CN115568955A - Blood vessel intervention operation robot with force feedback function - Google Patents
Blood vessel intervention operation robot with force feedback function Download PDFInfo
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- CN115568955A CN115568955A CN202211356394.5A CN202211356394A CN115568955A CN 115568955 A CN115568955 A CN 115568955A CN 202211356394 A CN202211356394 A CN 202211356394A CN 115568955 A CN115568955 A CN 115568955A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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Abstract
The invention relates to a vascular intervention surgical robot with a force feedback function, which consists of a master end mechanism and a slave end mechanism, wherein the master end mechanism comprises a display, a master end control box and a master end console, and the master end control box is embedded into the master end console; the main end control box is provided with a catheter advancing and retreating control knob, a guide wire rotating control knob and a guide wire advancing and retreating control knob, so that the advancing and retreating control of the catheter, the guide wire rotating control and the advancing and retreating control of the guide wire are realized respectively, and the advancing and retreating control knobs of the catheter and the guide wire are connected with a catheter force feedback device and a guide wire force feedback device respectively; the slave end mechanism comprises an operating table, a bracket and a slave end control box, the bracket is fixed on the operating table, and the slave end control box is fixed at the tail end of the bracket; the invention can really collect the stress conditions of the guide wire and the catheter in the blood vessel and map the stress conditions to the main end operating mechanism, and reduces the on-site feeling of a doctor during operation, thereby reducing the operation risk and improving the operation precision.
Description
[ technical field ]
The invention belongs to the technical field of medical instruments, and particularly relates to a vascular intervention surgical robot with a force feedback function.
[ background art ]
In recent years, with the improvement of living standard, cardiovascular diseases have become one of the diseases with the highest global fatality rate. The blood vessel intervention operation needs rich clinical experience of operating doctors, the phenomena of few doctors and many patients occur in most remote areas, and the doctors need to wear thick and heavy lead clothes to be exposed to rays for a long time when completing the intervention operation, so that the labor intensity of the intervention operation doctors is high, and the probability of suffering from cancers is high.
The vascular intervention robot utilizes a teleoperation technology, an operator directly operates the master end equipment to move, the controller sends a control signal to the slave end equipment, and the slave end synchronously completes corresponding operation. The master-slave operation method can well solve the radiation problem of a doctor during an interventional operation, and the remote teleoperation function can realize that an experienced doctor can help a medical resource deficient area to remotely complete the operation, so that medical resources are shared.
In an actual operation, a doctor needs to judge the motion condition of the guide wire or the guide pipe in a blood vessel by combining the force feedback of pushing the guide wire or the guide pipe by a hand and an image exposed by DR equipment. The current blood vessel interventional robots on the market realize force feedback in a way that a special guide wire or a catheter with a sensor is adopted or a large number of sensors are installed on a slave end device, the realization mode is complex and the operation cost is increased.
[ summary of the invention ]
The invention aims to solve the defects and provide a vascular intervention surgical robot with a force feedback function, which can really acquire the stress conditions of a guide wire and a catheter in a blood vessel and map the stress conditions to a main-end operating mechanism, so that the on-site feeling of a doctor during operation is restored, the surgical risk is reduced, and the surgical precision is improved.
The vascular intervention surgical robot with the force feedback function is designed to achieve the purpose and consists of a master end mechanism and a slave end mechanism, wherein the master end mechanism comprises a display 1, a master end control box 2 and a master end console 3, the master end control box 2 is embedded into the master end console 3, and the display 1 is used for displaying images; the main end control box 2 is provided with a catheter advancing and retreating control knob 7, a guide wire rotating control knob 8, a guide wire advancing and retreating control knob 9, an emergency stop button 10 and an enabling button 11, the catheter advancing and retreating control knob 7, the guide wire rotating control knob 8 and the guide wire advancing and retreating control knob 9 are respectively used for realizing the catheter advancing and retreating control, the guide wire rotating control and the guide wire advancing and retreating control, the catheter advancing and retreating control knob 7 and the guide wire advancing and retreating control knob 9 are respectively connected with a catheter force feedback device and a guide wire force feedback device, and the catheter force feedback device and the guide wire force feedback device are arranged in the main end control box 2; the slave end mechanism comprises an operating table 4, a support 5 and a slave end control box 6, the support 5 is fixed on the operating table 4, the tail end of the support 5 is fixed with the slave end control box 6 and used for adjusting the pose of the slave end control box 6, and a slave end control mechanism force feedback system is installed on the slave end control box 6.
Further, the guide wire force feedback device comprises a driving wheel 12, a force feedback mechanism 13, an encoder 14 and a driven wheel 15, wherein the driving wheel 12 is connected with the driven wheel 15 through a belt, the driving wheel 12 is connected with a guide wire advancing and retreating control knob 9, the force feedback mechanism 13 is composed of a motor and a cam, the output end of the motor is connected with the cam and drives the cam to move, the cam is connected with the belt, and the cam applies pressure to the belt to transmit force to the guide wire advancing and retreating control knob 9; the encoder 14 is connected with a driven wheel 15, and the encoder 14 is used for acquiring the moving distance of the guide wire controlled by the main end.
Further, the structure of the catheter force feedback device is the same as that of the guide wire force feedback device.
Further, the force feedback mechanism 13 maps the stress of the guide wire in the blood vessel collected from the end mechanism to the pressure on the belt in real time, and transmits the pressure to the guide wire advancing and retreating control knob 9, the guide wire advancing and retreating control knob 9 feeds back the force to the doctor operation end by means of knob force, and the force feedback manner of the catheter advancing and retreating control knob 7 is the same as that of the guide wire advancing and retreating control knob 9.
Further, the slave-end control mechanism force feedback system comprises a camera 16, a second support 17, a guide wire or catheter 18 and a marking frame 19, the slave-end control box 6 is made of a transparent material, the second support 17, the guide wire or catheter 18 and the marking frame 19 are arranged on the slave-end control box 6, the guide wire or catheter 18 is conveyed to a human body channel through the second support 17, the guide wire or catheter 18 moves in the marking frame 19, the movement range of the guide wire or catheter 18 does not exceed the marking frame 19, the marking frame 19 is a square groove, the camera 16 is mounted at the bottom of the slave-end control box 6, and the camera 16 acquires image data of the second support 17, the guide wire or catheter 18 and the marking frame 19 from bottom to top.
The invention also provides a master-slave force feedback method of the vascular intervention surgical robot with the force feedback function, which comprises the following steps: (1) Firstly, performing single-frame processing on a video obtained by a camera, performing appropriate repair on a single-frame image, removing reflected light by applying an algorithm, and obtaining original data of a target area image; (2) Then, the preprocessed picture is reprocessed to produce a binary mask image of the guide wire or the catheter, and the bending height of the guide wire or the catheter in the marking frame 19 is calculated; (3) Processing the curvature of the guide wire or the guide pipe obtained by the image processing algorithm, mapping the curvature and the stress condition of the guide wire or the guide pipe in the blood vessel, feeding back the force on the guide wire obtained by mapping to a force feedback mechanism 13, adjusting the angle of a cam by the force feedback mechanism 13, outputting corresponding pressure to a belt, and transmitting the pressure to a guide wire advancing and retreating control knob 9 through a driving wheel 12; the force feedback mode of the catheter is mapped to the catheter advancement and retraction control knob 7 similar to the guide wire; the doctor remotely senses the stress condition of the guide wire at the slave end and the catheter in the blood vessel through the guide wire advancing and retreating control knob 9 and the catheter advancing and retreating control knob 7.
Further, the camera single-frame image preprocessing comprises the following steps: 1) Firstly, reading single image frame data in a camera video stream; 2) Performing proper image patching on a light reflecting area in an image frame; 3) Identifying the area of the blue mark frame through color, and binarizing the original image according to the color; 4) Then, analyzing a connected region according to the binarized image; 5) And reserving original image data in the target area by taking the blue square as a boundary, and reserving a mask with the same size as the target area.
Further, the method for calculating the bending degree of the guide wire or the guide pipe comprises the following steps: after the preprocessed acquired data are obtained, considering that a guide wire or a catheter can be stained with blood stain in an interventional operation, the noise in a target area is mostly red, extracting red single-channel data for processing, and further extracting a candidate area where the guide wire or the catheter is located; performing Gaussian blur on the red channel picture, and segmenting a guide wire or a catheter by using an adaptive threshold; counting the area of the connected domain, and if the number is smaller than a set threshold value, discarding the connected domain as noise; if the detected data is greater than the set threshold, adding the detected data of the guide wire or the catheter to a data memory for visualization; finally, the bending height of the guide wire is calculated according to the obtained binary mask image of the guide wire or the catheter.
Further, after the bending degree of the guide wire or the catheter is obtained, the force borne by the guide wire or the catheter is fed back to the force feedback mechanism 13 of the main end mechanism; the force range of the guide wire or the guide pipe returning in the blood vessel is 0-10N, the main end force feedback mechanism 13 outputs the knob force of the corresponding knob according to the angle of the adjusting cam pressing belt, and the output knob force range is 0-10N; when the force applied to the guide wire or catheter in the blood vessel is greater than 10N, the force feedback mechanism 13 rotates the cam to 90 ° to press the belt to the tightest, so that the torsion of the guide wire advancing and retreating control knob 9 or the catheter advancing and retreating control knob 7 is maximized.
Compared with the prior art, the invention has the following advantages:
(1) The invention utilizes the machine vision technology to really acquire the stress conditions of the guide wire and the catheter in the blood vessel and map the stress conditions to the main end operating mechanism, so as to restore the on-site feeling of a doctor during operation, thereby reducing the operation risk and improving the operation precision;
(2) According to the invention, the stress condition of the guide wire or the guide pipe in the blood vessel can be accurately obtained without installing sensors at the front end of the guide wire or the guide pipe and in the slave end mechanism, and the master end mechanism can restore the hand feeling of a doctor for pushing the guide wire and the guide pipe;
(3) The invention not only helps doctors avoid long-time exposure to rays during interventional operation, but also can realize sharing of medical resources, reduces operation cost, improves operation precision, and is worthy of popularization and application.
[ description of the drawings ]
FIG. 1a is a schematic view of the entire structure of the vascular interventional robot of the present invention;
FIG. 1b is a schematic diagram of the overall structure of the vascular interventional robot of the present invention;
FIG. 2 is a schematic diagram of a main control box of the vascular interventional robot according to the present invention;
FIG. 3 is a schematic diagram of a main force feedback system of the vascular interventional robot of the present invention;
FIG. 4 is a schematic view of a slave-end control box of the vascular interventional robot of the present invention;
FIG. 5 is a top view of the control box at the slave end of the vascular interventional robot of the present invention;
FIG. 6 is a schematic view of a target area of a guidewire or catheter of the present invention;
FIG. 7 is a flowchart of a single frame image pre-processing algorithm of the camera of the present invention;
FIG. 8 is a flow chart of a method of calculating wire or catheter tortuosity in accordance with the present invention;
FIG. 9 is a master-slave force feedback flowchart of the vascular interventional robot of the present invention;
in the figure: 1. the device comprises a display 2, a main end control box 3, a main end control platform 4, an operating table 5, a support 6, a slave end control box 7, a catheter advancing and retreating control knob 8, a guide wire rotating control knob 9, a guide wire advancing and retreating control knob 10, an emergency stop button 11, an enable button 12, a driving wheel 13, a force feedback mechanism 14, an encoder 15, a driven wheel 16, a camera 17, a second support 18, a guide wire or a catheter 19 and a marking frame.
[ detailed description of the invention ]
The invention provides a vascular interventional surgical robot with master-slave control, in particular to a vascular interventional robot solution with a force feedback function; the vascular interventional surgical robot with the force feedback function consists of a main end mechanism and a slave end mechanism; the main end mechanism consists of a display 1, a main end control box 2 and a main end control console 3, wherein the main end control box 2 is embedded in the main end control console 3 and is used for collecting operation information of a doctor, so that the interaction function of the doctor and the slave end mechanism can be realized; the image of the conducting X-ray exposure of the guide wire or catheter in the blood vessel is displayed on the display 1; the main end control box 2 is provided with three knobs capable of realizing rotation at any angle, namely a catheter advancing and retreating control knob 7, a guide wire rotating control knob 8 and a guide wire advancing and retreating control knob 9, and is further provided with an emergency stop button 10 and an enabling button 11, wherein the catheter advancing and retreating control knob 7, the guide wire rotating control knob 8 and the guide wire advancing and retreating control knob 9 are respectively used for realizing catheter advancing and retreating control, guide wire rotating control and guide wire advancing and retreating control, the catheter advancing and retreating control knob 7 and the guide wire advancing and retreating control knob 9 are respectively connected with a catheter force feedback device and a guide wire force feedback device, and the catheter force feedback device and the guide wire force feedback device are arranged in the main end control box 2; the slave end mechanism consists of an operating table 4, a support 5 and a slave end control box 6, the support 5 is fixed on the operating table 4 and used for adjusting the pose of the slave end control box 6, the slave end control box 6 is fixed at the tail end of the support 5, and a slave end control mechanism force feedback system is installed on the slave end control box 6.
The guide wire force feedback device comprises a driving wheel 12, a force feedback mechanism 13, an encoder 14 and a driven wheel 15, wherein the driving wheel 12 is connected with the driven wheel 15 through a belt, the guide wire advancing and retreating control knob 9 is connected to the driving wheel 12, the force feedback mechanism 13 is composed of a motor and a cam, the output end of the motor is connected with the cam and drives the cam to move, the cam is connected with the belt, and the cam applies pressure to the belt to transmit force to the guide wire advancing and retreating control knob 9; the encoder 14 is connected with the driven wheel 15, and the encoder 14 is used for acquiring the moving distance of the guide wire controlled by the main end; the catheter force feedback device is similar to the guide wire force feedback device, and the structure of the catheter force feedback device is the same as that of the guide wire force feedback device. The force feedback mechanism 13 maps the stress of the guide wire in the blood vessel collected from the end mechanism to the pressure on the belt in real time and transmits the stress to the guide wire advancing and retreating control knob 9, the guide wire advancing and retreating control knob 9 feeds back to the operation end of the doctor in a knob force mode, and the force feedback mode of the catheter advancing and retreating control knob 7 is the same as that of the guide wire advancing and retreating control knob 9.
The slave end control mechanism force feedback system mainly comprises a camera 16, a second support 17, a guide wire or catheter 18 and a marking frame 19, wherein the slave end control box 6 is made of transparent materials, the second support 17, the guide wire or catheter 18 and the marking frame 19 are arranged on the slave end control box 6, the guide wire or catheter 18 is conveyed to a channel established on a human body through the second support 17, the guide wire or catheter 18 moves in the marking frame 19, the movement range of the guide wire or catheter 18 does not exceed the marking frame 19, the marking frame 19 is a square groove, the camera 16 is installed at the bottom of the slave end control box 6, and the camera 16 obtains image data of the second support 17, the guide wire or catheter 18 and the marking frame 19 from bottom to top.
The invention relates to a master-slave force feedback method of a vascular interventional surgical robot with a force feedback function, which comprises the following steps of:
(1) And processing the video data of the camera by using an image recognition algorithm. Firstly, single-frame processing is carried out on a video obtained by a camera, proper repair is carried out on a single-frame image, reflection is removed by applying an algorithm, and original data of a target area image are obtained.
(2) And (4) reprocessing the preprocessed pictures to produce a binary mask map of the guide wire or the catheter, and calculating the bending height of the guide wire or the catheter in the marking frame 19.
(3) The curvature of the guide wire or the guide pipe obtained by the image processing algorithm is processed, the curvature and the stress condition of the guide wire or the guide pipe in the blood vessel are mapped, the force borne by the guide wire obtained through mapping is fed back to the main end force feedback mechanism 13, the main end force feedback mechanism 13 adjusts the angle of the cam, corresponding pressure is output to the belt, and the pressure is transmitted to the guide wire advancing and retreating control knob 9 through the driving wheel 12. The force feedback pattern of the catheter is mapped to the catheter advancement and retraction control knob 7 similar to the guide wire. The doctor remotely feels the stress condition of the guide wire and the catheter at the slave end in the blood vessel through the guide wire advancing and retreating control knob 9 and the catheter advancing and retreating control knob 7.
The invention is further described below with reference to the following figures and specific examples:
as shown in fig. 1a and fig. 1b, the present invention is a schematic structural diagram of a vascular interventional robot. The interventional robot consists of a main end and a slave end, wherein the main end collects action instructions of a doctor and transmits the action instructions to the slave end to complete corresponding movement of the guide wire and the catheter, and the slave end collects stress conditions of the guide wire and the catheter in a blood vessel and feeds the stress conditions back to the main end, so that remote sensing of the stress conditions of the guide wire and the catheter is realized.
Fig. 2 is a schematic diagram of a main-end control box of a vascular interventional robot according to the present invention. The doctor first presses the enable button 11 when operating, and when the button 11 is pressed, the catheter advancement and retraction control knob 7, the guide wire rotation control knob 8, and the guide wire advancement and retraction control knob 9 are activated, whereas the catheter advancement and retraction control knob 7, the guide wire rotation control knob 8, and the guide wire advancement and retraction control knob 9 are not responsive. The operator controls the guide wire to advance and retreat by controlling the guide wire advancing and retreating control knob 9, and the counterclockwise rotation is forward and the clockwise rotation is retreatment. Similarly, the catheter is controlled to advance and retreat by controlling the catheter advance and retreat control knob 7, and counterclockwise rotation is forward rotation and clockwise rotation is retreat rotation. The catheter advancing and retreating control knob 7 and the guide wire advancing and retreating control knob 9 are connected with a force feedback system in the main-end control box 2. The guide wire rotation control knob 8 controls the rotation movement of the guide wire in the blood vessel, the clockwise rotation knob controls the clockwise movement of the guide wire, and the counterclockwise rotation knob controls the counterclockwise movement of the guide wire. The emergency stop button 10 is used for stopping the motion from the end when the emergency situation occurs and cutting off the master-slave control, and the guide wire and the catheter can be manually drawn out.
As shown in fig. 3, which is a schematic diagram of a main end force feedback system of a vascular intervention robot, a guide wire advancing and retreating control knob 9 is connected with a driving wheel 12, the driving wheel 12 is connected with a driven wheel 15 through a belt, and a force feedback mechanism 13 maps the magnitude of the ground stress of the guide wire in a blood vessel collected from the end to the ground pressure on the belt in real time, transmits the magnitude of the ground stress to the guide wire advancing and retreating control knob 9, and feeds the magnitude of the ground stress back to a doctor operation end in a knob force mode. The force feedback principle of the catheter advancement and retraction control knob 7 is the same.
Fig. 4 is a schematic diagram of a vessel intervention robot slave control box, and fig. 5 is a top view of the vessel intervention robot slave control box; the end mechanism mainly details the stress condition of the guide wire or the guide pipe in the blood vessel, and specifically, the guide wire or the guide pipe 18 is pushed to a human body channel from the end pushing device through the second stent 17. The guide wire or catheter 18 passes through a marking frame 19, the marking frame 19 is a square groove which is convenient for the guide wire or catheter to move in the frame, and the edge of the marking frame is blue which is convenient for the camera 16 to recognize.
FIG. 7 is a flow chart of a single-frame image pre-processing algorithm of the camera; since the slave control box 6 is made of transparent material, in order to eliminate the impression of material reflection on the image data, the image data needs to be preprocessed before being calculated. Firstly, reading single image frame data of a camera (step one); performing proper image inpainting on a light reflecting area in the image frame (step two); identifying the area of the blue mark frame 19 through color, and binarizing the original image according to the color (step three); then, performing connected region analysis on the binarized image (step four); reserving original image data of the target area and a mask with the same size as the target area by taking the blue square frame as a boundary (step five); the data obtained provides for the calculation of the tortuosity of the guide wire or catheter.
As shown in fig. 8, a flow chart of the method for calculating the bending degree of the guide wire or the catheter is shown, after the pre-processed collected data is obtained (provided in step 1), in view of the fact that the guide wire or the catheter is contaminated with blood stain in the interventional operation and the noise in the target region is red, red single-channel data is extracted for processing (step 2), and then a candidate region where the guide wire or the catheter is located is extracted (step 3); in order to reduce the noise in the target area, carrying out Gaussian blur on the picture (step 4); cutting the guide wire or the catheter by using an adaptive threshold for the condition that the acquired image has uneven brightness (step 5); in order to further remove redundant noise points, the area of the connected domain is counted, and if the number is smaller than a threshold value determined according to experience, the connected domain is discarded as noise (step 7); if greater than the set threshold, add the data of the guide wire or catheter detected to the data memory (step 8) for visualization; finally, the guidewire bend height is calculated from the binary mask map of the guidewire or catheter obtained (step 9). The target area is the area in the mark frame 19, and the schematic diagram of the target area of the guide wire or the catheter is shown in fig. 6.
According to the invention, the bending height of the guide wire or the guide pipe is mapped with the stress condition of the guide wire or the guide pipe, and the bending degree obtained by using an image recognition algorithm can directly reflect the force of the guide wire or the guide pipe in the blood vessel.
Fig. 9 shows a master-slave force feedback flowchart of the vascular interventional robot. After the bending degree of the guide wire or the catheter is obtained, the force applied to the guide wire or the catheter is fed back to the main end force feedback mechanism 13. The range of the force returned by the guide wire or the catheter in the blood vessel is 0-10N, according to the above description, the main end force feedback mechanism 13 outputs the corresponding knob force of the main hand knob according to the angle of the cam pressing belt, the output knob force range is 0-10N, when the stress of the guide wire or the catheter in the blood vessel is greater than 10N, the force feedback mechanism 13 rotates the cam to 90 degrees to press the belt to be the tightest, so that the torsion of the guide wire advancing and retreating control knob 9 or the catheter advancing and retreating control knob 7 is maximized, the operator can continuously feel the large resistance of the knob, and the operator can be reminded of the overlarge resistance of the guide wire or the catheter in the blood vessel.
In summary, the interventional robot with the force feedback scheme described in this embodiment applies an image recognition technology to accurately feed back the stress condition of the guide wire or the catheter in the blood vessel to the main-end operating mechanism without using a sensor, and a doctor can feel the real stress condition of the guide wire or the catheter in the blood vessel by operating the main-end control mechanism, the catheter advancing and retreating control knob 7 and the guide wire advancing and retreating control knob 9. The invention reduces the risk of interventional operation and improves the operation precision of the vascular interventional operation.
It should be noted that the above-mentioned embodiment only expresses one embodiment of the invention, and the description is more specific and detailed, but not construed as limiting the scope of the invention. All technical schemes obtained by adopting equivalent replacement or equivalent modes fall in the protection scope of the patent of the invention, and if the mark frame is changed into other shapes and colors, the position of the camera is changed from the upper part or the side surface, and the like, the technical schemes are regarded as equivalent replacement.
That is, the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (9)
1. The utility model provides a vascular intervention surgical robot with force feedback function which characterized in that: the system comprises a master end mechanism and a slave end mechanism, wherein the master end mechanism comprises a display (1), a master end control box (2) and a master end console (3), the master end control box (2) is embedded into the master end console (3), and the display (1) is used for displaying images; the main end control box (2) is provided with a catheter advancing and retreating control knob (7), a guide wire rotating control knob (8), a guide wire advancing and retreating control knob (9), an emergency stop button (10) and an enable button (11), the catheter advancing and retreating control knob (7), the guide wire rotating control knob (8) and the guide wire advancing and retreating control knob (9) are respectively used for realizing catheter advancing and retreating control, guide wire rotating control and guide wire advancing and retreating control, the catheter advancing and retreating control knob (7) and the guide wire advancing and retreating control knob (9) are respectively connected with a catheter force feedback device and a guide wire force feedback device, and the catheter force feedback device and the guide wire force feedback device are arranged in the main end control box (2); the slave end mechanism comprises an operating table (4), a support (5) and a slave end control box (6), the support (5) is fixed on the operating table (4), the tail end of the support (5) is fixed with the slave end control box (6) and is used for adjusting the pose of the slave end control box (6), and a slave end control mechanism force feedback system is installed on the slave end control box (6).
2. A robot for vascular interventional surgery with force feedback function according to claim 1, wherein: the guide wire force feedback device comprises a driving wheel (12), a force feedback mechanism (13), an encoder (14) and a driven wheel (15), wherein the driving wheel (12) is connected with the driven wheel (15) through a belt, the driving wheel (12) is connected with a guide wire advancing and retreating control knob (9), the force feedback mechanism (13) is composed of a motor and a cam, the output end of the motor is connected with the cam and drives the cam to move, the cam is connected with the belt, and the cam applies pressure to the belt to transmit force to the guide wire advancing and retreating control knob (9); the encoder (14) is connected with the driven wheel (15), and the encoder (14) is used for acquiring the distance of the main end for controlling the guide wire to move.
3. A vascular interventional surgical robot with force feedback function as set forth in claim 2, characterized in that: the structure of the catheter force feedback device is the same as that of the guide wire force feedback device.
4. A robot for vascular interventional surgery with force feedback function according to claim 2, wherein: the force feedback mechanism (13) maps the stress of the guide wire in the blood vessel acquired from the end mechanism to the pressure on the belt in real time and transmits the stress to the guide wire advancing and retreating control knob (9), the guide wire advancing and retreating control knob (9) feeds back to the operation end of a doctor in a knob force mode, and the force feedback mode of the catheter advancing and retreating control knob (7) is the same as that of the guide wire advancing and retreating control knob (9).
5. A robot for vascular interventional surgery with force feedback function according to claim 1, wherein: the force feedback system of the slave end control mechanism comprises a camera (16), a second support (17), a guide wire or catheter (18) and a marking frame (19), wherein the slave end control box (6) is made of a transparent material, the second support (17), the guide wire or catheter (18) and the marking frame (19) are arranged on the slave end control box (6), the guide wire or catheter (18) is conveyed to a human body channel through the second support (17), the guide wire or catheter (18) moves in the marking frame (19) within a movement range not exceeding the marking frame (19), the marking frame (19) is a square groove, the camera (16) is installed at the bottom of the slave end control box (6), and the camera (16) acquires image data of the second support (17), the guide wire or catheter (18) and the marking frame (19) from bottom to top.
6. A master-slave force feedback method of a vascular intervention surgical robot with a force feedback function is characterized by comprising the following steps:
(1) Firstly, performing single-frame processing on a video obtained by a camera, performing appropriate repair on a single-frame image, removing reflected light by applying an algorithm, and obtaining original data of a target area image;
(2) Then, the preprocessed picture is reprocessed to produce a binary mask image of the guide wire or the catheter, and the bending height of the guide wire or the catheter in the marking frame (19) is calculated;
(3) Processing the curvature of the guide wire or the guide pipe obtained by the image processing algorithm, mapping the curvature and the stress condition of the guide wire or the guide pipe in the blood vessel, feeding back the force on the guide wire obtained by mapping to a force feedback mechanism (13), adjusting the angle of a cam by the force feedback mechanism (13), outputting corresponding pressure to a belt, and transmitting the pressure to a guide wire advancing and retreating control knob (9) through a driving wheel (12); the force feedback pattern of the catheter is mapped to the catheter advancement and retraction control knob (7) similar to the guide wire; the doctor remotely senses the stress condition of the guide wire at the slave end and the catheter in the blood vessel through a guide wire advancing and retreating control knob (9) and a catheter advancing and retreating control knob (7).
7. A robot with force feedback function for vascular intervention surgery as in claim 6, wherein the pre-processing of the single frame image of the camera comprises the following steps: 1) Firstly, reading single image frame data in a camera video stream; 2) Performing proper image patching on a light reflecting area in an image frame; 3) Identifying the area of the blue mark frame through color, and binarizing the original image according to the color; 4) Then, analyzing a connected region according to the binarized image; 5) And reserving original image data in the target area by taking the blue square as a boundary, and reserving a mask with the same size as the target area.
8. A robot with force feedback function for vascular intervention surgery as in claim 6, wherein the method for calculating the curvature of the guide wire or the guide pipe comprises the following steps: after the preprocessed acquired data are obtained, in view of the fact that a guide wire or a catheter is stained with blood stains in an interventional operation and the noise in a target area is mostly red, extracting red single-channel data for processing, and further extracting a candidate area where the guide wire or the catheter is located; performing Gaussian blur on the red channel picture, and segmenting a guide wire or a guide pipe by using an adaptive threshold; counting the area of the connected domain, and if the number is smaller than a set threshold value, discarding the connected domain as noise; if the detected data of the guide wire or the catheter is larger than the set threshold value, adding the detected data of the guide wire or the catheter into a data memory for visualization; and finally, calculating the bending height of the guide wire according to the obtained binary mask map of the guide wire or the catheter.
9. The robot with force feedback function for vascular intervention surgery as set forth in claim 6, wherein the force feedback mechanism (13) feeds back the force applied to the guide wire or the catheter to the main end mechanism after obtaining the bending degree of the guide wire or the catheter; the force range returned by the guide wire or the guide pipe in the blood vessel is 0-10N, the main end force feedback mechanism (13) outputs the knob force of the corresponding knob according to the angle of the adjusting cam pressing belt, and the output knob force range is 0-10N; when the stress of the guide wire or the catheter in the blood vessel is more than 10N, the force feedback mechanism (13) rotates the cam to 90 degrees to press the belt to be the tightest, so that the torsion of the guide wire advancing and retreating control knob (9) or the catheter advancing and retreating control knob (7) is added to the maximum.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211356394.5A CN115568955A (en) | 2022-11-01 | 2022-11-01 | Blood vessel intervention operation robot with force feedback function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211356394.5A CN115568955A (en) | 2022-11-01 | 2022-11-01 | Blood vessel intervention operation robot with force feedback function |
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| CN115568955A true CN115568955A (en) | 2023-01-06 |
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