting device (301) transmits to the resistance detecting device the displacement of the guidewire (301) during its action, and converts it into trigger actions of different resistance for the detecting device. resistance; Said resistance detection device detects the resistance detection signal emitted by the actions triggered in the different resistances; The control unit (107) of said interventional robot is electrically connected to said image detection device and to said resistance detection device, intended to receive the described detection image and the resistance detection signal, to be obtained, after calculating and analyzing the distance of said guide wire (301) to the vascular wall and the resistance of the inner wall of the cavity channel against the guide wire (301), and sending the corresponding control signal from the action of the guide wire (301) as a function of the relationship between said distance and the defined threshold of distance, and/or the relationship between said resistance and the defined threshold of resistance.
    [0010]
    A safety alert system for the action of the guidewire of said operating interventional robot according to claim 1, characterized in that: it also comprises a propulsion mechanism (110) of the interventional robot, said propulsion mechanism ( 110) of the interventional robot holding the guidewire (301), said resistance detecting device and said guidewire resistance converting device (301) being installed on said propelling mechanism (110) of the interventional robot, the quantity displacement during the action of the guide wire (301) being transmitted by said propulsion mechanism (110) of the interventional robot; Said propulsion mechanism (110) of the interventional robot is also intended to control the action of the guide wire (301) according to the corresponding control signal of the actions of the guide wire (301); said actions include stopping, advancing, retreating, and rotating.
    类似技术:
    公开号 | 公开日 | 专利标题
    FR3113232A1|2022-02-11|A safety alert method and system for surgical interventional robot guidewire action
    JP2020127790A|2020-08-27|Dental mirror having integrated camera and applications thereof
    EP3046501B1|2019-07-17|Method for monitoring the position of teeth
    US6905244B2|2005-06-14|Holder for digital sensors for dentistry
    EP2083389B1|2013-01-16|Method for a real-time visualization of caries condition
    FR2930132A1|2009-10-23|MAMMOGRAPHY SYSTEM AND METHOD FOR OPERATING IT.
    WO2016156362A1|2016-10-06|A rolling yoke mount for an intra-oral 3d x-ray system
    FR2945724A1|2010-11-26|X-RAY APPARATUS
    JP2016507280A5|2017-02-09|
    EP2595568B1|2016-11-30|Tool for inserting fine tubular objects into the cochlea
    FR2969919A1|2012-07-06|METHOD FOR ASSISTING THE POSITIONING OF AN ORGAN ON A MEDIUM OF A SYSTEM FOR ACQUIRING MEDICAL IMAGES
    JP5308739B2|2013-10-09|X-ray image display method and X-ray imaging apparatus
    JP2010179094A|2010-08-19|Radiation tomographic image generator
    EP2854668B1|2016-08-24|Device for guiding a medical imaging probe and method for guiding such a probe
    FR2954086A1|2011-06-24|DEVICE AND METHOD FOR MEDICAL IMAGING
    WO2015101747A1|2015-07-09|System and method for monitoring the movement of a medical instrument in the body of a subject
    FR2975277A1|2012-11-23|METHOD FOR ACQUIRING MEDICAL IMAGES OF AN ORGAN AND MEDICAL IMAGING SYSTEM
    FR2957514A1|2011-09-23|MEDICAL IMAGING DEVICE COMPRISING RADIOGRAPHIC ACQUISITION MEANS AND GUIDING MEANS FOR AN ULTRASONIC PROBE
    JP4920735B2|2012-04-18|X-ray diagnostic equipment
    CN105455765A|2016-04-06|Endoscope apparatus
    EP2667779A1|2013-12-04|Method and system for aiding in the positioning of a medical instrument on the head of a patient
    KR102120867B1|2020-06-09|X ray apparatus and control method for x ray apparatus thereof
    FR2993447A1|2014-01-24|METHOD AND SYSTEM FOR PROCESSING IMAGES FOR 3D DISPLAY OF AN ORGAN OF A PATIENT
    FR2881338A1|2006-08-04|Medical imaging assembly for realizing mammography, has control unit that controls displacement of arm between end positions, and radiation source is close to axis perpendicular to plane of object support, when arm is in end positions
    CN206403843U|2017-08-15|Electronic visual foreign matter taking forceps
    同族专利:
    公开号 | 公开日
    CN111938817A|2020-11-17|
    WO2022027938A1|2022-02-10|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    CN101675455B|2007-04-26|2016-11-09|皇家飞利浦电子股份有限公司|The risk instruction of surgical procedures|
    US20120158011A1|2010-12-16|2012-06-21|Sandhu Kulbir S|Proximity sensor interface in a robotic catheter system|
    CN102028549B|2011-01-17|2012-06-06|哈尔滨工业大学|Catheter robot system for minimally invasive interventional operation in blood vessel|
    CN103976766B|2014-05-16|2016-03-30|天津理工大学|A kind of principal and subordinate's interventional surgery aid system|
    CN104490476B|2014-12-24|2017-04-12|天津理工大学|Multidimensional information monitoring system and display method for auxiliary system for blood vessel interventional operation|
    KR20220002733A|2016-02-05|2022-01-06|보드 오브 리전츠 오브 더 유니버시티 오브 텍사스 시스템|The manipulatable intraruminal medical device|
    CN205814427U|2016-03-16|2016-12-21|北京理工大学|A kind of master-slave mode interventional surgery remote operating system|
    CN105616008B|2016-03-16|2018-06-08|北京理工大学|Conduit-seal wire cooperating intervenes surgical assistant system from side controller|
    WO2018225538A1|2017-06-05|2018-12-13|テルモ株式会社|Medical appliance drive device and force information calculating method|
    CN107049500B|2017-06-07|2019-10-29|中科新松有限公司|A kind of blood vessel intervention operation robot|
    CN107349514A|2017-07-06|2017-11-17|北京理工大学|One kind intervention operation catheter guide wire control device and its control method|
    EP3332730B1|2017-08-08|2021-11-03|Siemens Healthcare GmbH|Method and tracking system for tracking a medical object|
    US20190090960A1|2017-09-25|2019-03-28|Intuitive Surgical Operations, Inc.|Tubular body structure imaging and locating system|
    CN209713130U|2017-09-30|2019-12-03|天津理工大学|A kind of safety early warning system of blood vessel intervention operation operation|
    CN108013934B|2018-01-19|2020-02-11|上海联影医疗科技有限公司|Endoluminal interventional system for interventional objects|
    US20200188032A1|2018-12-13|2020-06-18|Covidien Lp|Thoracic imaging, distance measuring, and notification system and method|
    CN110215287A|2019-03-29|2019-09-10|上海联影医疗科技有限公司|A kind of master-slave mode medical treatment control system|
    CN110215239B|2019-05-05|2021-02-26|清华大学|Interventional surgical instrument load identification device and method fusing image and force signal|
    CN110141366A|2019-05-06|2019-08-20|清华大学|The blood vessel intervention operation robotic actuator that motion control information stream directly transmits|
    CN109998684A|2019-05-07|2019-07-12|艾瑞迈迪科技石家庄有限公司|Based on the guidance method for early warning and device apart from dynamic quantization|
    CN110882060B|2019-11-18|2020-11-20|北京唯迈医疗设备有限公司|Interventional surgical robot guide wire friction force measuring device|
    CN111067624B|2019-12-25|2021-08-17|四川安雅仕健康管理有限公司|Medium-and-long-range remote control operation intervention robot device|
    CN111938817A|2020-08-05|2020-11-17|北京唯迈医疗设备有限公司|Safety early warning method and system for guide wire action of interventional operation robot|CN111938817A|2020-08-05|2020-11-17|北京唯迈医疗设备有限公司|Safety early warning method and system for guide wire action of interventional operation robot|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    CN202010779282.5|2020-08-05|
    CN202010779282.5A|CN111938817A|2020-08-05|2020-08-05|Safety early warning method and system for guide wire action of interventional operation robot|
    [返回顶部]