Catheter robot system for minimally invasive interventional operation in blood vessel

Abstract

The invention discloses a catheter robot system for a minimally invasive interventional operation in a blood vessel, relating to a robot system for assisting the minimally invasive interventional operation in the blood vessel, which aims to lower the radiation hazard to patients and doctors on site, realize compartmental interventional operation at different sites and feed back the conveying force of a catheter. A main hand handle and a computer mainframe are arranged in a control room; a control cabinet, a catheter handle, master and slave intervention devices, a magnetic field generator and a controllable catheter are arranged in an operation room; a pose signal of the main hand handle is delivered to the control cabinet after processed by the computer mainframe; the control cabinet is internally provided with a motion control card and a driver; the motion control card receives a command to send an instruction to the driver; the driver delivers a control signal to the motors of the master and slave intervention devices, thereby controlling the intervention devices to realize the pushing / pulling, rotation and bending operations of the controllable catheter; a pose sensor acquires pose information on a controllable bent section, and the pose signal is delivered by the motion control card to the computer mainframe for signal processing. The invention is used for the minimally invasive interventional operation in the blood vessel.

Description

technical field [0001] The invention relates to a robot system for assisting intravascular minimally invasive interventional operations. Background technique [0002] The traditional minimally invasive intravascular interventional surgery is that the doctor uses the two-dimensional guidance image obtained by X-rays to perform the interventional operation, and manipulates the catheter and guide wire to reach the target blood vessel of the lesion for subsequent surgical operations. It is a medical treatment for patients with diagnosis and treatment. Operation. With the development of science and technology and the increase in the number of patients, traditional interventional surgery has gradually exposed some shortcomings, which mainly focus on the following points: (1) Traditional surgery requires doctors to be present at the surgical site, but the surgical environment on site is poor, and artificial intervention The accuracy and safety of the catheter are difficult to be g...

AI Technical Summary

Problems solved by technology

With the development of science and technology and the increase in the number of patients, traditional interventional surgery has gradually exposed some shortcomings, which mainly focus on the following points: (1) Traditional surgery requires doctors to be present at the surgical site, but the surgical environment on site is poor, and artificial intervention The accuracy and safety of the catheter are difficult to be guaranteed; (2) the number of patients in different places is increasing, but the number of doctors with skilled intubation skills is limited, which cannot meet the needs of patients in different places; (3) the distal end of the traditional catheter has a fixed shape, To a certain extent, the difficulty of intubation surgery is increased, and the doctor's operation skills and experience in intubation are required to be high; (4) the traditional guiding image is a two-dimensional image, which is not intuitive, and the auxiliary reference information provided for the doctor is limited, and Two-dimensional images are obtained through X-ray irradiation, too much X-ray irradiation will have a certain impact on the body of the patient and the operating doctor

In response to the above deficiencies, traditional surgical methods and means have limited the development of minimally invasive interventional surgery, and a solution and technical method are needed to improve the manipulation ability of the catheter, improve the accuracy of catheter delivery, ensure the safety of intubation, and minimize the The use of X-rays to reduce the damage to patients and doctors can liberate doctors from the operation site, and enables doctors to perform operations on patients in different places in the control room, and doctors in the control room can obtain more intuitive information about the operation site, which can Better assist doctors in surgical operations

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