CN116597975A - Vascular intervention operation auxiliary system and control method thereof - Google Patents
Vascular intervention operation auxiliary system and control method thereof Download PDFInfo
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- CN116597975A CN116597975A CN202310349456.8A CN202310349456A CN116597975A CN 116597975 A CN116597975 A CN 116597975A CN 202310349456 A CN202310349456 A CN 202310349456A CN 116597975 A CN116597975 A CN 116597975A
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- 230000002792 vascular Effects 0.000 title claims abstract description 165
- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000033001 locomotion Effects 0.000 claims abstract description 211
- 230000003993 interaction Effects 0.000 claims abstract description 89
- 238000004891 communication Methods 0.000 claims abstract description 57
- 238000012545 processing Methods 0.000 claims abstract description 21
- 238000012360 testing method Methods 0.000 claims description 31
- 238000013152 interventional procedure Methods 0.000 claims description 21
- 230000002159 abnormal effect Effects 0.000 claims description 16
- 230000004044 response Effects 0.000 abstract description 7
- 230000006870 function Effects 0.000 description 31
- 238000001356 surgical procedure Methods 0.000 description 15
- 238000002360 preparation method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 9
- 238000004088 simulation Methods 0.000 description 6
- 238000011282 treatment Methods 0.000 description 3
- 210000004204 blood vessel Anatomy 0.000 description 2
- 238000011161 development Methods 0.000 description 2
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- 230000010365 information processing Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 208000019553 vascular disease Diseases 0.000 description 1
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- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention provides a vascular intervention operation auxiliary system and a control method thereof, which relate to the field of medical equipment and are used for providing assistance for vascular intervention operation equipment, wherein the system comprises a man-machine interaction subsystem and a motion control subsystem which are in communication connection; the human-computer interaction subsystem is used for receiving and processing a first instruction input by a user, sending a second instruction to the motion control subsystem and acquiring state information of vascular intervention operation equipment fed back by the motion control subsystem; the motion control subsystem is used for receiving and processing the second instruction sent by the man-machine interaction subsystem and also used for performing motion control on the vascular interventional operation equipment; the man-machine interaction subsystem comprises a first industrial personal computer, the motion control subsystem comprises a second industrial personal computer, the first industrial personal computer is in communication connection with the second industrial personal computer, the first industrial personal computer is a client, and the second industrial personal computer is in communication connection with the vascular intervention operation equipment. The invention improves the response speed of the system.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to a vascular intervention operation auxiliary system and a control method thereof.
Background
The vascular intervention operation is one way of diagnosing and treating vascular diseases via puncturing blood vessel, entering guide wire, catheter and other instrument, and belongs to the field of minimally invasive operation. When a doctor performs vascular interventional operation treatment, the doctor needs to be exposed to X-ray radiation for a long time, and the radiation directly threatens the physical health of the doctor. Therefore, the vascular interventional operation auxiliary device assists a doctor to operate the catheter and the guide wire, and has important practical significance for avoiding the doctor from being radiated by X-rays.
Some vascular intervention operation auxiliary devices are already on the market, and the core of the vascular intervention operation auxiliary device is to control the operation of vascular operation equipment and simulate the control operation by using a built-in industrial personal computer of the vascular intervention operation auxiliary device. However, in the prior art, the vascular intervention operation auxiliary device uses only one industrial personal computer to perform control operation and simulation operation, and the control operation and the simulation operation both need to consume a large amount of CPU resources of the built-in industrial personal computer, so that the response of a button or a rocker of the vascular intervention operation auxiliary device is slowed down, the response performance of a system is reduced, and the safety of vascular intervention operation is affected.
Disclosure of Invention
The invention solves the problem of how to improve the response performance of vascular interventional surgery auxiliary devices.
In order to solve the problems, the invention provides an auxiliary system for vascular interventional operation and a control method.
In a first aspect, the invention provides a vascular intervention operation auxiliary system, which is used for providing assistance for vascular intervention operation equipment, and comprises a man-machine interaction subsystem and a motion control subsystem, wherein the man-machine interaction subsystem is in communication connection with the motion control subsystem;
the human-computer interaction subsystem is used for receiving and processing a first instruction input by a user, sending a second instruction to the motion control subsystem and acquiring state information of the vascular interventional operation equipment fed back by the motion control subsystem;
the motion control subsystem is used for receiving and processing the second instruction sent by the man-machine interaction subsystem and also used for controlling the motion of the vascular interventional operation equipment;
the human-computer interaction subsystem comprises a first industrial personal computer, the motion control subsystem comprises a second industrial personal computer, the first industrial personal computer is in communication connection with the second industrial personal computer, the first industrial personal computer is a client, and the second industrial personal computer is in communication connection with the vascular interventional operation equipment.
Optionally, the second industrial personal computer is in communication connection with the vascular interventional operation device through an ethercat bus.
Optionally, the vascular interventional operation device comprises a motion module and an IO module, wherein the motion module is in communication connection with the IO module, and the motion module and the IO module are in communication connection with the second industrial personal computer through the ethercat bus;
the motion module is used for executing the motion control;
the IO module is used for transmitting alarm information generated by the motion control subsystem and control information of the motion control subsystem on the motion module;
the motion control subsystem is further used for judging whether the state information is abnormal or not, and if yes, the alarm information is generated.
Optionally, the system further comprises an uninterruptible power supply subsystem, wherein the uninterruptible power supply subsystem is respectively connected with the man-machine interaction subsystem, the motion control subsystem and the vascular intervention operation equipment and is used for providing power for the man-machine interaction subsystem, the motion control subsystem and the vascular intervention operation equipment.
The vascular intervention operation auxiliary system provided by the invention can assist the vascular intervention operation equipment, remotely control the vascular intervention equipment, avoid exposing the vascular intervention operation equipment to X rays in a growing period in an operation process, and comprises a man-machine interaction subsystem and a motion control subsystem, wherein the man-machine interaction subsystem is used for interacting with a user, receiving and processing a first instruction input by the user, sending a second instruction obtained after processing to the motion control system, acquiring state information of the vascular intervention operation equipment fed back by the motion control subsystem, intuitively displaying the state information to the user, namely, real-time simulation, assisting the user in completing operation, and correspondingly, the motion control subsystem receives the second instruction sent by the man-machine interaction subsystem and performs motion control on the vascular intervention operation equipment, wherein the man-machine interaction subsystem and the motion control subsystem perform independent control through a first industrial personal computer and a second industrial personal computer respectively, perform information processing respectively, thereby improving the processing information capacity of the vascular intervention operation auxiliary system and improving the response speed of the vascular intervention operation auxiliary system. In addition, the two industrial personal computers can respectively process different demands of users, supplement each other, and can mutually cooperate to transfer respective information, so that the two industrial personal computers are mutually free; when the vascular intervention operation auxiliary system is required to be upgraded, the vascular intervention operation auxiliary system can be only carried out aiming at one subsystem of the man-machine interaction subsystem or the motion control subsystem, so that the steps of system maintenance are simplified.
In a second aspect, the present invention provides a control method of a vascular intervention surgery assistance system for controlling the vascular intervention surgery assistance system as described above, comprising:
establishing connection between a human-computer interaction subsystem and a motion control subsystem, and establishing connection between the motion control subsystem and vascular interventional operation equipment;
receiving a first instruction input by a user through the man-machine interaction subsystem, processing to obtain a second instruction, and sending the second instruction to the motion control subsystem;
and controlling the vascular intervention operation equipment based on the second instruction through the motion control subsystem, wherein the human-computer interaction subsystem acquires the state information of the vascular intervention operation equipment fed back by the motion control subsystem.
Optionally, after the connection between the motion control subsystem and the vascular interventional operation device is established, before the first instruction input by the user is received through the man-machine interaction subsystem and the second instruction is obtained through processing, the method further includes:
acquiring electrical information and functional information;
entering electrical debugging according to the electrical information;
and entering function debugging according to the function information.
Optionally, the entering electrical debugging according to the electrical information includes:
testing whether the motion module and the IO module correspond to preset information or not;
testing whether the parameter information of the motion module is normal or not;
testing whether the information of the IO module is normal;
and correspondingly adjusting the equipment parameters of the motion module and the IO module according to the test result.
Optionally, the entering function debugging according to the function information includes:
testing whether the communication function and the control function of the man-machine interaction subsystem and the motion control subsystem are normal or not;
testing whether the function of the uninterrupted power subsystem is normal;
and correspondingly adjusting system parameters of the man-machine interaction subsystem, the motion control subsystem and the uninterrupted power supply subsystem according to the test result.
Optionally, the human-computer interaction subsystem acquires state information of the vascular interventional operation device fed back by the motion control subsystem, including:
the motion control subsystem acquires the state information of the vascular interventional operation device and sends the state information to the man-machine interaction subsystem;
the motion control subsystem scans the state information and judges whether the state information is abnormal or not;
And if the state information is abnormal, the motion control subsystem sends out alarm information and generates an alarm log.
Optionally, after the function information is entered into the function debugging, before the first instruction input by the user is received by the man-machine interaction subsystem and the second instruction is obtained by processing, the method further includes:
initializing the vascular interventional procedure assistance system and the vascular interventional procedure device.
According to the control method of the vascular intervention operation auxiliary system, the human-computer interaction subsystem is connected with the motion control subsystem, the vascular intervention operation auxiliary system is connected with the vascular intervention operation equipment, the two subsystems and the vascular intervention operation equipment can be connected in a communication mode, motion control and real-time state display of the vascular intervention operation auxiliary device, namely real-time simulation, are respectively achieved, after connection is established, the human-computer interaction subsystem receives and processes a first instruction input by a user, interacts with the user, processes the first instruction input by the user, obtains a second instruction, sends the second instruction to the motion control subsystem, the motion control subsystem can further process the second instruction, remotely controls the vascular intervention operation equipment through the motion control subsystem, the situation that the user is exposed to X rays for a long time is avoided, and when the vascular intervention operation equipment is in an operation stage, the state information of the vascular intervention operation equipment can be fed back through the human-computer interaction subsystem in real time, and the operation process is monitored.
Drawings
FIG. 1 is a block diagram of a vascular interventional procedure assist system according to an embodiment of the present invention;
FIG. 2 is a block diagram of a vascular interventional procedure assist system according to another embodiment of the present invention;
FIG. 3 is a flow chart of a control method of a vascular interventional operation assistance system according to an embodiment of the present invention;
fig. 4 is a flowchart of a control method of a vascular interventional operation assisting system according to another embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. While the invention is susceptible of embodiment in the drawings, it is to be understood that the invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided to provide a more thorough and complete understanding of the invention. It should be understood that the drawings and embodiments of the invention are for illustration purposes only and are not intended to limit the scope of the present invention.
It should be understood that the various steps recited in the method embodiments of the present invention may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the invention is not limited in this respect.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "alternative embodiments". Related definitions of other terms will be given in the description below. It should be noted that the terms "first," "second," and the like herein are merely used for distinguishing between different devices, systems, or units and not for limiting the order or interdependence of the functions performed by such devices, systems, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those skilled in the art will appreciate that "one or more" is intended to be construed as "one or more" unless the context clearly indicates otherwise. The names of messages or information interacted between the devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of such messages or information.
As shown in fig. 1, an embodiment of the present invention provides a vascular intervention operation assistance system, which is used for providing assistance for vascular intervention operation equipment, and includes a man-machine interaction subsystem and a motion control subsystem, where the man-machine interaction subsystem is in communication connection with the motion control subsystem;
the human-computer interaction subsystem is used for receiving and processing a first instruction input by a user, sending a second instruction to the motion control subsystem and acquiring state information of the vascular interventional operation equipment fed back by the motion control subsystem;
the motion control subsystem is used for receiving and processing the second instruction sent by the man-machine interaction subsystem and also used for controlling the motion of the vascular interventional operation equipment;
the human-computer interaction subsystem comprises a first industrial personal computer, the motion control subsystem comprises a second industrial personal computer, the first industrial personal computer is in communication connection with the second industrial personal computer, the first industrial personal computer is a client, and the second industrial personal computer is in communication connection with the vascular interventional operation equipment.
Specifically, vascular intervention operation auxiliary system is connected with vascular intervention operation equipment communication, and vascular intervention operation auxiliary system is used for assisting the user to control vascular intervention operation equipment to perform the operation, and vascular intervention operation equipment is then used for implementing operation, through vascular intervention operation auxiliary system and vascular intervention operation equipment's communication connection, but messenger user remote control vascular intervention operation equipment performs operation, has avoided the irreversible injury that the long-time exposure of user caused under the X ray, and operation is performed to auxiliary vascular intervention operation equipment through vascular intervention operation auxiliary system, can accomplish operation more accurately, improves operation security. Besides the purpose of operation, the vascular intervention operation auxiliary system provided by the invention can be used for training and learning after being in communication connection with vascular intervention operation equipment, and has good expansibility.
The human-computer interaction subsystem of the vascular intervention operation auxiliary system receives and processes a first instruction input by a user through a first industrial personal computer (also called as a UI controller), sends a second instruction to the motion control subsystem, and acquires and feeds back state information of vascular intervention operation equipment fed back by the motion control subsystem; the human-computer interaction subsystem displays state information, real-time operation information and error information of the vascular intervention operation equipment in real time, and simultaneously displays a 3D simulation model of the vascular intervention operation equipment, wherein the state information comprises hardware and working conditions of each sub-component of the vascular intervention operation equipment, such as speed, position, rotation angle, feedback force information and the like. The motion control subsystem of the vascular intervention operation auxiliary system receives and processes the second instruction sent by the man-machine interaction subsystem through a second industrial personal computer (also called a main control computer), and performs motion control on the vascular intervention operation equipment. Wherein the second industrial personal computer is provided with a motion control card, preferably a motion control card selection Ling Hua control card. Through the motion control card, the second industrial personal computer can control each sub-component of the vascular intervention operation equipment, can also scan and acquire the state information of each sub-component of the vascular intervention operation equipment, and sends the state information to the man-machine interaction subsystem for the man-machine interaction subsystem to display the state information of the vascular intervention operation equipment.
The first industrial personal computer and the second industrial personal computer adopt a client/server development mode, the first industrial personal computer is a client, the second industrial personal computer is a server, a tcp/udp server communication mode is used and network cable connection is adopted, so that a man-machine interaction subsystem and a motion control subsystem can better realize functional requirements, a vascular intervention operation auxiliary system can interact with a user and can control vascular intervention operation equipment to perform operations, and the two industrial personal computers respectively perform different working treatments, thereby improving the response speed of the system; in addition, because the first industrial personal computer and the second industrial personal computer adopt a client/server development mode and use a tcp/udp server communication connection mode, when the vascular interventional operation auxiliary system is required to be upgraded, the vascular interventional operation auxiliary system can be only carried out aiming at one subsystem of the man-machine interaction subsystem or the motion control subsystem, and the step of system maintenance is simplified.
In one embodiment, the man-machine interaction subsystem comprises a touch control display screen and a DSA display screen, a user interacts with the first industrial personal computer through the touch control display screen and sends a first instruction, wherein the first instruction comprises patient information selected by the user, a working mode of the motion control subsystem is selected according to the patient information, and the like; during operation, a user can display dynamic and static images of blood vessels under X rays through the DSA display screen to assist the user in completing operation tasks, so that the success rate of the operation is improved, and the operation safety is further guaranteed.
In another embodiment, the man-machine interaction subsystem can also register an account number when in initial use, can set a management account number, and a user can register and manage a doctor account number, set hospital information, user information, configure system information and display error information by logging in the management account number on the man-machine interaction subsystem; and logging in a doctor account on the man-machine interaction subsystem, so that a user can perform operation preparation and operation working state switching. For example, after logging in a doctor account, a man-machine interaction subsystem and a motion control subsystem are connected at first for initialization, after the initialization is successful, a surgery preparation stage is entered, a touch control display screen displays a patient list interface, wherein the patient list interface records patient information and surgery information, a user selects the patient information and the surgery information according to actual conditions, the motion control subsystem and the working mode of vascular interventional surgery equipment are set according to actual conditions, a surgery operation state can be entered after a patient surgery sequence is created, surgery operation is implemented, after surgery is completed, the user changes the patient surgery sequence state to be completed, and the surgery is considered to be completed.
Optionally, the second industrial personal computer is in communication connection with the vascular interventional operation device through an ethercat bus.
Preferably, the second industrial personal computer is connected with the vascular intervention operation equipment in a communication way by adopting an ethercat bus, so that complex and complicated wiring is reduced, and meanwhile, the communication speed of the vascular intervention operation auxiliary system and the vascular intervention operation equipment is improved, and the vascular intervention operation equipment has obvious expansibility.
Optionally, the vascular interventional operation device comprises a motion module and an IO module, wherein the motion module is in communication connection with the IO module, and the motion module and the IO module are in communication connection with the second industrial personal computer through the ethercat bus;
the motion module is used for executing the motion control;
the IO module is used for transmitting alarm information generated by the motion control subsystem and control information of the motion control subsystem on the motion module;
the motion control subsystem is further used for judging whether the state information is abnormal or not, and if yes, the alarm information is generated.
Specifically, the motion module is used as a central subcomponent of the vascular interventional operation equipment and is used for executing operation control of a motion control subsystem, namely, is used for executing operation, and comprises a guide wire motion device, a middle catheter motion device and a long catheter motion device, wherein motors, drivers and encoders are respectively arranged in the guide wire motion device, the middle catheter motion device and the long catheter motion device, so that rotation and forward and backward movement of the guide wire, the middle catheter and the long catheter can be realized; the IO module comprises an alarm IO unit, an emergency stop IO unit and a mechanical arm control IO unit, wherein the alarm IO unit is used for transmitting alarm information generated by the motion control subsystem when the state information of the vascular interventional operation equipment is abnormal; the emergency stop IO unit is used for transmitting control information of emergency stop vascular interventional operation equipment when special conditions occur in operation; the mechanical arm control IO unit is used for transmitting mechanical arm control information of the vascular interventional operation device. The motor, the driver, the encoder, the alarm IO unit, the scram IO unit and the mechanical arm control IO unit are in communication connection with the second industrial personal computer through an ethercat bus.
The motion control subsystem acquires state information of the vascular interventional operation equipment and sends the state information to the man-machine interaction subsystem, the man-machine interaction subsystem displays the state information in real time and is used for assisting a user in performing operation, the motion control subsystem scans and detects the state information after acquiring the state information, if abnormal state information is detected, alarm information is generated, the alarm information is sent to the man-machine interaction subsystem, and the man-machine interaction subsystem displays the alarm information to the user; the state information comprises hardware information and working states of motors, drivers and encoders of the guide wire moving device, the middle catheter moving device and the long catheter moving device, and hardware information and working states of the alarm IO unit, the emergency stop IO unit and the mechanical arm control IO unit, namely the state information comprises hardware and working conditions of each sub-component of the vascular interventional operation equipment, such as speed, position, rotation angle, feedback force information and the like.
In another embodiment, as shown in fig. 2, the vascular interventional operation device further includes a display module, an operation button module, an alarm device, a bedside scram button and a mechanical arm, where the display module is in communication connection with the second industrial personal computer and is used for receiving and displaying status information of the vascular interventional operation device and displaying movement operation information of the operation button module, and preferably, the display module is a serial display screen and is in communication connection with a serial port of the second industrial personal computer to achieve a real-time communication purpose; the alarm device is connected with the alarm IO unit and is used for receiving an alarm instruction and sending an alarm signal; the operation button module is connected with the motion control module and is used for enabling a user to use the operation button module to position the mechanical arm end effector according to actual operation conditions when the user enters a preparation stage of operation and independently controlling the motions of the guide wire motion device, the middle catheter motion device and the long catheter motion device; the bedside emergency stop button corresponds to an emergency stop IO unit and is arranged in an area which can be reached by a patient operation sickbed in the shortest time, and meanwhile, the emergency stop module is also provided with an error touch function, so that triggering caused by non-emergency stop is avoided; the mechanical arm is connected with the mechanical arm control IO unit, can be fixed on a sickbed for interventional operation, moves along with the sickbed and can do lifting movement.
The alarm IO unit is in communication connection with the second industrial personal computer, when an alarm occurs, the second industrial personal computer judges the alarm level and sends different alarm instructions to the alarm device according to the level of the alarm level, and the alarm device can send out an alarm in different corresponding forms, wherein the alarm device comprises broadcasting equipment such as a broadcasting device, a loudspeaker, a broadcasting device and the like; meanwhile, the second industrial personal computer also sends an alarm instruction to the display module, and an error prompt lamp in the screen of the display module can breathe and flash and display alarm information; in addition, when the alarm appears, the second industrial computer also can send alarm information to first industrial computer, and after first industrial computer received, can show corresponding alarm information on touch-control display screen in real time, through alarm IO unit and second industrial computer communication connection, can provide user alarm information through diversified multi-angle of second industrial computer in the first time, make the user know the alarm content in the first time to the user has more time to make better response scheme.
In some embodiments, the motion control subsystem further comprises an operation rocker module and an operation table emergency stop button, wherein the operation rocker module corresponds to a motion module of the vascular interventional operation device, for example, the motion module is provided with a guide wire motion device, a middle catheter motion device and a long catheter motion device, and the operation rocker module of the motion control subsystem is correspondingly provided with three rockers for respectively controlling the guide wire motion device, the middle catheter motion device and the long catheter motion device; the operation panel scram button corresponds to the scram IO unit, is arranged in the region which can be reached by the user in the shortest time when the operation is performed, and meanwhile, the scram module is also provided with a false touch function, so that the triggering caused by the purpose of non-scram is avoided, and the smooth operation is ensured.
Optionally, as shown in fig. 2, the surgical device further comprises an uninterruptible power supply subsystem, wherein the uninterruptible power supply subsystem is respectively connected with the man-machine interaction subsystem, the motion control subsystem and the vascular intervention surgical device and is used for providing power for the man-machine interaction subsystem, the motion control subsystem and the vascular intervention surgical device.
Specifically, the uninterruptible power supply subsystem comprises a UPS power supply, a power supply control board and a power supply switch, and in order to avoid the situations of power failure, power shortage and the like during operation, the UPS power supply, namely the uninterruptible power supply, is used as a power supply, and after the power supply of the commercial power is powered off, the UPS power supply can continuously supply power, so that the occurrence of operation accidents caused by sudden power failure is prevented, the smooth operation is ensured, and the safety and the reliability of the operation are further ensured; the power supply control board is respectively in communication connection with the first industrial personal computer and the second industrial personal computer, wherein the communication connection mode is serial communication, and an embedded processor is arranged in the power supply control board and can manage the power supply of the vascular intervention operation auxiliary system and the vascular intervention operation equipment; the power switch is used for turning on and off the power supply.
As shown in fig. 3, another embodiment of the present invention provides a control method of a vascular intervention operation assistance system, for controlling the vascular intervention operation assistance system as described above, including:
Step S200, establishing connection between a human-computer interaction subsystem and a motion control subsystem, and establishing connection between the motion control subsystem and vascular interventional operation equipment;
specifically, a first industrial personal computer of the man-machine interaction subsystem is used for starting a tcp/udp server to be connected with a second industrial personal computer of the motion control subsystem, connection of the man-machine interaction subsystem and the motion control subsystem is achieved, connection of a vascular intervention operation auxiliary system and vascular intervention operation equipment is established, and basic conditions are provided for operation of the vascular intervention operation auxiliary system auxiliary vascular intervention operation equipment.
Step S400, receiving a first instruction input by a user through the man-machine interaction subsystem, processing to obtain a second instruction, and sending the second instruction to the motion control subsystem;
specifically, before performing an operation, a user acquires a patient list through a human-computer interaction subsystem, selects patient information according to actual operation conditions, determines an operation environment according to the patient information, namely, sends a first instruction, and the operation environment comprises: perfecting operation information, namely filling in operation doctor information, creating a patient operation sequence, setting an operation stage as operation preparation, selecting the model of a guide wire in a guide wire movement device according to the patient information, installing a catheter and consumable materials of the guide wire, and switching movement modes and movement speeds of the middle catheter movement device, the long catheter movement device and the guide wire movement device; after the user inputs the first instruction, the man-machine interaction subsystem processes the first instruction to obtain a second instruction which can be identified by the motion control subsystem, namely a control instruction for the motion control subsystem and the subcomponents of the vascular interventional operation device, and the second instruction is sent to the motion control subsystem through a tcp/udp server communication mode between the man-machine interaction subsystem and the motion control subsystem. Through the steps, interaction with a user can be better realized through the client, namely the first industrial personal computer of the man-machine interaction subsystem, operation preparation work can be better completed, and a user instruction is rapidly transmitted between the man-machine interaction subsystem and the motion control subsystem through a tcp/udp server communication mode, so that the server receives information from the client in the fastest speed and shortest time, operation preparation time is saved, and operation risk is reduced.
And step S600, controlling the vascular intervention operation equipment based on the second instruction through the motion control subsystem, and acquiring the state information of the vascular intervention operation equipment fed back by the motion control subsystem through the man-machine interaction subsystem.
Specifically, the first instruction is processed by the man-machine interaction subsystem to obtain a second instruction, the motion control subsystem controls vascular intervention operation equipment according to the second instruction, namely, when in operation preparation, the motion control subsystem grants control authority to an operation button module on the vascular intervention operation equipment, the control authority to operate a rocker on the motion control subsystem is shielded, and when in operation preparation, the operation button module controls a middle catheter motion device, a long catheter motion device and a guide wire motion device according to the second instruction obtained by processing the first instruction, so that the swing of an end effector of the mechanical arm is completed. Through abundant operation preparation work, can improve the security of operation, practice thrift operation time, reduce the operation risk because of various circumstances causes, improve overall efficiency.
After the operation preparation is finished, entering an operation stage, at the moment, shielding the control function of an operation button module of the vascular intervention operation equipment, giving an operation rocker control function of a motion control subsystem, and controlling a middle catheter motion device, a long catheter motion device and a guide wire motion device of the vascular intervention operation equipment to move by a user through the operation rocker; meanwhile, the motion control subsystem scans in real time to acquire state information of the vascular interventional operation device, wherein the state information comprises: the working conditions of each sub-component of the vascular intervention operation equipment, such as speed, position, rotation angle and feedback force information, the rotation propulsion data and current position of the medium catheter movement device, the rotation propulsion data and current position of the long catheter movement device and the rotation propulsion data and current position of the guide wire movement device, and the state information is uploaded to a man-machine interaction subsystem, and the man-machine interaction subsystem displays the state information in real time, namely, the operation of a user is simulated in real time and a 3D simulation model of the vascular intervention operation equipment is displayed.
Optionally, the human-computer interaction subsystem acquires state information of the vascular interventional operation device fed back by the motion control subsystem, including:
the motion control subsystem acquires the state information of the vascular interventional operation device and sends the state information to the man-machine interaction subsystem;
the motion control subsystem scans the state information and judges whether the state information is abnormal or not;
and if the state information is abnormal, the motion control subsystem sends out alarm information and generates an alarm log.
Specifically, during the operation stage, the motion control subsystem circularly scans the state information of the vascular intervention operation equipment in real time through a motion control card on the second industrial personal computer, wherein the state information comprises: the working conditions of each sub-component of the vascular interventional operation device, such as speed, position, rotation angle and feedback force information, and the data of motor conditions, driver conditions and encoder conditions, alarm IO units of IO modules, scram IO units and mechanical arm control IO units on the guide wire movement device, the middle catheter movement device and the long catheter movement device; the motion control subsystem can also detect communication modes in real time, and the communication modes comprise serial port communication, ethercat bus communication, digital communication and the like. If the state information is scanned or the communication mode is detected to be abnormal, for example, a motor on a long catheter movement device stops moving, a driver fails, data, a network address or serial port number baud rate and the like are set wrong, the device enters an alarm mode, a second industrial personal computer of a movement control subsystem sends alarm information to a first industrial personal computer of a human-computer interaction subsystem, after the first industrial personal computer receives the alarm information, the corresponding alarm information is displayed on a touch control display screen of the human-computer interaction subsystem in real time, namely, the alarm signal is displayed, a user can find the alarm signal in the first time, and the alarm information is checked through the touch control display screen, so that accidents caused by the fact that the user does not receive the alarm information are avoided, and the safety of an operation is improved; the second industrial personal computer also records and stores the alarm information, generates an alarm log, and provides data support for subsequent alarm problem treatment.
The second industrial control machine judges the alarm level according to the abnormal condition after entering the alarm mode in the operation stage, and sends different alarm instructions to the alarm device according to the level of the alarm level, and the alarm device sends out alarms in the form corresponding to the different alarm instructions, for example, sends out audio signals with different tone frequencies according to the different alarm instructions; meanwhile, the second industrial personal computer also sends an alarm instruction to the display module, and the display module responds to an alarm signal according to the alarm instruction, for example, the display module is provided with an error prompt lamp in a screen, and the error prompt lamp in the screen can breathe and flash and display alarm information.
Optionally, after the connection between the motion control subsystem and the vascular interventional operation device is established, before the first instruction input by the user is received through the man-machine interaction subsystem and the second instruction is obtained through processing, the method further includes:
acquiring electrical information and functional information;
entering electrical debugging according to the electrical information;
and entering function debugging according to the function information.
Specifically, during the non-surgical preparation phase and the non-surgical phase, the debug mode may be entered through the motion control subsystem, i.e. the keyboard device and the debug display device are accessed at the second industrial personal computer, the debug mode is entered according to a preset command and the debug mode is displayed by the debug display device, e.g. the preset command is pressing the ESC key of the keyboard device. The keyboard device enters the electric debugging mode and/or the functional debugging mode, and the equipment parameters can be correspondingly set so as to achieve the highest-performance equipment state, avoid operation accidents caused by equipment problems and improve the operation safety.
Optionally, the entering electrical debugging according to the electrical information includes:
testing whether the motion module and the IO module correspond to preset information or not;
testing whether the parameter information of the motion module is normal or not;
testing whether the information of the IO module is normal;
and correspondingly adjusting the equipment parameters of the motion module and the IO module according to the test result.
Specifically, after entering a debugging mode, the second industrial personal computer can enter electric debugging according to actual conditions, and test whether the data of a guide wire movement device, a middle catheter movement device and motors, a driver, an encoder, an alarm IO unit, an scram IO unit and a mechanical arm control IO unit of the movement module are consistent with preset information or not through a movement control card, and whether PDO & SDO reading is normal or not is tested; testing whether basic parameters, motor precision and motor input and output functions of a motor are normal or not; testing whether the functions of the alarm IO unit, the emergency stop IO unit and the mechanical arm control IO unit are normal or not; and testing whether the control function of each operation rocker is normal. If the test result is abnormal, the equipment parameters can be correspondingly set through the keyboard device, so that the highest-performance equipment state is achieved, surgical accidents caused by equipment problems are avoided, and the safety of surgery is improved.
Optionally, the entering function debugging according to the function information includes:
testing whether the communication function and the control function of the man-machine interaction subsystem and the motion control subsystem are normal or not;
testing whether the function of the uninterrupted power subsystem is normal;
and correspondingly adjusting system parameters of the man-machine interaction subsystem, the motion control subsystem and the uninterrupted power supply subsystem according to the test result.
Specifically, during the non-surgical preparation phase and the non-surgical phase, the motion control subsystem may enter the debug mode, i.e. the keyboard device is accessed to the second industrial personal computer, according to a preset command, for example, the preset command is to press the ESC key of the keyboard device. After entering a debugging mode, the second industrial personal computer can enter functional debugging according to actual conditions, and whether Tcp communication and udp communication between the second industrial personal computer and the first industrial personal computer are normal or not is tested through the motion control card, and whether data transceiving is normal or not is tested; testing whether the serial port communication function of the display device and the second industrial personal computer is normal or not, and testing whether the communication function of the power supply control board and the second industrial personal computer is normal or not; and testing whether the motor functions of the guide wire moving device, the middle catheter moving device and the long catheter moving device which correspond to the control of each operation rocker are normal. If the test result is abnormal, the system parameters can be correspondingly set through the keyboard device, so that the highest-performance equipment state is achieved, surgical accidents caused by equipment problems are avoided, and the safety of surgery is improved.
Optionally, after the function information is entered into the function debugging, before the first instruction input by the user is received by the man-machine interaction subsystem and the second instruction is obtained by processing, the method further includes:
initializing the vascular interventional procedure assistance system and the vascular interventional procedure device.
The method comprises the steps of firstly testing whether a network is normal, initializing a subsystem of a vascular interventional operation auxiliary system and subcomponents of vascular interventional operation equipment through a communication protocol between a first industrial personal computer of a man-machine interaction subsystem and a second industrial personal computer of a motion control subsystem after the network is normal, wherein the method comprises the steps of initializing a motion control card of the second industrial personal computer, an operation rocker corresponding to a guide wire motion device, an operation rocker corresponding to a middle catheter motion device, an operation rocker corresponding to a long catheter motion device, a motor corresponding to the guide wire motion device, a motor corresponding to the middle catheter motion device, a motor corresponding to the long catheter motion device, an IO module, a display module, a power supply control board, a bedside emergency stop button, an operation desk emergency stop button, a motor auxiliary encoder corresponding to the middle catheter motion device, a motor auxiliary encoder corresponding to the long catheter motion device and other items, resetting the motors of the middle catheter motion device after the initialization is finished, acquiring a resetting result, and entering a next step if the resetting result is not obtained, and entering an alarm mode. The vascular intervention device is initialized, so that the user can conveniently adjust the positions of all sub-components in the vascular intervention operation device, and operation preparation work is better carried out.
Illustratively, at initialization, each subsystem and sub-component being initialized is scanned, and if an anomaly is scanned, an alarm mode is entered. The alarm mode at this time includes: the second industrial control machine judges the alarm level according to the abnormal condition, and sends different alarm instructions to the alarm device according to the level of the alarm level, and the alarm device can send out alarms in the forms corresponding to the different alarm instructions, for example, sends out audio signals with different audio frequencies according to the different alarm instructions; meanwhile, the second industrial personal computer also sends an alarm instruction to the display module, and the display module responds to an alarm signal according to the alarm instruction, for example, the display module is provided with an in-screen error prompt lamp which can breathe and flicker, and alarm information is displayed; in addition, the second industrial personal computer can also send alarm information to the first industrial personal computer, and after the first industrial personal computer receives the alarm information, the corresponding alarm information is displayed on the touch control type display screen in real time. By scanning each subsystem and each sub-component during initialization, a user can judge whether each subsystem and each sub-component can work normally, so that the safety of an operation is ensured, and the safety is improved.
As shown in fig. 4, in the vascular interventional operation auxiliary system provided by the invention, firstly, whether an ESC key is pressed by a keyboard device is judged, if the ESC key is pressed by the keyboard device, a debugging mode is entered, namely electric debugging and functional debugging, and whether electric equipment such as a motion control card, a motor, an IO module, an operation rocker and the like are normal or not is detected respectively; and detecting whether Tcp communication and udp communication are normal, whether motor control and communication functions are normal, whether serial port communication functions are normal, whether communication and control functions of an operation rocker and an IO module are normal or not respectively, and according to detection results, correspondingly debugging parameters so as to achieve the highest-performance equipment state and avoid operation accidents caused by equipment problems. If no keyboard device presses the ESC key, the operation mode is entered, namely, a tcp/udp server is started to connect the first industrial personal computer and the second industrial personal computer, and if the connection is successful, the control method from the step S200 to the step S600 is executed; if the connection fails, reminding the user of the connection failure so as to make corresponding preparation for the user.
Although the invention is disclosed above, the scope of the invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications will fall within the scope of the invention.
Claims (10)
1. The vascular intervention operation auxiliary system is characterized by being used for providing assistance for vascular intervention operation equipment and comprising a man-machine interaction subsystem and a motion control subsystem;
the human-computer interaction subsystem is used for receiving and processing a first instruction input by a user, sending a second instruction to the motion control subsystem and acquiring state information of the vascular interventional operation equipment fed back by the motion control subsystem;
the motion control subsystem is used for receiving and processing the second instruction sent by the man-machine interaction subsystem and also used for controlling the motion of the vascular interventional operation equipment;
the human-computer interaction subsystem comprises a first industrial personal computer, the motion control subsystem comprises a second industrial personal computer, the first industrial personal computer is in communication connection with the second industrial personal computer, the first industrial personal computer is a client, and the second industrial personal computer is in communication connection with the vascular interventional operation equipment.
2. The vascular interventional procedure assistance system according to claim 1, wherein the second industrial personal computer is communicatively connected to the vascular interventional procedure device via an ethercat bus.
3. The vascular interventional procedure assistance system according to claim 2, wherein the vascular interventional procedure device comprises a motion module and an IO module, the motion module and the IO module are in communication connection, and the motion module and the IO module are in communication connection with the second industrial personal computer through the ethercat bus;
The motion module is used for executing the motion control;
the IO module is used for transmitting alarm information generated by the motion control subsystem and control information of the motion control subsystem on the motion module;
the motion control subsystem is further used for judging whether the state information is abnormal or not, and if yes, the alarm information is generated.
4. The vascular interventional procedure assistance system of claim 1, further comprising an uninterruptible power supply subsystem connected to the human-machine interaction subsystem, the motion control subsystem and the vascular interventional procedure device, respectively, for providing power to the human-machine interaction subsystem, the motion control subsystem and the vascular interventional procedure device.
5. A control method of a vascular interventional procedure assistance system according to any one of claims 1 to 4, comprising:
establishing connection between a human-computer interaction subsystem and a motion control subsystem, and establishing connection between the motion control subsystem and vascular interventional operation equipment;
Receiving a first instruction input by a user through the man-machine interaction subsystem, processing to obtain a second instruction, and sending the second instruction to the motion control subsystem;
and controlling the vascular intervention operation equipment based on the second instruction through the motion control subsystem, wherein the human-computer interaction subsystem acquires the state information of the vascular intervention operation equipment fed back by the motion control subsystem.
6. The method for controlling a vascular interventional procedure assistance system according to claim 5, wherein after the connection between the motion control subsystem and the vascular interventional procedure device is established, before the receiving the first instruction input by the user through the man-machine interaction subsystem and processing the second instruction, the method further comprises:
acquiring electrical information and functional information;
entering electrical debugging according to the electrical information;
and entering function debugging according to the function information.
7. The method of claim 6, wherein the entering electrical commissioning according to the electrical information comprises:
testing whether the motion module and the IO module correspond to preset information or not;
Testing whether the parameter information of the motion module is normal or not;
testing whether the information of the IO module is normal;
and correspondingly adjusting the equipment parameters of the motion module and the IO module according to the test result.
8. The method for controlling a vascular interventional procedure assistance system according to claim 6, wherein the entering function debugging according to the function information comprises:
testing whether the communication function and the control function of the man-machine interaction subsystem and the motion control subsystem are normal or not;
testing whether the function of the uninterrupted power subsystem is normal;
and correspondingly adjusting system parameters of the man-machine interaction subsystem, the motion control subsystem and the uninterrupted power supply subsystem according to the test result.
9. The method for controlling a vascular interventional procedure assistance system according to claim 5, wherein the human-computer interaction subsystem obtains status information of the vascular interventional procedure device fed back by the motion control subsystem, comprising:
the motion control subsystem acquires the state information of the vascular interventional operation device and sends the state information to the man-machine interaction subsystem;
the motion control subsystem scans the state information and judges whether the state information is abnormal or not;
And if the state information is abnormal, the motion control subsystem sends out alarm information and generates an alarm log.
10. The method according to claim 6, wherein after the function is performed according to the function information, before the first instruction input by the user is received by the man-machine interaction subsystem and the second instruction is obtained by processing, the method further comprises:
initializing the vascular interventional procedure assistance system and the vascular interventional procedure device.
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