CN113116522A - Magnetic navigation trachea positioning robot - Google Patents
Magnetic navigation trachea positioning robot Download PDFInfo
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- CN113116522A CN113116522A CN202110351748.6A CN202110351748A CN113116522A CN 113116522 A CN113116522 A CN 113116522A CN 202110351748 A CN202110351748 A CN 202110351748A CN 113116522 A CN113116522 A CN 113116522A
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2072—Reference field transducer attached to an instrument or patient
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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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Abstract
The embodiment of the invention discloses a magnetic navigation tracheal positioning robot, which comprises a bronchoscope catheter and a lifting mechanism, wherein the lifting mechanism is arranged on the bronchoscope catheter; the lifting mechanism is connected to one end part of the bronchoscope catheter; the bronchoscope catheter comprises a bending section far away from the lifting mechanism and a connecting section close to the lifting mechanism; the bending section is internally provided with a plurality of positioning sensors for restoring the bending shape of the bending section, and the lifting mechanism is used for driving the bronchoscope catheter to enter and exit the trachea and controlling the bending direction and angle of the bending section. The magnetic navigation trachea positioning robot provided by the embodiment of the invention can enable an operator to acquire the bending form of the front end of the bronchoscope catheter in real time, and is convenient for the operator to carry out accurate operation.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a magnetic navigation trachea positioning robot.
Background
At present, the interventional medical treatment technology through the natural airway of the lung based on the electromagnetic navigation technology firstly introduces the lung CT image data of a patient, reconstructs a three-dimensional model of an air outlet pipe and plans a path reaching the lesion position through all levels of air pipes based on the three-dimensional model. Then, the guiding catheter with the electromagnetic sensor is used, and a bronchoscope and other equipment are operated to enable the guiding catheter to reach the position of the lesion through the position signal transmitted back by the sensor and the navigation function of relevant software. However, when the lesion is located at a position where the bronchoscope such as the periphery of the lung cannot reach, the operator cannot obtain a real-time image of the position of the guide catheter, and judges whether the guide catheter reaches the lesion position only by the position of the sensor displayed in the navigation software. In order to further confirm the accuracy of navigation, before proceeding the next diagnosis and treatment operation, the finger guide tube is usually confirmed again by X-ray image to determine whether it has successfully reached the focus position. When the accuracy of the reconstructed trachea three-dimensional model is insufficient, even the real-time position of the guide catheter needs to be confirmed by means of X-ray images in the path advancing process, and for focuses at some special positions, due to the problem of the trend angle of an air passage, even the guide catheter can be assisted by the aid of the magnetic navigation, the operator still hardly reaches the positions of the focuses by manually operating the bronchoscope due to the fact that the operator cannot see the bending form of the front end of the bronchoscope catheter during operation, and great inconvenience is brought to the operation.
Disclosure of Invention
In order to solve at least one technical problem in the prior art, the embodiment of the invention provides a magnetic navigation tube positioning robot.
The magnetic navigation trachea positioning robot provided by the embodiment of the invention comprises a bronchoscope catheter and a lifting mechanism;
the lifting mechanism is connected to one end part of the bronchoscope catheter;
the bronchoscope catheter comprises a bending section far away from the lifting mechanism and a connecting section close to the lifting mechanism;
a plurality of positioning sensors used for restoring the bending shape of the bending section are arranged in the bending section, and the lifting mechanism is used for controlling the bending direction and angle of the bending section.
Furthermore, the outer wall of the bronchoscope catheter is provided with a bending control steel wire, one end of the bending control steel wire is connected with the end part of the bending section, which is far away from the lifting mechanism, and the other end of the bending control steel wire is connected with a sliding block on the lifting mechanism.
Furthermore, the outer wall of the bronchoscope catheter is uniformly provided with four bending control steel wires, and the four bending control steel wires are respectively connected with the four sliding blocks on the lifting mechanism.
Furthermore, a motor connected with the sliding block is further arranged on the lifting mechanism and used for driving the sliding block to reciprocate.
Furthermore, the magnetic navigation air pipe positioning robot further comprises a mechanical arm, wherein one end of the mechanical arm is arranged on the self-moving trolley, and the other end of the mechanical arm is used for being connected with the lifting mechanism.
Furthermore, the lifting mechanism and the mechanical arm are detachably connected, and a controller used for controlling the motor is arranged on the lifting mechanism.
Further, magnetic navigation trachea positioning robot still includes remote operation module, remote operation module respectively with the controller with the arm is connected for to the motor with the arm is controlled.
Furthermore, a first locking mechanism used for locking and fixing the head end position of the bronchoscope catheter is arranged on the mechanical arm.
Furthermore, a second locking mechanism for locking and fixing the bending form of the bending section of the bronchoscope catheter is arranged on the lifting mechanism.
Further, the magnetic navigation trachea positioning robot further comprises a light supplement lamp, and the light supplement lamp is arranged at the end part, far away from the lifting mechanism, of the bending section.
Further, the magnetic navigation trachea positioning robot further comprises a camera, and the camera is arranged at the end part, far away from the lifting mechanism, of the bending section.
Further, magnetic navigation trachea positioning robot still includes display device, display device establishes on the magnetic navigation platform truck and is used for to the shooting picture of camera shows.
The magnetic navigation trachea positioning robot comprises a bronchoscope catheter and a lifting mechanism, wherein the lifting mechanism drives the bronchoscope catheter to enter and exit a trachea, controls the bending direction and the bending angle of a bending section of the bronchoscope catheter, and restores the bending shape of the bending section by arranging a plurality of positioning sensors in the bending section, so that an operator can obtain the bending shape of the front end of the bronchoscope catheter in real time, and the operator can conveniently perform accurate operation.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic perspective view of a magnetic navigation tube positioning robot according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of a magnetic navigation tube positioning robot according to an embodiment of the present invention;
fig. 3 is an enlarged schematic view of a cross-sectional structure of a bronchoscope catheter of a magnetic navigation tracheal positioning robot according to an embodiment of the present invention;
fig. 4 is a schematic perspective view of a bronchoscope catheter of a magnetic navigation tracheal positioning robot according to an embodiment of the present invention;
fig. 5 is an enlarged schematic view of a cross-sectional structure of a bronchoscope catheter of a magnetic navigation tracheal positioning robot according to an embodiment of the present invention;
fig. 6 is a schematic partial perspective view of a lifting mechanism of a magnetic navigation tube positioning robot according to an embodiment of the present invention;
fig. 7 is a schematic view of a usage scenario of a magnetic navigation tube positioning robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a schematic perspective view of a magnetic navigation tracheal positioning robot according to an embodiment of the present invention is shown, where the magnetic navigation tracheal positioning robot includes a bronchoscope catheter 10 and a pulling mechanism 20;
referring to fig. 2, a schematic perspective view of a magnetic navigation tracheal positioning robot according to an embodiment of the present invention is shown, wherein the pulling mechanism 20 is connected to one end of the bronchoscope catheter 10;
the bronchoscope catheter 10 comprises a bending section 110 far away from the lifting mechanism 20 and a connecting section 120 close to the lifting mechanism 20;
a plurality of positioning sensors 130 for restoring the bending shape of the bending section 110 are disposed in the bending section 110, and the lifting mechanism 20 is used for controlling the bending direction and angle of the bending section 110.
Specifically, referring to fig. 3, which is an enlarged schematic view of a partial cross-sectional structure of the bronchoscope catheter 10 of the magnetic navigation tracheal positioning robot according to an embodiment of the present invention, one end of the connecting section 120 of the bronchoscope catheter 10 is connected to the pulling mechanism 20, the other end of the connecting section 120 is connected to the bending section 110, the bending section 110 can be bent under the driving of the pulling mechanism 20, a plurality of positioning sensors 130 are disposed in the bending section 110, especially, at an end of the bending section away from the connecting section 120, the plurality of positioning sensors 130 are sequentially arranged inside a front end (an end away from the pulling mechanism 20) of the bronchoscope catheter 10, the pulling mechanism 20 can be pushed and pulled by a hand or a mechanical arm to drive the bronchoscope catheter 10 to enter and exit from a human trachea, and the pulling mechanism 20 can also drive the bending section 110 to bend, specifically, the lifting mechanism 20 is provided with a control structure for controlling the bending direction and angle of the bending section 110, and the control structure is not limited too much, and it is only required to ensure that the lifting mechanism 20 can control the bending direction and angle of the bending section 110, and since the plurality of positioning sensors 130 are arranged in the bending section 110, the positions of the positioning sensors 130 can be read by a magnetic navigation system, so as to restore the bending form of the bending section 110, and further, the lifting mechanism can more accurately control the bending direction and angle of the bronchoscope catheter 10, so that an operator can more easily operate a bronchoscope to reach a target lesion position.
In summary, in the present invention, the pulling mechanism 20 drives the bronchoscope catheter 10 to enter and exit the trachea of the human body and controls the bending direction and angle of the bending section 110 of the bronchoscope catheter 10, and the plurality of positioning sensors 130 are disposed in the bending section 110 to restore the bending shape of the bending section 110, so that the operator can obtain the bending shape of the front end of the bronchoscope catheter 10 in real time, and the operator can perform precise operation conveniently.
Further, referring to fig. 4, 5 and 6, a bending control wire 140 is disposed on an outer wall of the bronchoscope catheter 10, one end of the bending control wire 140 is connected to an end of the bending section 110 away from the lifting mechanism 20, and the other end is connected to a slider 210 on the lifting mechanism 20.
Specifically, the bronchoscope catheter 10 is a hose, a sleeve 101 is arranged on the outer wall of the bronchoscope catheter 10 along the length direction of the bronchoscope catheter 10, the bend-controlling steel wire 140 is arranged in the sleeve 101 along the length direction, and the bend-controlling steel wire 140 can freely move in the sleeve 101. One end of the bending control steel wire 140 is fixedly connected to the end of the bending section 110 far away from the lifting mechanism 20, the other end of the bending control steel wire 140 is connected to the sliding block 210 on the lifting mechanism 20, the lifting mechanism 20 is provided with a sliding groove 220 for the sliding block 210 to slide, the sliding block 210 slides in the sliding groove 220, so that the bending control steel wire 140 can be driven to move in the sleeve 101, and the end of the bending control steel wire 140 far away from the lifting mechanism 20 is fixed to the end of the bending section 110, so that the bending section 110 can be bent and deformed.
It should be noted here that the number of the bend-controlling wires 140 on the outer wall of the bronchoscope catheter 10 can be set according to the needs, but they are generally uniformly distributed around the outer wall of the bronchoscope catheter 10, and it is conceivable that the number of the sliding grooves 220 and the sliding blocks 210 on the lifting mechanism 20 is the same as the number of the bend-controlling wires 140, that is, one bend-controlling wire 140 is matched with one sliding block 210, and correspondingly, one sliding groove 220 is also matched.
Furthermore, in other preferred embodiments of the present invention, four bending control wires 140 are uniformly disposed on the outer wall of the bronchoscope catheter 10, and the four bending control wires 140 are respectively connected to the four sliding blocks 210 on the lifting mechanism 20.
Specifically, four sleeve pipes 101 are uniformly distributed on the outer wall of the bronchoscope catheter 10, an included angle between two adjacent sleeve pipes 101 is 90 degrees, one bending control steel wire 140 is arranged in each sleeve pipe 101, four sliding grooves 220 are also arranged on the corresponding lifting mechanism 20, one sliding block 210 is arranged in each sliding groove 220, and the four bending control steel wires 140 are respectively connected with the four sliding blocks 210 on the lifting mechanism 20.
Further, in other preferred embodiments of the present invention, the lifting mechanism 20 is further provided with a motor 230 connected to the sliding block 210 for driving the sliding block 210 to reciprocate.
Specifically, the motor 230 includes, but is not limited to, a stepping motor, and an output shaft of the motor is connected to the sliding block 210, and the operation of the motor 230 can drive the sliding block 210 to reciprocate in the sliding slot 220, so as to drive the bending control wire 140 to move in the sleeve 101, so as to bend and deform the bending section 110.
It should be noted that the number of the motors 230 is matched with the number of the sliders 210, and when there are a plurality of the motors 230, each of the motors can work independently or cooperate with each other, so that the bending section 110 has more bending angles.
It should be noted that, in the above description, the pulling mechanism 20 drives the bronchoscope catheter 10 to change the bending direction and the bending angle in an electric manner, and in practical applications, the sliding block 210 is shifted to reciprocate in the sliding groove 220 in a manual manner, so as to drive the bronchoscope catheter 10 to change the bending direction and the bending angle.
In addition, in another preferred embodiment of the present invention, the magnetic navigation tube positioning robot further includes a mechanical arm 30, one end of the mechanical arm 30 is disposed on the self-moving trolley 40, and the other end is used for connecting the lifting mechanism 20.
Specifically, the self-moving trolley 40 includes, but is not limited to, a self-moving robot driven by a motor, the self-moving trolley 40 has a loading platform 410, one end (i.e., a fixed portion) of the robot arm 30 is connected to the loading platform 410, the other end (i.e., a hand portion) of the robot arm 30 is used for connecting the lifting mechanism 20, the robot arm 30 generally has a plurality of joints, and the joints are connected in sequence, and reference may be made to the prior art for a specific structure of the robot arm 30, where the lifting mechanism 20 is controlled by the robot arm 30, and the control includes rotation in 360 degrees and forward and backward movement in various directions.
Further, the lifting mechanism 20 and the robot arm 30 are detachably connected, and a controller (not shown) for controlling the motor 230 is disposed on the lifting mechanism 20.
Specifically, the detachable connection includes, but is not limited to, a plug-in connection, a snap-in connection, etc., and the pulling mechanism 20 and the coupling mechanism thereof can be detached from the mechanical arm 30 and manually operated by an operator through the detachable connection just before the bronchoscope catheter 10 enters the main airway of the human body. When the bronchoscope catheter 10 enters a higher-level airway (an airway with a more complex shape structure), the pulling mechanism 20 and the coupling mechanism thereof can be fixed on the mechanical arm 30 again, the bronchoscope catheter is operated more finely by a robot, and the operating efficiency of the bronchoscope can be greatly improved by the way of combining manual operation and electric operation.
In addition, the controller is arranged on the lifting mechanism 20, the controller is used for controlling the motor 230 to work, specifically, the controller and the motor 230 are arranged in the shell of the lifting mechanism 20, the surface of the shell of the lifting mechanism 20 is provided with a control key, and the motor 230 is controlled by the control key to drive the sliding block 210 to reciprocate in the sliding groove 220.
Further, the magnetic navigation tube positioning robot further comprises a remote operation module (not shown in the figure), which is respectively connected with the controller and the mechanical arm 30, and is used for controlling the motor 230 and the mechanical arm 30.
Specifically, the remote operation module includes, but is not limited to, a panel controller or a joystick, and the remote operation module is connected to the controller and the robot arm 30 in a wired or wireless manner, where the connection is mainly a communication connection for transmitting a control signal from the remote operation module to the controller and the robot arm 30, so as to control the motor 230 and the robot arm 30, that is, an operator can remotely operate the bronchoscope through the remote operation module, thereby avoiding radiation damage when confirming the position and the bent shape of the bent section of the bronchoscope catheter 10 through X-ray, and improving safety of medical operation.
Furthermore, the mechanical arm 30 is provided with a first locking mechanism (not shown) for locking and fixing the position of the tip end of the bronchoscope catheter 10.
Specifically, the first locking mechanism is disposed on the mechanical arm 30, and when the bronchoscope catheter 10 is driven by the mechanical arm 30 to a preset position, for example, when it is determined that the tip of the bronchoscope has reached the target lesion position 2, the mechanical arm 30 can be maintained in such a posture by the first locking mechanism, so that the tip position of the bronchoscope is fixed.
The pulling mechanism 20 is provided with a second locking mechanism (not shown) for locking and fixing the bent state of the bent section 110 of the endotracheal tube 10.
Specifically, after the mechanical arm 30 keeps the position of the tip end of the bronchoscope fixed by the first locking mechanism, the second locking mechanism provided on the pulling mechanism 20 can lock and fix the bending form of the bending section 110 of the bronchoscope catheter 10, that is, the front end of the bronchoscope catheter 10 is aligned with the lesion position, and then the operation of taking a biopsy or a treatment is performed, so as to ensure the effectiveness of the operation.
Further, the magnetic navigation air pipe positioning robot further comprises a camera 50, and the camera 50 is arranged at the end of the bending section 110 far away from the lifting mechanism 20.
Specifically, the camera 50 is disposed at a head end of the bronchoscope catheter 10 away from the lifting mechanism 20, and includes, but is not limited to, an infrared camera with a liquid-proof function, and is used for shooting an airway of a human body to find a lesion position.
Furthermore, the magnetic navigation tube positioning robot further includes a light supplement lamp 60, and the light supplement lamp 60 is disposed at an end of the bending section 110 far away from the lifting mechanism 20.
Specifically, the light supplement lamp 60 is arranged at the head end of the bronchoscope catheter 10 far away from the lifting mechanism 20, generally surrounding the periphery of the camera 50, including but not limited to a low-power LED lamp bead, and is used for supplementing light when the camera 50 is used for shooting the airway of a human body, so as to improve the shooting quality of the camera 50 and improve the accuracy of diagnosis and treatment.
In addition, please refer to fig. 7, which is a schematic view of a usage scenario of the magnetic navigation tube positioning robot according to the embodiment of the present invention, the magnetic navigation tube positioning robot further includes a display device 70, and the display device 70 is disposed on the magnetic navigation trolley 80 and is configured to display a picture taken by the camera 50.
Specifically, the magnetic navigation trolley 80 and the self-moving trolley 40 are respectively arranged beside a patient bed, the display device 70 is arranged on the magnetic navigation trolley 80 and connected with the bronchoscope, and the picture shot by the camera 50 is transmitted to the display device 70 in real time to be displayed, so that accurate reference is provided for the operation of an operator.
The operation method of the magnetic navigation tube positioning robot of the present invention is briefly described as follows:
firstly, a CT image of a patient is led in through an image leading-in module, a three-dimensional image is restored according to the CT image, a focus position is marked in the three-dimensional image as a target point, an arrival path of each target point is planned, and after the planning is finished, a magnetic navigation positioning system is opened to start operating a bronchoscope catheter.
Then, the bronchoscope is controlled to enter the human body airway through the mechanical arm, the bronchoscope catheter is internally provided with a plurality of positioning sensors, the positioning sensors can display the real-time form of the bronchoscope in a magnetic navigation positioning system, a camera at the tracheal lens end can display real-time images, an operator controls the lifting mechanism by combining the real-time form of the bronchoscope catheter according to the airway trend in the picture, and the head end of the bronchoscope catheter is adjusted to be deep along the planned path and reach the position of the target focus.
Then, when the angle of the airway where the target focus is located is special (the bending angle exceeds 90 degrees) and the target focus cannot be directly reached through the bronchoscope, a working channel can be established by using the bronchoscope, other biopsy devices or treatment devices with positioning sensors are used, and the magnetic navigation system is combined to continuously go deep into the airway and reach the final target focus position.
Then, after the magnetic navigation system displays that the bronchoscope reaches the target position, the position and the bending posture of the head end of the bronchoscope catheter are fixed through the mechanical arm of the locking mechanism and the lifting mechanism. At this time, the operator can confirm the position of the tracheal lens again by X-ray and then perform the next biopsy/treatment after confirming that no error exists. If the position of the tracheal lens end needs to be adjusted, the mechanical arm and the lifting mechanism can be continuously operated until the target position is reached through double verification under the magnetic navigation system and X-ray.
It is to be understood that the terminology used in the embodiments of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and "a" and "an" generally include at least two, but do not exclude at least one, unless the context clearly dictates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three types of relationships may exist, e.g., a first component and/or a second component, may represent: the first component exists alone, the first component and the second component exist simultaneously, and the second component exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It should be understood that although the terms first, second, third, etc. may be used in embodiments of the present invention to describe certain elements, these elements should not be limited by these terms. These terms are only used to distinguish one component from another. For example, a first element may also be referred to as a second element, and similarly, a second element may also be referred to as a first element, without departing from the scope of embodiments of the present invention.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a monitoring", depending on the context. Similarly, the phrase "if it is determined" or "if it is monitored (a stated condition or event)" may be interpreted as "when determining" or "in response to determining" or "when monitoring (a stated condition or event)" or "in response to monitoring (a stated condition or event)", depending on the context.
In embodiments of the present invention, "substantially equal to", "substantially perpendicular", "substantially symmetrical", and the like, mean that the macroscopic size or relative positional relationship between the two features referred to is very close to the stated relationship. However, it is clear to those skilled in the art that the positional relationship of the object is difficult to be exactly constrained at small scale or even at microscopic angles due to the existence of objective factors such as errors, tolerances, etc. Therefore, even if a slight dot error exists in the size and position relationship between the two, the technical effect of the invention is not greatly affected.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
In the various embodiments described above, while, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated by those of ordinary skill in the art that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one of ordinary skill in the art.
Those of skill in the art would understand that information, signals, and data may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits (bits), symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
Those of skill would further appreciate that the various illustrative logical blocks, modules, units, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, units, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It should also be noted that those of ordinary skill in the art will appreciate that embodiments of the present invention set forth numerous technical details for the purpose of providing a better understanding of the present invention. However, the technical solutions claimed in the claims of the present invention can be basically implemented without these technical details and various changes and modifications based on the above-described embodiments. Accordingly, in actual practice, various changes in form and detail may be made to the above-described embodiments without departing from the spirit and scope of the invention.
In addition, those skilled in the art will appreciate that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (12)
1. A magnetic navigation trachea positioning robot is characterized by comprising a bronchoscope catheter and a lifting mechanism;
the lifting mechanism is connected to one end part of the bronchoscope catheter;
the bronchoscope catheter comprises a bending section far away from the lifting mechanism and a connecting section close to the lifting mechanism;
the bending section is internally provided with a plurality of positioning sensors for restoring the bending shape of the bending section, and the lifting mechanism is used for driving the bronchoscope catheter to enter and exit the trachea and controlling the bending direction and angle of the bending section.
2. The magnetic navigation trachea positioning robot of claim 1, wherein a bending control steel wire is arranged on the outer wall of the bronchoscope catheter, one end of the bending control steel wire is connected with the end part of the bending section far away from the lifting mechanism, and the other end of the bending control steel wire is connected with a sliding block on the lifting mechanism.
3. The magnetic navigation trachea positioning robot of claim 2, wherein four bend control steel wires are uniformly arranged on the outer wall of the bronchoscope catheter, and the four bend control steel wires are respectively connected with four sliding blocks on the lifting mechanism.
4. The magnetic navigation air pipe positioning robot of claim 2, wherein the lifting mechanism is further provided with a motor connected with the slide block for driving the slide block to reciprocate.
5. The magnetic navigation tube positioning robot of claim 4, further comprising a mechanical arm, wherein one end of the mechanical arm is arranged on the self-moving trolley, and the other end of the mechanical arm is used for connecting the lifting mechanism.
6. The magnetic navigation tube positioning robot of claim 5, wherein the lifting mechanism and the mechanical arm are detachably connected, and a controller for controlling the motor is arranged on the lifting mechanism.
7. The magnetic navigation tube positioning robot of claim 6, further comprising a remote operation module respectively connected to the controller and the robotic arm for controlling the motor and the robotic arm.
8. The magnetic navigation trachea positioning robot of claim 5, wherein the mechanical arm is provided with a first locking mechanism for locking and fixing the head end position of the bronchoscope catheter.
9. The magnetic navigation trachea positioning robot of claim 5, wherein the pulling mechanism is provided with a second locking mechanism for locking and fixing a bending form of the bending section of the bronchoscope catheter.
10. The magnetic navigation tube positioning robot of claim 1, further comprising a light supplement lamp disposed at an end of the bending section away from the lifting mechanism.
11. The magnetic navigation tube positioning robot of claim 1, further comprising a camera positioned at an end of the bending section distal from the lifting mechanism.
12. The magnetic navigation tube positioning robot of claim 11, further comprising a display device disposed on the magnetic navigation trolley for displaying the captured image of the camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110351748.6A CN113116522A (en) | 2021-03-31 | 2021-03-31 | Magnetic navigation trachea positioning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110351748.6A CN113116522A (en) | 2021-03-31 | 2021-03-31 | Magnetic navigation trachea positioning robot |
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