CN111513855B - Interventional catheter operation system for cardiology department and application method thereof - Google Patents
Interventional catheter operation system for cardiology department and application method thereof Download PDFInfo
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Abstract
The invention discloses an interventional catheter operation system for cardiology and an application method thereof. A cardiology interventional catheter procedure system comprising: a surgical execution system for performing a cardiology interventional catheter procedure on a patient under control of the remote workstation system; and the remote workstation system is in communication connection with the operation execution system and is used for generating a control command and sending the control command to the operation execution system so as to control the operation of the operation execution system. By adopting the invention, the remote guidance and control of the radio frequency ablation operation of the cardiology department can be realized, the problems that the cardiac interventional catheter operation cannot be performed and the treatment time of a patient is delayed due to lack of experienced doctors in some hospitals can be solved, the success rate of the operation can be improved through the remote consultation of a plurality of experts, and the radio frequency ablation operation system is a great breakthrough in the field of the radio frequency ablation operation of the cardiology department.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an interventional catheter operation system for cardiology and an application method thereof.
Background
In the related art, during the heart medical operation, a doctor must operate the operation on the spot in a catheter room, and the operation mode has the following disadvantages: the cardiology surgery, as a most advanced surgery, is a very lengthy procedure to cultivate and educate a physician who can perform the surgery skillfully, safely and efficiently, often requiring hundreds of surgical sessions and training in a large cardiology surgery center, thus resulting in very poor cardiology surgeon resources and many hospitals not being able to perform the surgery; cardiovascular diseases are the first life-threatening diseases at present, many newly-built hospitals are equipped with interventional operation equipment, but because the operation lacks the use guidance of an experienced doctor for the interventional operation equipment, many cardiac interventional catheter operations cannot be carried out, so that a patient needs to be transferred to a hospital for operation treatment, and the timely treatment of the patient is delayed.
Disclosure of Invention
The embodiment of the invention provides an interventional catheter operation system for cardiology department and an application method thereof, which are used for solving the problem of inconvenience caused by the fact that a doctor must be present in the cardiology department operation in the prior art.
In one aspect, an embodiment of the present invention provides a cardiac interventional catheter operation system, including:
a surgical execution system for performing a cardiology interventional catheter procedure on a patient under control of the remote workstation system;
the remote workstation system is in communication connection with the operation execution system and is used for generating a control instruction and sending the control instruction to the operation execution system so as to control the operation of the operation execution system.
According to some embodiments of the invention, the surgical execution system is further configured to generate surgical image information and send the surgical image information to the remote workstation system, and the remote workstation system generates the control command based on the surgical image information.
According to some embodiments of the invention, the system further comprises:
the cloud server system is in communication connection with the operation execution system and the remote workstation system and is used for receiving the operation image information sent by the operation execution system and forwarding the operation image information to the remote workstation system; the control instructions sent by the remote workstation system are received and selectively forwarded to the surgical execution system.
According to some embodiments of the invention, the surgical execution system comprises:
a patient-end robotic catheter surgery system for performing a cardiology interventional catheter procedure on a patient;
the operating room control relay system is in communication connection with the patient-end robot catheter operating system and the cloud server system, and is used for generating the operation image information and sending the operation image information to the cloud server system; and receiving the control instruction sent by the cloud server system and forwarding the control instruction to the patient-end robot catheter surgery system.
According to some embodiments of the invention, the patient-end robotic catheter surgical system comprises:
the operation interventional catheter is used for extending into the body of a patient and completing the interventional catheter operation of the cardiology department under the control of the catheter control system;
the catheter control system is connected with the operation intervention catheter, is in communication connection with the operating room control relay system and the operation intervention catheter, and is used for receiving the control command sent by the cloud server system and controlling the operation intervention catheter to move in multiple degrees of freedom based on the control command;
and the mechanical arm positioning system of the operating table is in communication connection with the operating room control relay system and the catheter control system so as to receive the control command sent by the cloud server system and control the motion of the catheter control system based on the control command.
According to some embodiments of the invention, the operating room control relay system comprises at least one of the following instruments: an electrophysiology multi-lead physiology instrument, a body surface twelve-lead electrocardiograph, an electrophysiology three-dimensional marking instrument, a real-time video communication instrument and an X-ray machine angiography instrument.
According to some embodiments of the invention, the remote workstation system comprises a plurality of operational workstations, each communicatively coupled to the cloud server system,
the cloud server system is used for receiving the operation image information sent by the operation execution system and sending the operation image information to each operation workstation,
the cloud server system is further used for receiving a plurality of control instructions sent by the plurality of operation workstations, arbitrating the control instructions, determining the control instructions to be used and sending the control instructions to be used to the operation execution system.
According to some embodiments of the invention, the operating workstation comprises a controller and a monitor, the monitor is configured to acquire the surgical image information, and the controller is configured to generate the control instructions based on the surgical image information.
According to some embodiments of the invention, the controller comprises a key and/or a joystick.
In another aspect, an embodiment of the present invention provides an application method based on the above mentioned cardiac medical interventional catheter surgical system, including:
the operation execution system receives a control instruction remotely sent by the remote workstation system;
the operation execution system performs a cardiology interventional catheter operation on the patient based on the control instructions.
By adopting the embodiment of the invention, the remote guidance and control of the radio frequency ablation operation in the department of cardiology can be realized, the problems that the cardiac interventional catheter operation cannot be performed and the treatment time of a patient is delayed due to the lack of experienced doctors in some hospitals can be solved, the success rate of the operation can be improved through the remote consultation of a plurality of experts, and the radio frequency ablation operation system is a great breakthrough in the field of the radio frequency ablation operation in the department of cardiology.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. In the drawings:
FIG. 1 is a schematic view of a cardiology interventional catheter procedure system in accordance with an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a catheter operation system for cardiology department intervention in an embodiment of the present invention;
FIG. 3 is a partial structural diagram of a catheter operation system for cardiology department intervention in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a controller in accordance with an embodiment of the present invention;
FIG. 5 is a schematic diagram of a controller in accordance with an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a cloud server system according to an embodiment of the present invention;
fig. 7 is a flowchart of an application method of the interventional catheter system for cardiology department in an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In one aspect, as shown in fig. 1-2, an embodiment of the present invention provides a cardiac interventional catheter surgical system 1. The cardiology interventional catheter operation system 1 can be applied to cardiology interventional catheter operations. The cardiac interventional catheter operation system 1 includes: a surgical execution system and a remote workstation system 10. The surgical execution system is used to perform a cardiology interventional catheter procedure on a patient under the control of the remote workstation system 10. The remote workstation system 10 is communicatively connected to the surgical execution system, and the remote workstation system 10 is configured to generate and transmit control commands to the surgical execution system to control the operation of the surgical execution system.
It is understood that the surgical performing system is located at the patient end, and the surgical performing system can directly perform operations on the patient, such as inserting a catheter into the heart of the patient. The remote workstation system 10 is located at a remote end, and the remote workstation system 10 can control the operation of the surgical execution system through communication technology (e.g., signal transmission), such as controlling the operation of the surgical execution system to insert a catheter into the heart of the patient.
By adopting the embodiment of the invention, through the information interaction between the operation execution system and the remote workstation system 10, the remote workstation system 10 can guide the operation execution system to perform the operation on the patient at the remote end, so as to realize the remote guidance and control of the cardiology department operation, not only can solve the problems that the cardiac interventional catheter operation cannot be performed and the treatment time of the patient is delayed due to lack of experienced doctors in some hospitals, but also can improve the success rate of the operation through the remote consultation of a plurality of experts, thus being a major breakthrough in the field of the cardiology department radio frequency ablation operation.
On the basis of the above-described embodiment, various modified embodiments are further proposed, and it is to be noted herein that, in order to make the description brief, only the differences from the above-described embodiment are described in the various modified embodiments.
According to some embodiments of the present invention, the surgical execution system is further configured to generate and transmit surgical image information to the remote workstation system 10, the remote workstation system 10 generating control instructions based on the surgical image information.
As shown in fig. 2, according to some embodiments of the invention, the system 1 further comprises: cloud server system 20. Cloud server system 20 is communicatively coupled to both the surgical execution system and remote workstation system 10. The cloud server system 20 is configured to receive the operation image information sent by the operation execution system and forward the operation image information to the remote workstation system 10, and receive the control instruction sent by the remote workstation system 10 and forward the control instruction to the operation execution system. In other words, the cloud server system 20 is a bridge between the surgical execution system and the remote workstation system 10, and the communication interaction information between the surgical execution system and the remote workstation system 10 can be interacted through the cloud server system 20.
As shown in fig. 2, according to some embodiments of the present invention, a surgical performing system includes: a patient-end robotic catheter surgery system 40 and an operating room control relay system 30. The patient-end robotic catheter procedure system 40 is used to perform a cardiology interventional catheter procedure on a patient. The operating room control relay system 30 is communicatively coupled to both the patient-side robotic catheter surgical system 40 and the cloud server system 20. The operating room control relay system 30 is configured to generate and transmit operation image information to the cloud server system 20, and receive and selectively forward a control instruction transmitted by the cloud server system 20 to the patient-end robotic catheter surgery system 40.
According to some embodiments of the present invention, patient-end robotic catheter surgical system 40 includes: the system comprises a surgical intervention catheter, a catheter control system and a mechanical arm positioning system of an operating table. The operation interventional catheter is used for extending into a patient body and completing the cardiac medicine interventional catheter operation under the control of the catheter control system. The catheter control system is connected with the operation intervention catheter, and the catheter control system is in communication connection with the operating room control relay system 30 and the operation intervention catheter so as to receive the control instruction sent by the cloud server system 20 and control the operation intervention catheter to move in multiple degrees of freedom based on the control instruction. The mechanical arm positioning system of the operating table is in communication connection with the operating room control relay system 30 and the catheter control system, so as to receive the control instruction sent by the cloud server system 20 and control the catheter control system to move based on the control instruction.
It can be understood that, after receiving the control command sent by the cloud server system 20, the mechanical arm positioning system of the operating table may control the motion of the catheter control system based on the control command, and since there is a mechanical connection relationship between the catheter control system and the surgical intervention catheter, for example, the surgical intervention catheter may be disposed in the catheter control system. Movement of the catheter control system also moves the surgical interventional catheter. The catheter control system and the operation intervention catheter also have information interaction, and the catheter control system can control the operation intervention catheter to move in multiple degrees of freedom.
As shown in fig. 3, according to some embodiments of the present invention, the operating room control relay system 30 includes at least one of the following instruments: an electrophysiology multi-lead physiology instrument 300, a body surface twelve-lead electrocardiograph 310, an electrophysiology three-dimensional marking instrument 320, a real-time video communication instrument 330 and an X-ray machine angiography instrument 340. The operating room control relay system 30 includes an operating room relay and monitoring system 350 for controlling the electrophysiology multi-lead scope 300, the body surface twelve-lead electrocardiograph 310, the electrophysiology three-dimensional calibration instrument 320, the real-time video communicator 330, and the X-ray machine angiography instrument 340.
The surgical image information may include at least one of the following information: the method comprises the steps of deriving an electrophysiology multi-lead physiology instrument, deriving a body surface twelve-lead electrocardiograph, deriving an electrophysiology three-dimensional marking instrument, real-time operating room video, operating room pictures and deriving an X-ray machine angiography instrument.
As shown in fig. 1-2, according to some embodiments of the present invention, the remote workstation system 10 may include a plurality of operating workstations 100, each of the plurality of operating workstations 100 being communicatively coupled to the cloud server system 20. The cloud server system 20 is configured to receive operation image information sent by the operation execution system and send the operation image information to each operation workstation 100, and the cloud server system 20 is further configured to receive a plurality of control instructions sent by the plurality of operation workstations 100, arbitrate the plurality of control instructions, determine a control instruction to be used, and send the control instruction to the operation execution system.
Thus, a plurality of experienced doctors may be distributed to a plurality of operation workstations 100, and each doctor may send a control instruction to the cloud server system 20 through the operation workstation 100 owned by the doctor. The cloud server system 20 may receive a plurality of control commands. The cloud server system 20 has an arbitration function, and can arbitrate a plurality of control commands to select one control command as a control command to be finally used and send the control command to the surgical execution system. Therefore, the guiding suggestions of a plurality of doctors can be combined to determine the operation scheme so as to perform the operation on the patient, thereby improving the success rate of the operation.
As shown in fig. 1-2, according to some embodiments of the present invention, the operation workstation 100 includes a controller 101 and a monitor, the monitor is used for collecting operation image information, and the controller 101 is used for generating control instructions based on the operation image information.
As shown in fig. 4, in some embodiments of the invention, the controller 101 and the monitor may be coupled to an interface of an APP, and the controller 101 may include virtual buttons in the interface. The user can manipulate through the respective virtual buttons.
In other embodiments of the present invention, as shown in FIG. 5, the controller 101 may be independent of the monitor. The controller 101 may include buttons and/or a joystick. The user can operate the keyboard and/or the rocker.
On the other hand, as shown in fig. 7, an embodiment of the present invention provides an application method based on the above mentioned cardiac interventional catheter operation system, including:
s1, the operation execution system receives the control instruction sent by the remote workstation system;
s2, the operation execution system performs the cardiac medical intervention catheter operation on the patient based on the control instruction.
A detailed description of a cardiology interventional catheter surgical system and method of use according to embodiments of the invention is provided in one particular embodiment with reference to fig. 1-6. It is to be understood that the following description is illustrative only and is not intended to be in any way limiting. All similar structures and similar variations thereof adopted by the invention are intended to fall within the scope of the invention.
With the large-scale construction of the 5G network, the remote transmission delay of images and data is lower and lower, so that real-time operation is possible. The system not only can transmit traditional two-dimensional medical images such as X-rays, but also can remotely transmit three-dimensional medical images of heart modeling, so that doctors can remotely judge operation schemes. As a new generation of information communication network, 5G establishes an information transmission highway for remote medical treatment. The characteristics of high flux, large bandwidth and low time delay can ensure that medical images are transmitted in place without delay or jamming, and the remote operation, the sharing and transmission of medical data in the medical unit and the sinking of medical resources to the primary hospital are possible.
The embodiment of the invention provides a cardiac intervention catheter operation system 1, and the cardiac intervention catheter operation system 1 can be applied to cardiac intervention catheter operations.
As shown in fig. 1 to 2, a cardiac interventional catheter surgical system 1 according to an embodiment of the present invention includes: a remote workstation system 10, a cloud server system 20, an operating room control relay system 30, and a patient-side robotic catheter surgery system 40.
Specifically, as shown in FIGS. 1-2, the remote workstation system 10 includes one or more sets of operator workstations 100 that are located at various locations. Each set of operating workstations 100 is configured as a controller 101 for physician catheter control inputs and a monitor for real-time viewing of the procedure and patient parameters by the physician. As shown in fig. 5, the controller 101 may receive control commands from a surgeon through the buttons and the joystick, where the control commands include advancing and retracting of the surgical intervention catheter, rotating of the surgical intervention catheter, and adjusting the curvature of the tip of the surgical intervention catheter. The monitor is a workstation computer configured with a monitor screen. As shown in FIG. 4, the controller 101 may also be coupled to a monitor interface, and the physician may enter these commands directly through the mouse via the workstation computer's screen. Of course, the two control command generation methods can also be coupled together, and can be flexibly selected by the doctor. During the operation, a doctor looks up a video picture at the far end, a two-dimensional picture of X-ray, electrophysiological three-dimensional mapping information and a pressure sensing signal sent back by the front end of the operation interventional catheter through a monitor to make comprehensive judgment, so that a control signal is sent out remotely.
The cloud server system 20 is the core of the entire system. As shown in fig. 6, the cloud server system 20 includes: the system comprises a processor unit 200, a data storage unit 210, a communication protocol processing module 220, an operating room relay communication processing module 230, a multi-workstation cooperative processing arbitration unit 240, a user configuration module 250, a device software ID authentication 260 and a version compatibility processing module 270.
The cloud server system 20 completes information interaction with the remote workstation system 10 through the communication protocol processing module 220, then internally transmits the information to the operating room relay communication processing module 230, converts the information into a relay command protocol format, and sends the relay command protocol format to the operating room control relay system 30, so that communication between the remote workstation system 10 and the operating room control relay system 30 is completed. When the remote workstation system 10 includes a plurality of operator workstations 100, each operator workstation 100 may initiate a session request and the multi-workstation co-processing arbitration unit 240 may be configured to establish a new link, pass session control to the new operator workstation 100, and continue the interaction of surgical commands by the new operator workstation 100 when the interaction of the active operator workstation 100 is complete.
The data storage unit 210 of the cloud server system 20 may store electrocardiographic signals, electrophysiological signals, video communications, etc. including 12 leads in the cloud while transmitting the signals to the remote workstation system 10.
The device software ID authentication 260 and version compatibility processing module 270 of the cloud server system 20 may work in conjunction to remind the user to perform software maintenance or update when the version of the operating workstation is incompatible with the version of the operating room control relay system.
When there are multiple operating workstations 100, the arbitration unit 240 of the cloud server system 20 cooperatively processes multiple workstations to arbitrate the control terminals, that is, the cloud server system 20 selects one operating workstation 100 as a control terminal through arbitration. The operating room control relay system 30 ultimately receives control commands from the control terminal and communicates with the patient-side robotic catheter surgical system 40.
The patient-end robotic catheter surgical system 40 includes: the system comprises an interventional operation catheter, a catheter control system and an operating table mechanical arm positioning system. The catheter control system can control the interventional operation catheter to complete multi-degree-of-freedom movement. The mechanical arm positioning system of the operating bed is used for fixing and adjusting the position of the catheter control system. The patient-end robotic catheter surgical system 40 receives the control commands and converts them into operating parameters for the motors in the catheter control system.
The control of the surgical interventional catheter may include axial movement, circumferential rotation, and adjustment of the arc of the catheter tip of the surgical interventional catheter. The doctor at the remote end can control the surgical interventional catheter to reach a preset position of the heart, the judgment is made through the electrophysiological signals, and all the intracardiac electrophysiological signals and the angiography are sent back to the operation workstation 100 for reference of the doctor. In the operating room, this information is implemented by the operating room control relay system 30. The operating room control relay system 30 comprises an electrophysiology multi-lead physiological instrument 300, a body surface twelve-lead electrocardiograph 310, an electrophysiology three-dimensional marking instrument 320, a real-time video communication instrument 330, an X-ray machine angiography instrument 340 and an operating room relay and monitoring system 350, wherein the operating room relay and monitoring system 350 is used for controlling the electrophysiology multi-lead physiological instrument 300, the body surface twelve-lead electrocardiograph 310, the electrophysiology three-dimensional marking instrument 320, the real-time video communication instrument 330 and the X-ray machine angiography instrument 340, and monitoring and feedback of the motion of the interventional operating catheter 400 are completed. The operation effect is verified by the body surface electrocardiogram signal and the intracardiac electrophysiological signal. Meanwhile, the operating room control relay system 30 is provided with a video camera at the operating end of the patient, reflects the operating conditions in real time, including the time length of the radio frequency ablation and the control of the radio frequency power, and sends a pulse signal of the program stimulator to confirm the ablation result. In addition, 12-lead electrocardiography, intracardiac electrophysiological multi-lead physiological apparatus, and signals are also sent out through the operating room control relay system 30.
Before the operation starts, the cloud server system and the remote workstation system establish communication, and are connected with the operating room control relay system to prepare for the operation control of the patient end. After the operation starts, the remote workstation system can send a control instruction to the cloud server system, the cloud server system sends the control instruction to the operating room control relay system, and then the patient end robot catheter operation system beside the patient end operation bed is controlled to carry out the operation.
Specifically, the surgical procedure includes:
1) after the operation is started, the operating room control relay system is in a preparation state, the patient end robot catheter operation system and the operating room control relay system are connected, and the operation intervention catheter is placed in the heart cavity of the patient. The cloud server system waits for the operation workstation to initiate a remote operation request.
2) The operation workstation initiates an operation request, after the cloud server system receives the operation request through Internet, the operation workstation checks whether the operating room control relay system is in an open state or a ready state, and if the operating room control relay system can start an operation, the cloud server system sends back a confirmation message to the operation workstation. Meanwhile, the interventional operation imaging device is controlled to be opened by an operating room control relay system, and comprises a 2-dimensional electrocardiogram, a multi-lead physiological instrument, a 2-dimensional digital angiography device, a cardiac electrophysiology 3-dimensional mapping device and a video conference system.
3) And after receiving the confirmation message, the operation workstation receives all the operation image information streams and starts the video conference system.
4) The doctor sends out a control instruction through the operation image information returned by the operation workstation. And after receiving the control instruction, the cloud server system sends the control instruction to the operating room control relay system, and then controls the patient end robot catheter operation system to move, bend and rotate corresponding operation intervention catheters.
5) And (5) repeating the operation step (4), performing interventional operation through the operation interventional catheter, then sending out a corresponding operation interventional catheter control instruction based on real-time cardiac operation image information, and executing the operation interventional catheter control instruction by the robot catheter operation system at the patient end.
6) The doctor makes the judgment of completing the operation through the image information of the cardiac operation. And then, sending an instruction to inform the cloud server system of completing the operation. And the cloud server system controls the operation relay system to stop the operation.
7) When a new operation workstation sends a control instruction to take over the operation in the middle of the operation, the cloud server system firstly stops communication with the operation workstation and then determines that the new operation workstation starts to send the control instruction.
8) In step (7), the previous operating workstation may give the operation control right to a new operating workstation, or may send a "busy" message to the cloud server system, so that the new operating workstation waits for the operation to continue.
By adopting the embodiment of the invention, one or more sets of remote workstations complete the control and command transmission of the robot catheter system through the relay system of the operating room, and the cardiology interventional catheter radio frequency ablation operation of the remote robot can be realized. One or more surgeons can remotely cooperate to complete the radio frequency ablation operation of the cardiology department, and one or more surgeons can remotely guide the operating room doctors to complete the radio frequency ablation operation process of the patients. The problem that a doctor completes an operation through a remote terminal can be solved. The problem that a remote doctor guides a local doctor to complete an operation can be solved. Can solve the problems of complex cardiac operation and multidisciplinary combined consultation.
It should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention, and those skilled in the art can make various modifications and changes. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
It should be noted that in the description of the present specification, reference to the description of the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Although some embodiments described herein include some features included in other embodiments instead of others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. The particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. For example, in the claims, any of the claimed embodiments may be used in any combination.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (6)
1. A cardiology interventional catheter procedure system, comprising:
a surgical execution system for performing a cardiology interventional catheter procedure on a patient under control of the remote workstation system;
the remote workstation system is in communication connection with the operation execution system and is used for generating a control instruction and sending the control instruction to the operation execution system so as to control the operation of the operation execution system;
the operation execution system is also used for generating operation image information and sending the operation image information to the remote workstation system, and the remote workstation system generates the control instruction based on the operation image information;
the operation image information includes: the method comprises the following steps of (1) deriving an electrophysiology multi-lead physiology instrument, deriving a body surface twelve-lead electrocardiograph, deriving an electrophysiology three-dimensional marking instrument, real-time operating room video, operating room pictures and deriving an X-ray machine angiography instrument;
the system further comprises:
the cloud server system is in communication connection with the operation execution system and the remote workstation system and is used for receiving the operation image information sent by the operation execution system and forwarding the operation image information to the remote workstation system; receiving the control command sent by the remote workstation system and selectively forwarding the control command to the operation execution system;
the remote workstation system comprises a plurality of operating workstations which are all connected with the cloud server system in a communication way,
the cloud server system is used for receiving the operation image information sent by the operation execution system and sending the operation image information to each operation workstation,
the cloud server system is further used for receiving a plurality of control instructions sent by the plurality of operation workstations, arbitrating the control instructions, determining a control instruction to be used and sending the control instruction to be used to the operation execution system.
2. The cardiac interventional catheter procedure system of claim 1, wherein the procedure performing system comprises:
a patient-end robotic catheter surgery system for performing a cardiology interventional catheter procedure on a patient;
the operating room control relay system is in communication connection with the patient-end robot catheter operating system and the cloud server system, and is used for generating the operation image information and sending the operation image information to the cloud server system; and receiving the control instruction sent by the cloud server system and forwarding the control instruction to the patient-end robot catheter surgery system.
3. The cardiac interventional catheter surgical system of claim 2, wherein the patient-end robotic catheter surgical system comprises:
the operation interventional catheter is used for extending into the body of a patient and completing the interventional catheter operation of the cardiology department under the control of the catheter control system;
the catheter control system is connected with the operation intervention catheter, is in communication connection with the operating room control relay system and the operation intervention catheter, and is used for receiving the control command sent by the cloud server system and controlling the operation intervention catheter to move in multiple degrees of freedom based on the control command;
and the mechanical arm positioning system of the operating table is in communication connection with the operating room control relay system and the catheter control system so as to receive the control command sent by the cloud server system and control the motion of the catheter control system based on the control command.
4. The cardiac interventional catheter procedure system of claim 2, wherein the operating room control relay system comprises at least one of the following instruments: an electrophysiology multi-lead physiology instrument, a body surface twelve-lead electrocardiograph, an electrophysiology three-dimensional marking instrument, a real-time video communication instrument and an X-ray machine angiography instrument.
5. The cardiac interventional catheter procedure system of claim 1, wherein the operating workstation includes a controller and a monitor, the monitor for acquiring the surgical image information, the controller for generating the control instructions based on the surgical image information.
6. The cardiac interventional catheter procedure system of claim 5, wherein the controller comprises a button and/or a joystick.
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| CN112168361B (en) * | 2020-10-29 | 2021-11-19 | 上海工程技术大学 | Catheter surgical robot pose prediction method capable of effectively relieving time delay influence |
| WO2023091570A1 (en) * | 2021-11-19 | 2023-05-25 | Cardioinsight Technologies Inc. | Automated triggers for electrophysiology case support |
| CN115192203A (en) * | 2022-07-20 | 2022-10-18 | 北京唯迈医疗设备有限公司 | Intervene unmanned operating room system |
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