CN116849816A - Vascular intervention operation robot system capable of being guided by magnetic control - Google Patents

Abstract

The invention belongs to the technical field of vascular intervention operation, and discloses a vascular intervention operation robot system capable of being magnetically guided, which comprises an electric operating table matched with radiography, a C-shaped intervention X-ray radiography system, a remote control terminal, a magnetic control operation robot module and a guide wire catheter push intervention operation robot module, wherein an optical fiber assembly is used for transmitting and receiving reflected optical signals, a magnet mixture generates corresponding action response to magnetic field changes of a permanent magnet controlled by a magnetic control mechanical arm, a magnetic control guide wire is inserted into a blood vessel, position image optical signal feedback is transmitted to the remote control terminal for signal conversion image processing, the included angle between a theoretical position and a nearest side vascular wall distance and a horizontal axis is analyzed, the position coordinate of an end point of the far end of the magnetic control guide wire after adjustment is calculated based on the included angle value and the side distance, and finally, the position of the center of mass of the permanent magnet and the magnetic field direction are controlled by the magnetic control mechanical arm, so that the position of the magnetic control guide wire is corrected in time, and collision with the vascular wall is reduced.

Description

A magnetically controlled vascular interventional surgery robot system

Technical field

The invention belongs to the technical field of vascular interventional surgery, and is specifically a magnetically controlled vascular interventional surgery robot system.

Background technique

Vascular interventional surgery can effectively treat vascular diseases. It has the advantages of less trauma, low reaction, and fast recovery. It also has targeted characteristics, which can enable some patients who cannot tolerate surgery or lose the chance of surgery or are drug-resistant to receive effective treatment. In some fields, it has been It has replaced surgery as the treatment of choice. According to the treatment direction, vascular interventional surgery is mainly divided into surgical treatments for intravascular embolism, stenosis, and intravascular bleeding, which require the use of various interventional instruments and imaging equipment. The application of vascular interventional surgery treatment options in my country is relatively late. It has developed rapidly in recent years, and the level of related surgical treatment has gradually shortened the gap with foreign countries.

In the existing technology, vascular interventional surgical treatment uses traditional interventional guidewires and polymer catheter instruments. During the operation, DSA imaging is required to observe the real-time position of the guidewire or catheter when it reaches the advancement and detect it, whether it is the patient or the performing medical treatment. Workers are exposed to X-rays for long periods of time at the same time. At the same time, because the human blood circuit, especially the neurovascular pathway, is too complex, the process of advancing interventional instruments to the target target location takes too long. Currently, there are vascular interventional surgery robots that are relatively popular on the market. Through the pushing and rotation of the push module, the guidewire is advanced to the designated lesion. This method can free up medical staff for on-site operations and reduce the risk of patient exposure. However, this vascular interventional surgery Robot control still relies on the real-time image information obtained by DSA's frequent intermittent angiography to adjust the guidewire advancement intervention path at the console. At the same time, the guidewire advancement operation relies too much on the tactile feedback sensor of the proximal advancement module. The long distance between the ends and the long force transmission distance cause the existing tactile feedback to be delayed, and it is still easy to cause damage to the blood vessel wall during the advancement of the device. The use of large amounts of iodine contrast agents in DSA angiography can easily cause postoperative complications such as renal failure in patients, which is a common occurrence in clinical practice.

Contents of the invention

The purpose of the present invention is to provide a magnetically controlled vascular interventional surgery robot system to solve the problem of the existing vascular interventional surgery in which patients and medical staff are simultaneously exposed to the X-ray environment for a long time and the interventional instruments are advanced to the target. The point positioning process takes too long, and it is still easy to cause damage to the blood vessel wall during the advancement of the instrument.

In order to achieve the above object, the present invention provides the following technical solution: a magnetically controlled vascular interventional surgery robot system, including an angiography-matched electric operating table, and a C-type interventional X-ray angiography system is provided at the bottom of the angiography-matched electric operating table. , and the C-type interventional X-ray imaging system is set to a C-type arm. One end of the electric operating table for the imaging is equipped with a magnetically controlled surgical robot module, and the input end of the magnetically controlled surgical robot module is electrically connected to a remote control terminal. The remote control terminal includes a magnetic control workbench and a propulsion workbench. The output end of the magnetic control workbench is electrically connected to the input end of the magnetically controlled surgical robot module. The output end of the propulsion workbench is electrically connected to a guidewire catheter for pushing interventional surgery. The robot module, and the guidewire catheter pushing interventional surgery robot module is located at the other end of the electric operating table supporting the angiography. The guidewire catheter pushing interventional surgery robot module drives the magnetically controlled guidewire through the driving assembly.

Preferably, the magnetically controlled surgical robot module includes a magnetically controlled robotic arm, a permanent magnet is fixed at one end of the magnetically controlled robotic arm, and the magnetically controlled surgical robot module is fixed on the top of the first four-wheel positioning trolley. The magnetically controlled surgical robot module is moved to a designated position by moving the first four-wheel positioning trolley, and the permanent magnet is swung in multiple directions by controlling the robotic arm to facilitate control of changes in the magnetic field of the permanent magnet.

Preferably, the magnet-controlled manipulator is a six- or seven-degree-of-freedom manipulator, the permanent magnet is a cylinder, the diameter of the cylinder is 100 mm, and the magnetic field intensity of the permanent magnet is 1.45T.

Preferably, the guidewire catheter pushing interventional surgery robot module includes an execution terminal, the output end of the execution terminal is electrically connected to the sensor input end of the driving assembly, and the input end of the execution terminal is electrically connected to the output end of the propulsion workbench. Sexually connected, the driving assembly is fixed on one end of the propulsion mechanical arm, and the other end of the propulsion mechanical arm is fixed on the top of the second four-wheel positioning trolley. The advancement command is sent to the sensor in the driving assembly through the advancement workbench, and the magnetically controlled guidewire is advanced into the interventional blood vessel.

Preferably, the driving assembly is composed of a sensor, a guide rail, a screw rod, a gear shaft, a stepper motor, a gear shaft, a runner and a clamping assembly, and the clamping assembly clamps the magnetically controlled guide wire. The drive assembly is fixed to the actuator terminal of the manipulator and provides power and necessary signal control transmission.

Preferably, the magnetron guide wire is provided with an optical fiber assembly inside, and the optical fiber assembly includes a single-mode optical fiber core. One end of the single-mode optical fiber core is provided with an optical fiber lens, and the other end of the optical fiber lens is covered with a magnet mixture. The optical fiber component is used to transmit and receive reflected optical signals. The magnet mixture responds to changes in the magnetic field of the permanent magnet controlled by the magnetic control manipulator. The magnet mixture is prepared by mixing PMDS fluid and magnetic powder in a ratio of 1:1, and is vulcanized and solidified at room temperature. Finally, magnetizing equipment is used for magnetization so that the distal end of the guide wire acquires magnetism and is tested under the magnetic field of the matching permanent magnet.

Preferably, the front end of the optical fiber lens is provided with a plurality of smooth bevels. The fiber lens end is divided into three bevels. The bevel grinding angle is 45° with the lens axis grinding angle. The bevels are arranged in a uniform array. The light reflected by the single-mode fiber is refracted through multiple smooth bevels to the peripheral blood vessel wall and collected. Emit light.

Preferably, the magnetron guide wire is composed of one or more metal materials such as nickel-titanium alloy, platinum-tungsten alloy, stainless steel, etc., and the magnet mixture at the distal end of the magnetron guidewire (300) is silicone rubber or polyurethane. It is prepared by mixing one of polycaprolactone and thermoplastic elastomer materials with a rubidium iron stilbene magnet. The outer layer of the magnetic control wire is set to a polymer coating material, and the polymer coating material is set to be hydrophilic. coating. The hydrophilic coating reduces the adhesion ability of the guide wire surface to adherent substances, reduces the obstruction and damage of the adherent substances to the guide wire, and improves the service life and reliability of the guide wire.

The beneficial effects of the present invention are as follows:

In the present invention, optical fiber components are used to transmit and receive reflected optical signals. The magnet mixture produces corresponding action responses to changes in the magnetic field of the permanent magnet controlled by the magnetic control manipulator. The magnet mixture is prepared by mixing PMDS fluid and magnetic powder in proportion, and is vulcanized at room temperature. After solidification, magnetizing equipment is used for magnetization so that the distal end of the guide wire acquires magnetism and is tested under the magnetic field of the matching permanent magnet. The magnetically controlled guidewire is inserted into the blood vessel, the distance from the nearest blood vessel wall is L, and the angle with the horizontal axis is θ. At this time, the position image optical signal feedback is transmitted to the remote control terminal for signal conversion and image processing, and it is analyzed that the theoretical position should be the same as the nearest The distance between the lateral blood vessel wall is L1, the angle between it and the horizontal axis should be θ1, and the angle between its central axis and the central axis of the blood vessel is α. The system algorithm calculates the adjusted distal end point P1 of the magnetically controlled guidewire based on the above angle values and margin distance. The position coordinates x1, y1, z1, the coordinate position information is converted into control command coordinates and given to the magnetically controlled surgical robot module, and the permanent magnet center of mass position and magnetic field direction are controlled through the magnetically controlled robotic arm to achieve the final position of the magnetically controlled guide wire. Make timely corrections, and the program can be automatically corrected by the algorithm to reduce collisions with the blood vessel wall. Correspondingly, the magnetically controlled guidewire has a corresponding blood vessel bifurcation image output before passing through the blood vessel path bifurcation, which can be appropriately positioned through X-ray angiography or ultrasound. The image is used to assist judgment, control the position of the magnetically controlled robotic arm and then control the steering of the magnetically controlled guidewire to the target side bifurcated blood vessel, which reduces the frequency and duration of clinical radiopaque use and the use of surgical DSA contrast agents, and has optical signal feedback The distance between the distal end of the device and the blood vessel wall is identified to achieve contactless magnetically controlled bending, and the direction can be adjusted through the external permanent magnet magnetic field without twisting.

Description of the drawings

Figure 1 is a schematic diagram of the magnetically controllable vascular interventional surgical robot system of the present invention;

Figure 2 is a top view of the magnetically controllable vascular interventional surgical robot system of the present invention;

Figure 3 is a schematic diagram of the magnetically controlled surgical robot module of the present invention;

Figure 4 is a schematic diagram of the magnetically controlled guide wire of the present invention;

Figure 5 is a flow chart of the magnetically controllable vascular interventional surgery robot system of the present invention.

Reference signs:

100. C-type interventional X-ray imaging system; 101. C-type arm; 102. Electric operating table for imaging; 200. Magnetic-controlled surgical robot module; 201. The first four-wheel positioning trolley; 202. Magnetic-controlled robotic arm; 203 , permanent magnet; 300, magnetically controlled guide wire; 400, push interventional surgery robot module; 401, second four-wheel positioning trolley; 402, propulsion robotic arm; 403, drive assembly; 600, remote control terminal.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

Example:

As shown in Figures 1 to 5, a magnetron-guided vascular interventional surgery robot system includes an electric operating table 102 supporting angiography. A C-type interventional X-ray imaging system 100 is provided at the bottom of the electric operating table 102, and The C-type interventional X-ray imaging system 100 is set as a C-type arm 101. The electric operating table 102 supporting the imaging is provided with a magnetically controlled surgical robot module 200 at one end. The input end of the magnetically controlled surgical robot module 200 is electrically connected to a remote control terminal 600 for remote control. The terminal 600 includes a magnetic control workbench and a propulsion workbench. The output end of the magnetic control workbench is electrically connected to the input end of the magnetic control surgical robot module 200. The output end of the propulsion workbench is electrically connected to the guidewire catheter pushing interventional surgery robot module 400. And the guidewire catheter pushing interventional surgery robot module 400 is located at the other end of the angiography-matched electric operating table 102. The guidewire catheter pushing interventional surgery robot module 400 pushes the magnetically controlled guidewire 300 through the driving assembly 403.

The magnetically controlled surgical robot module 200 includes a magnetically controlled robotic arm 202 . A permanent magnet 203 is fixed at one end of the magnetically controlled robotic arm 202 . The magnetically controlled surgical robot module 200 is fixed on the top of the first four-wheel positioning trolley 201 . The magnetically controlled surgical robot module 200 is moved to a designated position by moving the first four-wheel positioning trolley 201, and the permanent magnet 203 is oscillated in multiple directions by controlling the magnetically controlled robotic arm 202, thereby facilitating control of changes in the magnetic field of the permanent magnet 203. The magnetically controlled manipulator 202 is set as a six- or seven-degree-of-freedom manipulator, the permanent magnet 203 is set as a cylinder, the diameter of the cylinder is set as 100 mm, and the magnetic field intensity of the permanent magnet 203 is set as 1.45T.

The guidewire catheter pushing interventional surgery robot module 400 includes an execution terminal. The output end of the execution terminal is electrically connected to the sensor input end of the drive assembly 403. The input end of the execution terminal is electrically connected to the output end of the advancement workbench. The drive assembly 403 is fixed. At one end of the propulsion robot arm 402, the other end of the propulsion robot arm 402 is fixed on the top of the second four-wheel positioning trolley 401. The advancement command is sent to the sensor in the driving assembly 403 through the advancement workbench to advance the magnetically controlled guidewire 300 into the interventional blood vessel. The driving assembly 403 is composed of a sensor, a guide rail, a screw rod, a gear shaft, a stepper motor, a gear shaft, a runner, and a clamping assembly. The clamping assembly clamps the magnetically controlled guide wire 300 . The drive assembly 403 is fixed on the actuator terminal of the robot arm and provides power and necessary signal control transmission.

The magnetic control guide wire 300 is composed of one or more metal materials such as nickel-titanium alloy, platinum-tungsten alloy, stainless steel, etc. The magnet mixture at the distal end of the magnetic control guide wire (300) is silicone rubber, polyurethane, polycaprolactone, It is prepared by mixing one of the thermoplastic elastomer materials with a rubidium iron stilbene magnet. The outer layer of the magnetic control wire 300 is set to a polymer coating material, and the polymer coating material is set to a hydrophilic coating. The hydrophilic coating reduces the adhesion ability of the guide wire surface to adherent substances, reduces the obstruction and damage of the adherent substances to the guide wire, and improves the service life and reliability of the guide wire. There is an optical fiber component inside the magnetically controlled guide wire 300. The optical fiber component includes a single-mode optical fiber core. One end of the single-mode optical fiber core is provided with an optical fiber lens. The other end of the optical fiber lens is covered with a magnet mixture. The optical fiber component is used to transmit and receive reflected optical signals. The magnet mixture produces corresponding action responses to changes in the magnetic field of the permanent magnet 203 of the magnet-controlled robotic arm 202. The magnet mixture is prepared by mixing PMDS fluid and magnetic powder in a ratio of 1:1, and is processed at room temperature. After vulcanization and solidification, magnetization equipment is used for magnetization, so that the distal end of the guide wire acquires magnetism, and is tested under the magnetic field of the matching permanent magnet 203 . The magnetically controlled guidewire 300 is inserted into the blood vessel, and the distance from the nearest blood vessel wall is L. The angle between the magnetically controlled guidewire 300 and the horizontal axis is θ. At this time, the position image optical signal feedback is transmitted to the remote control terminal 600 for signal conversion and image processing. It also analyzes that the distance between the theoretical position and the nearest blood vessel wall should be L1, the angle between it and the horizontal axis should be θ1, and the angle between its central axis and the central axis of the blood vessel α. The system algorithm calculates the adjusted magnetic field based on the above angle values and edge distance. The position coordinates x1, y1, z1 of the distal end point P1 of the control wire 300 are converted into control command coordinates and given to the magnetically controlled surgical robot module 200, and through the center of mass position and magnetic field direction of the permanent magnet 203 of the magnetically controlled robotic arm 202, In order to realize the final and timely correction of the position of the magnetically controlled guide wire 300, the program implementation can be completed by automatic correction of the AI algorithm. The corresponding operation can reduce the collision with the blood vessel wall. Correspondingly, the magnetic control guidewire 300 has a corresponding blood vessel bifurcation image output before passing through the blood vessel path bifurcation, and can appropriately use X-ray contrast or ultrasound positioning images to assist in judgment and control the magnetic control. The position of the robotic arm 202 then controls the magnetic control guidewire 300 to turn to the target side bifurcated blood vessel. The front end of the fiber optic lens is equipped with multiple smooth bevels. The fiber lens end is divided into three bevels. The bevel grinding angle is 45° with the lens axis grinding angle. The bevels are arranged in a uniform array. The light reflected by the single-mode fiber is refracted through multiple smooth bevels to the peripheral blood vessel wall and collected. Emit light.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations are mutually exclusive. any such actual relationship or sequence exists between them. Furthermore, the terms "comprises," "comprises," or any other variations thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also those not expressly listed other elements, or elements inherent to the process, method, article or equipment.

Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art will understand that various changes, modifications, and substitutions can be made to these embodiments without departing from the principles and spirit of the invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (8)

1. The utility model provides a but vascular intervention operation robot system of magnetic control guide, includes the supporting electronic operating table of radiography (102), the supporting electronic operating table of radiography (102) bottom is equipped with C type and intervenes X-ray radiography system (100), and C type intervenes X-ray radiography system (100) and establish to C type arm (101), its characterized in that: the contrast supporting electric operating table (102) one end is equipped with magnetic control operation robot module (200), magnetic control operation robot module (200) input electric connection has remote control terminal (600), remote control terminal (600) include magnetic control workstation and propulsion workstation, magnetic control workstation output and magnetic control operation robot module (200) input electric connection, propulsion workstation output electric connection has seal wire pipe propelling movement to intervene operation robot module (400), and seal wire pipe propelling movement intervenes operation robot module (400) to establish at contrast supporting electric operating table (102) other end, seal wire pipe propelling movement intervenes operation robot module (400) to impel magnetic control seal wire (300) through drive assembly (403).

2. A magnetically guidable vascular interventional procedure robot system as defined in claim 1, wherein: the magnetic control operation robot module (200) comprises a magnetic control mechanical arm (202), a permanent magnet (203) is fixed at one end of the magnetic control mechanical arm (202), and the magnetic control operation robot module (200) is fixed at the top of the first four-wheel positioning trolley (201).

3. A magnetically guidable vascular interventional procedure robot system as defined in claim 2, wherein: the magnetic control mechanical arm (202) is a mechanical arm with six degrees of freedom or seven degrees of freedom, the permanent magnet (203) is a cylinder, the diameter of the cylinder is 100mm, and the magnetic field strength of the permanent magnet (203) is 1.45T.

4. A magnetically guidable vascular interventional procedure robot system as defined in claim 1, wherein: the guide wire catheter pushing interventional operation robot module (400) comprises an execution terminal, the output end of the execution terminal is electrically connected with the sensor input end of the driving component (403), the input end of the execution terminal is electrically connected with the output end of the pushing workbench, the driving component (403) is fixed at one end of the pushing mechanical arm (402), and the other end of the pushing mechanical arm (402) is fixed at the top of the second four-wheel positioning trolley (401).

5. A magnetically guidable vascular interventional procedure robot system as defined in claim 4, wherein: the driving assembly (403) is composed of a sensor, a guide rail, a screw rod, a gear shaft, a stepping motor, a gear shaft, a rotating wheel and a clamping assembly, and the clamping assembly clamps the magnetic control guide wire (300).

6. A magnetically guidable vascular interventional procedure robot system as defined in claim 1, wherein: the magnetic control guide wire (300) is internally provided with an optical fiber assembly, the optical fiber assembly comprises a single-mode fiber core, one end of the single-mode fiber core is provided with an optical fiber lens, and the end face of the other end of the optical fiber lens is coated with a magnet mixture.

7. A magnetically guidable vascular interventional procedure robot system as defined in claim 6, wherein: the front end of the optical fiber lens is provided with a plurality of smooth inclined planes.

8. A magnetically guidable vascular interventional procedure robot system as defined in claim 6, wherein: the magnetic control guide wire (300) is made of one or more metal materials of nickel-titanium alloy, platinum-tungsten alloy, stainless steel and the like, a magnet mixture at the far end of the magnetic control guide wire (300) is prepared by mixing one of silicone rubber, polyurethane, polycaprolactone and thermoplastic elastomer materials with a rubidium-ferrum boron magnet, the outer layer of the magnetic control guide wire (300) is made of a polymer coating material, and the polymer coating material is a hydrophilic coating.