CN114795409A - Remote control operation device for interventional ultrasonic puncture - Google Patents

Abstract

The invention relates to the technical field of medical equipment, in particular to an interventional ultrasonic puncture remote control operation device. An interventional ultrasonic puncture remote control operation device comprises a puncture control unit, a puncture driven unit and a communication unit, wherein the puncture control unit and the puncture driven unit are in communication connection through the communication unit; the puncture control unit comprises a first controller and an operation module, the output end of the operation module is electrically connected with the input end of the first controller, the operation module is used for sending an operation instruction, the first controller is used for sending the operation instruction to the puncture driven unit through the communication unit, the puncture driven unit comprises a second controller and an execution module, the output end of the second controller is electrically connected with the input end of the execution module and used for receiving the operation instruction, and the execution module is controlled to execute the operation instruction according to the received operation instruction. Compared with the prior art, the difficulty of the operation of the doctor in the puncture process is reduced, and the operation risk is reduced.

Description

Remote control operation device for interventional ultrasonic puncture

Technical Field

The invention relates to the technical field of medical equipment, in particular to an interventional ultrasonic puncture remote control operation device.

Background

The Interventional Ultrasound (Interventional Ultrasound) technology is a branch of modern ultrasonic medicine, is a new technology developed on the basis of ultrasonic imaging to further meet the requirements of clinical diagnosis and treatment, is a clinically important minimally invasive diagnosis and treatment means, can complete various operations of puncture biopsy, liquid extraction, drug injection and the like under the real-time ultrasonic guidance, and has the advantages of no operation, no perforation, minimal invasion, safety and the like. The puncture operation under ultrasonic guidance is one of the most central technical actions.

During interventional ultrasonic puncture, ultrasonic examination needs to be synchronously performed, generally, a doctor needs to hold a probe with one hand to observe a display screen of an ultrasonic instrument in real time, and operates an instrument operation panel with the other hand. The ultrasonic probe is required to be held during puncture, and the puncture needle tool is held under ultrasonic guidance to complete operations such as needle insertion, adjustment, needle discharge and the like. In most cases, a doctor needs to twist the body, the cervical vertebra and the lumbar vertebra to be in a rotating state, and a plurality of joints and muscles of the shoulder, the hand and the like are tensed, so that the operation stability is easy to reduce, the operation risk is increased, and the body is injured for a long time. In addition, the distance and the angle of the puncture needle insertion need to be accurately operated and have good hand feeling, a puncture support is generally arranged on an ultrasonic probe to fix the needle insertion angle, and the needle can be punctured by bare hands without the puncture support, so that the angle direction can be freely adjusted. The puncture needle insertion can be completed by a single person with two hands, namely, the probe is operated by one hand, and the puncture needle is operated by one hand, but the technical requirement on doctors is higher, a display screen of the instrument, the ultrasonic probe and the puncture needle tool are distributed at different positions, the body needs to be twisted and inclined, and the operation can be failed due to slight shaking of limbs during puncture; the puncture needle insertion can also be assisted by an assistant, namely, one person is absorbed in controlling the probe and operating the instrument to observe an ultrasonic image, and the other person is used as the assistant to be matched with the needle insertion, but the two persons need to be matched with each other in a tacit manner, the number of hands is increased, and certain technical requirements are also met for the assistant.

Disclosure of Invention

The technical problem to be solved by the invention is to provide an interventional ultrasonic puncture remote control operation device which can reduce the operation difficulty of a doctor in a puncture process and reduce the operation risk.

The basic scheme provided by the invention is as follows: an interventional ultrasonic puncture remote control operation device comprises a puncture control unit, a puncture driven unit and a communication unit, wherein the puncture control unit and the puncture driven unit are in communication connection through the communication unit;

the puncture control unit comprises a first controller and an operation module, the output end of the operation module is electrically connected with the input end of the first controller, the operation module is used for sending an operation instruction, the first controller is used for sending the operation instruction to the puncture driven unit through the communication unit, the puncture driven unit comprises a second controller and an execution module, the output end of the second controller is electrically connected with the input end of the execution module and used for receiving the operation instruction, and the execution module is controlled to execute the operation instruction according to the received operation instruction.

The principle and the advantages of the invention are as follows: the puncture control unit sends out an operation instruction, the communication unit transmits the operation instruction to the puncture control unit, and the puncture control unit executes the operation instruction after receiving the operation instruction, so that the puncture needle tool is controlled, and a doctor is assisted in performing puncture operation. In the actual operation process, the puncture control unit is placed or integrated on an operation panel of the ultrasonic instrument, when a doctor finishes puncturing, only the puncture needle tool needs to be fixed on the puncture driven unit, the ultrasonic instrument and the puncture control unit are operated by one hand, the ultrasonic probe is controlled by the other hand to carry out ultrasonic real-time monitoring and puncture guiding, the puncture needle tool is synchronously operated, a display screen of the ultrasonic instrument is observed, and when the ultrasonic instrument is operated, the body does not need to be twisted, the cervical vertebra, the lumbar vertebra, the joints, the muscles and the like are protected, the operation difficulty of the doctor is reduced, the pressure of the doctor is relieved, and meanwhile, the operation risk is also reduced. In addition, the key puncture needle inserting operation can be completed by only one person through the invention without consuming more hands for matching.

Further, the operation module comprises a grabbing operation module, and the grabbing operation module is used for sending a grabbing instruction and a releasing instruction;

the execution module comprises a grabbing execution module, and the grabbing execution module is used for grabbing the puncture needle tool when receiving a grabbing instruction and releasing the puncture needle tool when receiving a releasing instruction.

The puncture needle tool is grabbed by the grabbing execution module, so that in specific implementation, a doctor does not need to manually operate the puncture needle tool, the doctor only needs to hold the probe by one hand and operate the operation panel and the puncture control unit of the ultrasonic instrument by the other hand, and a normal upright sitting posture can be kept in the puncture process.

Furthermore, the operation module comprises a needle advancing and retreating operation module, and the needle advancing and retreating operation module is used for sending a needle advancing instruction and a needle retreating instruction;

the execution module comprises a needle advancing and retreating execution module, and the needle advancing and retreating execution module is used for controlling the needle advancing of the puncture needle tool when receiving a needle advancing instruction and controlling the needle retreating of the puncture needle tool when receiving a needle retreating instruction.

The needle inserting and withdrawing instruction is sent out through the needle inserting and withdrawing operation module, so that the puncture driven unit controls the puncture needle tool to insert and withdraw the needle, and the puncture operation is completed.

Further, the operation module further comprises an angle operation module, and the angle operation module is used for sending an angle adjusting instruction;

the execution module further comprises an angle execution module, and the angle execution module is used for adjusting the needle inserting angle of the puncture needle tool according to the angle adjusting instruction.

The angle operation module sends an angle adjustment instruction to enable the puncture driven unit to complete adjustment of the needle inserting angle of the puncture needle tool, after a safe puncture path is determined, the angle is adjusted firstly, then the needle inserting is carried out, the whole process is completed by the puncture driven unit executing operation instruction, after the puncture needle tool is fixed, a doctor does not need to carry out manual operation on the puncture needle tool, the upright sitting posture can be kept in the whole puncture process, and the body does not need to be twisted frequently.

Further, the puncture control unit also comprises an operation state module and a display module;

the operation state module is used for determining the operation state of the puncture needle tool according to the operation instruction;

and the display module is used for displaying the operation state of the puncture needle tool.

After the operations of needle insertion, needle withdrawal and angle adjustment are carried out, the distance of needle insertion and the operation state information such as the angle of the needle tool are known through the operation state module and are displayed through the display module, so that a doctor can know the distance and the angle more conveniently in the actual operation process.

Further, the puncture control unit is integrated on an operation panel of the ultrasonic instrument.

The puncture control unit is integrated on the ultrasonic instrument, so that the operation is more convenient.

Further, the communication unit is a wireless communication module.

And transmitting the operation instruction in a wireless network mode.

Furthermore, the puncture driven unit also comprises a releasing module, the output end of the releasing module is electrically connected with the input end of the second controller, and the second controller is also used for controlling the grabbing and executing module to release the puncture needle tool according to a signal sent by the releasing module.

When an accident occurs, a doctor can release the grabbing of the puncture needle tool through the release module on the puncture driven unit, stop the operation or allow the operation to be finished in a manual mode continuously, and safety is ensured.

Further, the puncture control unit also comprises an instruction simulation module, an early warning module and an execution recording module;

the instruction simulation module is used for acquiring an ultrasonic detection result, sending an operation instruction by the operation module, simulating and executing the operation instruction, judging whether the operation instruction causes damage or not and generating a simulation result;

the early warning module is used for sending out a prompt when the simulation result is that damage can be caused;

the execution recording module is used for recording the execution process of the execution module when the simulation result is that the operation module still sends the same operation instruction after sending the prompt, and recording the execution process into the experience library after the execution is successful;

the instruction simulation module is also used for simulating according to the execution process in the experience base.

Drawings

Fig. 1 is a logic block diagram of an embodiment of the remote control operation device for interventional ultrasound puncture according to the invention.

Detailed Description

The following is further detailed by way of specific embodiments:

the embodiment is basically as shown in the attached figure 1:

an interventional ultrasonic puncture remote control operation device comprises a puncture control unit, a puncture driven unit and a communication unit. The puncture control unit and the puncture slave unit establish communication connection through a communication unit, and in the embodiment, the communication unit is a bluetooth communication module. The puncture control unit is integrated on the operation panel of the ultrasonic instrument, and the puncture driven unit is a mechanical arm attached to the ultrasonic probe.

The puncture control unit comprises a first controller and an operation module, wherein the output end of the operation module is electrically connected with the input end of the first controller, and the operation module is used for sending an operation instruction. The first controller is used for sending an operation instruction to the puncture driven unit through the communication unit, the puncture driven unit comprises a second controller, an execution module and a release module, an output end of the second controller is electrically connected with an input end of the execution module, the second controller is used for receiving the operation instruction and controlling the execution module to execute the operation instruction according to the received operation instruction, and in the embodiment, the first controller and the second controller are STM32 series single-chip microcomputers.

The operation module comprises a grabbing operation module, a needle advancing and retreating operation module and an angle operation module, the grabbing operation module is used for sending a grabbing instruction and a releasing instruction, the needle advancing and retreating operation module is used for sending a needle advancing instruction and a needle retreating instruction, and the angle operation module is used for sending an angle adjusting instruction. In the present embodiment, the grasping operation module, the advancing-retreating needle operation module and the angle operation module are integrated into a circular operation key which can be rotated, pressed and shifted. Specifically, pressing an operation key sends out a grabbing instruction and a releasing instruction; rotating the operating key clockwise to send a needle feeding instruction, rotating the operating key anticlockwise to send a needle withdrawing instruction, and adjusting the control quantity of the needle feeding instruction and the needle withdrawing instruction according to the rotating distance of the operating key, namely controlling the distance between the needle feeding and the needle withdrawing according to the rotating distance of the operating key, wherein in the embodiment, the distance between the needle feeding and the needle withdrawing and the rotating distance of the operating key are changed linearly; stir the manipulating key and send angle modulation instruction, in this embodiment, angle modulation specifically goes on with the mode of gear adjustment, and a plurality of gears can be stirred to the manipulating key promptly, and every gear sends the angle modulation instruction of different angles, and in this embodiment, specific gear has 30 degrees gears, 45 degrees gears and 60 degrees gears, according to the gear that the manipulating key stirred to, sends corresponding angle modulation instruction, for example when the manipulating key stirs to 30 degrees gears, then sends 30 degrees angle modulation instruction.

After the operation module sends an operation instruction, the first controller sends the operation instruction to the puncture slave unit through the communication unit in a wireless network mode, and after the second controller receives the operation instruction, the second controller controls the execution module to execute the operation instruction. Specifically, the puncture driven unit is attached to a mechanical arm on a probe of the ultrasonic instrument, a clamping arm, a spur rack and a gear are arranged on the mechanical arm, and the clamping arm is arranged on the spur rack. The grabbing execution module is specifically a clamping arm on the mechanical arm, the mechanical clamping arm clamps or releases according to a received grabbing instruction or a release instruction, when the mechanical clamping arm is in a release state, the operating key is pressed, the grabbing instruction is sent, when the mechanical clamping arm is in a clamping state, the operating key is pressed, and the release instruction is sent. The needle feeding and withdrawing operation module is specifically a spur rack and a gear on the mechanical arm, the spur rack is driven to move linearly through the gear, and the puncture needle tool is driven to do linear motion, so that a needle feeding instruction and a needle withdrawing instruction are executed, namely, the operation key is rotated clockwise to control the linear needle feeding of the puncture needle tool, the operation key is rotated anticlockwise to control the linear needle withdrawing of the puncture needle tool, and the distance between the needle feeding and the needle withdrawing is controlled according to the rotating distance of the operation key. The angle execution module is used for controlling the rotation of the mechanical arm, and after receiving a specific angle adjustment instruction, the mechanical arm rotates by a corresponding angle.

And the operation state module is used for determining the operation state of the puncture needle tool according to the operation instruction.

And the display module is used for displaying the operation state of the puncture needle tool.

After the puncture control unit sends out an operation instruction, the operation state module determines the operation state of the puncture needle tool according to the sent operation instruction, specifically, the operation state module converts the operation instruction sent out by the operation key into electronic information, and the electronic information is displayed by the display module. For example, after a needle inserting instruction is sent out through the operation key, the operation state module determines the needle inserting distance of the puncture needle tool according to the rotating distance of the operation key, and displays the needle inserting distance of the puncture needle tool through the display module; after the angle gear of the operating key is shifted, the operating state module determines the rotating angle of the puncture needle tool according to the gear of the operating key and displays the rotating angle of the puncture needle tool through the display module. And the display module can also display the unknown state in different colors, so that the doctor can observe conveniently.

The output end of the releasing module is electrically connected with the input end of the second controller, and the controller is also used for controlling the grabbing execution module to release the puncture needle according to a signal sent by the releasing module. In this embodiment, the release module is specifically a release button disposed on the mechanical arm, and when an emergency occurs, for example, when the communication connection is disconnected, the puncture needle device can be released through the release button disposed on the mechanical arm, and the puncture operation can be continuously completed in a manual manner.

The specific implementation process is as follows:

when the puncture needle clamping device is used, the puncture needle is placed on the clamping arm, and the operating key is pressed down to enable the clamping arm to clamp the puncture needle. At the moment, the left hand is only needed to control the operation panel and the puncture control unit of the ultrasonic instrument, and the right hand is used to control the ultrasonic probe to perform real-time ultrasonic monitoring and puncture guiding. After the safe needle inserting path is determined, the gear of the operation key is shifted by the left hand, the needle inserting angle is adjusted, the ultrasonic probe is fixed by the right hand, the ultrasonic image is monitored in real time, and the operation key is rotated clockwise by the left hand. The operation doctor can keep normal upright position of sitting in the operation in-process, need not to twist reverse the health when operation pjncture needle and operation ultrasonic instrument, has reduced doctor's the operation degree of difficulty, improves operation stability, reduces the operation risk.

Example two

The difference between the embodiment and the first embodiment is that the puncture control unit further comprises an instruction simulation module, an early warning module and an execution recording module;

the instruction simulation module is used for acquiring an ultrasonic detection result, sending an operation instruction by the operation module, simulating and executing the operation instruction, judging whether the operation instruction causes damage or not and generating a simulation result;

the early warning module is used for sending out a prompt when the simulation result is that damage can be caused;

the execution recording module is used for recording the execution process of the execution module when the simulation result is that the operation module still sends the same operation instruction after sending the prompt, and recording the execution process into the experience library after the execution is successful;

the instruction simulation module is also used for simulating according to the execution process in the experience base.

Specifically, the instruction execution module acquires an ultrasonic detection result from the ultrasonic instrument, and when receiving an operation instruction, simulates a process of the puncture needle executing the operation instruction through computer modeling. And judging whether the patient is damaged or not when the operation instruction is executed according to the ultrasonic detection result and the simulation process. If the damage is caused, a prompt is sent out through the early warning module to prompt a doctor.

When the system judges that the execution process causes damage after simulation and the doctor insists on executing the execution process, the execution process of the doctor is recorded. When the execution is successful, the execution process is recorded as an experience base, so that the experience base is perfected. When the system considers that the execution can cause damage, the doctor insists on executing the operation, and possibly the doctor judges that the execution is carried out according to the operation instruction according to own experience, the execution can be successful, and the system calculation has errors. Therefore, the system records the execution process of the execution module, stores the execution process in the experience library after the execution is successful, and performs simulation according to data in the experience library in the subsequent simulation process, so that the simulation accuracy is improved.

The foregoing are merely exemplary embodiments of the present invention, and no attempt is made to show structural details of the invention in more detail than is necessary for the fundamental understanding of the art, the description taken with the drawings making apparent to those skilled in the art how the several forms of the invention may be embodied in practice with the teachings of the invention. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims (9)

1. The utility model provides an intervene supersound puncture remote control unit which characterized in that: the puncture control unit and the puncture driven unit are in communication connection through the communication unit;

the puncture control unit comprises a first controller and an operation module, the output end of the operation module is electrically connected with the input end of the first controller, the operation module is used for sending an operation instruction, the first controller is used for sending the operation instruction to the puncture driven unit through the communication unit, the puncture driven unit comprises a second controller and an execution module, the output end of the second controller is electrically connected with the input end of the execution module and used for receiving the operation instruction, and the execution module is controlled to execute the operation instruction according to the received operation instruction.

2. The remote control device for interventional ultrasonic puncture according to claim 1, wherein: the operation module comprises a grabbing operation module, and the grabbing operation module is used for sending a grabbing instruction and a releasing instruction;

the execution module comprises a grabbing execution module, and the grabbing execution module is used for grabbing the puncture needle tool when receiving a grabbing instruction and releasing the puncture needle tool when receiving a releasing instruction.

3. The remote control device for interventional ultrasonic puncture according to claim 1, wherein: the operation module comprises a needle feeding and withdrawing operation module, and the needle feeding and withdrawing operation module is used for sending a needle feeding instruction and a needle withdrawing instruction;

the execution module comprises a needle advancing and retreating execution module, and the needle advancing and retreating execution module is used for controlling the needle advancing of the puncture needle tool when receiving a needle advancing instruction and controlling the needle retreating of the puncture needle tool when receiving a needle retreating instruction.

4. The remote control device for interventional ultrasound puncture according to claim 3, wherein: the operation module also comprises an angle operation module, and the angle operation module is used for sending an angle adjusting instruction;

the execution module further comprises an angle execution module, and the angle execution module is used for adjusting the needle inserting angle of the puncture needle tool according to the angle adjusting instruction.

5. The remote control device for interventional ultrasound puncture according to claim 4, wherein: the puncture control unit also comprises an operation state module and a display module;

the operation state module is used for determining the operation state of the puncture needle tool according to the operation instruction;

and the display module is used for displaying the operation state of the puncture needle tool.

6. The remote control device for interventional ultrasound puncture according to claim 5, wherein: the puncture control unit is integrated on an operation panel of the ultrasonic instrument.

7. The remote control device for interventional ultrasonic puncture according to claim 1, wherein: the communication unit is a wireless communication module.

8. The remote control device for interventional ultrasound puncture according to claim 2, wherein: the puncture driven unit further comprises a releasing module, the output end of the releasing module is electrically connected with the input end of the second controller, and the second controller is further used for controlling the grabbing and executing module to release the puncture needle tool according to a signal sent by the releasing module.

9. The remote control device for interventional ultrasonic puncture according to claim 1, wherein: the puncture control unit also comprises an instruction simulation module, an early warning module and an execution recording module;

the instruction simulation module is used for acquiring an ultrasonic detection result, sending an operation instruction by the operation module, simulating and executing the operation instruction, judging whether the operation instruction causes damage or not and generating a simulation result;

the early warning module is used for sending out a prompt when the simulation result is that damage can be caused;

the execution recording module is used for recording the execution process of the execution module when the simulation result is that the operation module still sends the same operation instruction after sending the prompt, and recording the execution process into the experience library after the execution is successful;

the instruction simulation module is also used for simulating according to the execution process in the experience base.

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