CN112401994A

Movatterモバイル変換

Info

Publication number: CN112401994A
Application number: CN202011296293.4A
Authority: CN
Inventors: 邢俊; 周建军; 刘相麟
Original assignee: Nanjing Drum Tower Hospital
Current assignee: Nanjing Drum Tower Hospital
Priority date: 2020-11-18
Filing date: 2020-11-18
Publication date: 2021-02-26

Abstract

Translated fromChinese

本发明公开了一种基于手术机器人的胚胎自动拣选及移植的一体化装置，包括指纹驱动一体化胚胎自动拣选机器人系统、带有超声探头的胚胎移植机器人系统和用于显示影像、进行设置与操作的计算机及操作设备；所述的指纹驱动一体化胚胎自动拣选机器人系统、带有超声探头的胚胎移植机器人系统均与所述的电子计算机及操作设备相连，操作者通过电子计算机及操作设备控制各系统的操作过程。本发明可由手术者一人完成胚胎选择、装管、核对、运输、移植、复核等操作，减少多平台合作存在的风险，有效节省了空间与人力。此外该系统可以长时间运作，保持稳定效应。

The invention discloses an integrated device for automatic embryo picking and transplantation based on a surgical robot, including a fingerprint-driven integrated embryo automatic picking robot system, an embryo transfer robot system with an ultrasonic probe, and a robot system for displaying images, setting and operating computer and operating equipment; the fingerprint-driven integrated embryo automatic picking robot system and the embryo transfer robot system with ultrasonic probe are all connected with the electronic computer and operating equipment, and the operator controls each System operation process. In the present invention, one operator can complete operations such as embryo selection, tube loading, verification, transportation, transplantation, review, etc., thereby reducing risks existing in multi-platform cooperation, and effectively saving space and manpower. In addition, the system can operate for a long time, maintaining a stable effect.

Description

Integrated device for automatically selecting and transplanting embryos based on surgical robot

Technical Field

The invention belongs to the technical field of medical devices, and particularly relates to an integrated device for automatically selecting and transplanting embryos based on a surgical robot.

Background

With the annual rise of infertility rate, in vitro fertilization-embryo transfer (IVF-ET) becomes one of the most effective means for clinically treating infertility at present, and makes a great contribution to maintaining the stability and harmony of families and society. Stable, fine, reliable embryo transfer is critical to the success of IVF-ET. Embryo transfer is the process of transferring the embryo developed by in vitro culture back into the mother's uterine cavity mediated by transfer tube.

The current transplantation operation needs the fine cooperation of three parties, namely an operating doctor, an operating nurse and an embryologist. The specific process is that a prophase embryologist realizes embryo development through an embryo in-vitro culture system, and the process is similar to normal development in vivo. During the embryo culture period, an embryologist takes out the culture dish from the incubator every day to observe the development process of the embryo, and the embryologist returns the incubator after the observation is finished. On the day of embryo transplantation, an embryologist observes the embryo morphology again under a microscope, scores, records and selects the embryo morphology, manually selects high-quality embryos for embryo transplantation, and transfers the embryos to be transplanted into culture drops to be transplanted in a tube. The operating room nurse, the operating doctor and the laboratory embryologist jointly check the names of the couples of the patients. The patient needs to fill the bladder before transplantation, the bladder lithotomy position is taken during the operation, the vulva is washed by normal saline, a disinfection towel is paved, and the normal saline wipes the vagina, cervical secretions and mucus plugs in the cervical canal. The operation nurse carries out abdominal ultrasound, adjusts the position direction of the ultrasonic probe, clearly displays the uterine cavity line, and accurately evaluates the uterine position, the uterine cavity length and the cervical canal length by the operation doctor to prepare for transplantation. The embryologist loads the embryos in the culture drops into the transfer tube and lifts the transfer tube to the operating room, and the transfer tube is advanced into the uterine cavity and slowly advanced to a preset depth in the uterine cavity. When the surgeon judges that the transplantation tube is placed at a proper position, the embryologist slowly and softly injects the embryo into the uterine cavity, keeps the embryo for a moment, and withdraws the transplantation tube and the outer sheath. After the transfer, the embryologist washes the transfer tube several times and again checks the tube under a microscope for the presence of embryo residues.

Therefore, the whole process of embryo selection and embryo transplantation needs the skilled operation and tacit cooperation of surgeons, nurses and embryologists, the transplantation operation can be completed only by the cooperation of at least 3 medical personnel, the cooperation of multiple platforms has the cooperation running-in period, and simultaneously, a large amount of space, manpower and material resources are occupied. In the process of embryo development and the like, an embryologist takes a culture dish out of the incubator every day, and inspects the appearance of the incubator, embryos can be exposed in unstable temperature and humidity in vitro environments to a certain degree, and the risk of pollution is also combined, so that the normal development of the embryos is very unfavorable. When preparing to transplant, embryologists take out the culture dish from the incubator, be alert to rock the culture dish because of external factors influence, otherwise have the risk that the embryo is lost. Because the acquisition of the embryo requires the patient to go through a series of processes such as ovulation promotion, semen collection, ovum collection, embryo culture and the like, the embryo is very precious for the patient, and the loss of the embryo can bring great loss to the patient. Similarly, the embryologist is at risk of losing the embryos during the transfer process of manually lifting the tubed embryos from the embryo room to the operating room. The embryo tube filling technical level difference of different embryologists and the inconsistent embryo injection speed in the transplantation process cause the embryo to stay in the transplantation tube and the embryo transplantation position to be poorly controlled, thereby having great influence on the embryo transplantation fate.

In addition, the checking of the identity and the embryo of the patient is still limited to manual oral checking at present, the error of transferring the wrong embryo cannot be completely eliminated, and the checking system still has a leak. The patient needs to be filled with the bladder before operation, which is inconvenient and increases discomfort. Whereas embryo transfer in patients with an advanced uterus and obesity guided by abdominal B-ultrasound often fails to show clear transfer tubes and endometrial lines. The implantation is affected by the fact that the difference of the ultrasound monitoring level of the operation and the ultrasound monitoring level of the nurse cannot be sufficiently displayed on the endometrial line.

In summary, although the related techniques of embryo selection and transplantation are mature, there is still much room for improvement.

Disclosure of Invention

The invention aims to solve the technical problem of the prior art, provides an integrated device for automatically picking and transplanting embryos based on a surgical robot, and provides a new means for the current embryo picking and embryo transplanting.

In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:

an integrated device for automatically selecting and transplanting embryos based on a surgical robot comprises a fingerprint driving integrated embryo automatic selecting robot system, an embryo transplanting robot system with an ultrasonic probe, a computer for displaying images and setting and operating equipment;

the fingerprint driving integrated automatic embryo sorting robot system and the embryo transfer robot system with the ultrasonic probe are both connected with the electronic computer and the operating equipment, and an operator controls the operating process of each system through the electronic computer and the operating equipment.

In order to optimize the technical scheme, the specific measures adopted further comprise:

the fingerprint-driven integrated automatic embryo picking robot system comprises: the system comprises a fingerprint drive identification information subsystem, an embryo culture subsystem with a microscopic camera, a related auxiliary function and parameter module matched with the embryo culture subsystem and an embryo automatic picking robot subsystem;

the fingerprint driving identification information subsystem comprises a fingerprint identification instrument and a corresponding computer analysis processing and operating subsystem;

the label of each embryo culture dish in the embryo culture subsystem with the microscopic camera is stored with patient information and cycle information;

when a patient touches the fingerprint identification instrument, the fingerprint identification instrument identifies the fingerprint of the patient, the fingerprint information of the patient is transmitted to the server for comparison, the server sends the information of the patient to a computer operated by an operator for checking, meanwhile, data comprehensive analysis is carried out on all embryos corresponding to the patient labels in the embryo culture subsystem with the micro-camera, the best transplanted embryos are selected, the information of the embryo labels and the positioning information of the culture boxes where the embryos are located are sent to the automatic sorting robot subsystem, and the culture boxes selected before the automatic sorting robot are informed to extract the culture dishes where the embryos are located.

The automatic embryo picking robot subsystem comprises an automatic embryo picking robot, a mechanical arm which is arranged on the automatic embryo picking robot and used for picking embryos, and a power module which provides driving force for the automatic embryo picking robot;

the automated embryo picking robot extracts the preferred embryo from the individual incubator and moves it to a constant temperature station in preparation for embryo tubulation.

The embryo transfer robot system with the ultrasonic probe comprises an embryo transfer robot device, a double-layer heat preservation embryo transfer device, an embryo automatic tube loading robot subsystem and a transferred embryo automatic re-inspection robot subsystem;

the double-layer heat-preservation embryo conveying device is connected with a transfer tube of an embryo transfer robot in an operating room and an embryo tube of an automatic embryo tube loading robot subsystem in a laboratory, and is a sterile heat-preservation channel with a pressure regulating device;

the embryo transfer robot device comprises an embryo transfer surgical robot, a mechanical arm which is arranged on the embryo transfer surgical robot and is used for transfer operation, a power module for providing driving force for the embryo transfer surgical robot, a related auxiliary function and parameter module which is matched with the embryo transfer surgical robot, a reagent heat preservation storage box and a flushing device;

the mechanical arm for transplantation operation is provided with an ultrasonic probe and a transplantation tube for transplantation, and the transplantation tube is connected with the embryo double-layer heat preservation embryo conveying device.

The automatic tube loading operation robot subsystem comprises an embryo automatic tube loading robot, a mechanical arm, a power module, a related auxiliary function and parameter module and a tube loading operation area, wherein the mechanical arm is arranged on the automatic tube loading robot and is used for embryo tube loading operation;

the mechanical arm for embryo tubulation operation is provided with a suction apparatus and a liquid transfer apparatus;

after the embryo tubulation robot carries out tubulation operation in the tubulation operating area, the embryo gets into double-deck heat preservation embryo conveyer immediately.

The automatic embryo tubulation robot subsystem further comprises a microscope image pickup subsystem for identifying the tubulation operation. The image of the embryo to be piped in the identification culture dish is shot by the identification tubulation operation microscope camera subsystem and is transmitted to a computer and an operation device for observation and analysis, and the automatic tubulation robot and the mechanical arm provided with the suction device and the liquid transfer device are guided by the returned evaluation image to finish the automatic tubulation of the embryo.

The automatic embryo rechecking robot comprises an automatic embryo rechecking robot, a mechanical arm, a power module, a related auxiliary function and parameter module and an operation area, wherein the mechanical arm is arranged on the automatic rechecking robot and is used for embryo rechecking operation;

the mechanical arm for automatic re-inspection operation is provided with an aspirator and a liquid transfer device.

The automatic embryo rechecking robot subsystem also comprises an identification rechecking operation microscope camera subsystem;

the image in the culture dish is shot by the shooting subsystem of the identification rechecking operating microscope and is transmitted to a computer and operating equipment for observation and analysis, and the rechecking data result is automatically fed back to the computer system; when the embryo remained in the washing liquid of the transplanting tube is found, a warning is given out to finish the automatic embryo reinspection.

The auxiliary function and parameter module comprises a camera module, a consumable reagent replacement module, a waste treatment and cleaning module, a brightness control module, a temperature and humidity control module, a gas control module, a self-checking module, a fault alarm module, a power module and a sterile transmission module.

The computer and the operating equipment comprise a computer provided with the system operating software and various human engineering equipment operated by an operator;

the operating software includes four parts: an embryo selecting interface, an embryo tubulating and conveying interface, an embryo transplanting interface and an embryo rechecking interface;

the embryo picking interface comprises a photomicrography interface, a hospital medical record system and operation recording interface, a manual confirmation and operation interface, a parameter setting interface, a consumable treatment and cleaning interface and a fault self-checking interface;

the embryo tubulation and conveying interface comprises a photographic interface, a hospital medical record system and operation recording interface, a manual confirmation and operation interface, a parameter setting interface, a consumable processing and cleaning interface and a fault self-checking interface;

the embryo transfer interface comprises an ultrasonic interface, a flushing setting interface, an operating table interface, a manual confirmation and operation interface, a parameter setting interface, a consumable processing and cleaning interface and a fault self-checking interface;

the embryo reinspection interface comprises a photomicrography interface, a manual confirmation and operation interface, a parameter setting interface, a consumable processing and cleaning interface and a fault self-checking interface.

The invention has the following beneficial effects:

1. the fingerprint-driven integrated automatic embryo sorting robot can avoid embryo transplantation check errors by combining the embryo box with the photomicrography, avoids the risk caused by taking a culture dish out of the culture box every day to observe the embryo development, reduces errors of embryo quality interpretation caused by personal factors of an embryologist, improves the defect that ultrasonic display of the abdomen of part of patients is unclear, and reduces the increase of operation complications caused by the interference of the operator due to the self or external factors under the assistance of the mechanical arm of the robot.

2. The invention ensures that the tubulated embryo to be transplanted directly reaches the transplanting device through the embryo transportation system under the condition of not contacting with the external environment, thereby effectively avoiding the exposure process and embryo transfer risk of the embryo in the traditional embryo transplantation operation under the adverse environment.

3. The stable and uniform robot transplantation can reduce the influence of inconsistent embryo injection speeds on embryo transplantation fate in different embryologists' embryo tube loading processes and transplantation processes to the maximum extent. Moreover, embryo selection, tubing, checking, transportation, transplantation and rechecking can be directly completed by one operator and one checker in the operating room. Greatly saves space and manpower, improves the work efficiency and safety of embryo transplantation operation, and realizes intelligent auxiliary embryo selection and transplantation process.

Drawings

FIG. 1 is a schematic view of the present invention with a photomicrograph incubator in positional relationship to the culture dish;

FIG. 2 is an auxiliary function and parameter module

FIG. 3 is a computer interface;

FIG. 4 is a flow chart of the operation of the apparatus of the present invention;

FIG. 5 is a schematic view of an automated embryo picking and transfer device and tube loading process;

FIG. 6 is a schematic diagram of the embryo transfer and review process.

Detailed Description

Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.

The invention discloses an integrated device for automatically selecting and transplanting embryos based on a surgical robot, which comprises a fingerprint driving integrated embryo automatic selecting robot system, an embryo transplanting robot system with an ultrasonic probe, a computer for displaying images and setting and operating equipment;

In an embodiment, the fingerprint-driven integrated automatic embryo picking robot system comprises: the system comprises a fingerprint drive identification information subsystem, an embryo culture subsystem with a microscopic camera, a related auxiliary function and parameter module matched with the embryo culture subsystem and an embryo automatic picking robot subsystem;

referring to fig. 1, when a patient touches the fingerprint identification device, the fingerprint identification device identifies the fingerprint of the patient, the fingerprint information of the patient is transmitted to the server for comparison, the server sends the information of the patient to a computer operated by an operator for checking, meanwhile, data comprehensive analysis is carried out on all embryos corresponding to the patient label in the embryo culture subsystem with the micro-camera, the best embryo to be transplanted is selected, the information of the embryo label and the positioning information of the incubator where the embryo to be transplanted are sent to the automatic picking robot subsystem, and the automatic picking robot is informed to select the incubator to extract the incubator where the embryo to be transplanted.

Referring to fig. 5, in an embodiment, the automatic embryo picking robot subsystem includes an automatic embryo picking robot, a mechanical arm mounted on the automatic embryo picking robot for embryo picking operation, and a power module providing driving force for the automatic embryo picking robot;

the automated embryo picking robot extracts the preferred embryo from the individual embryo incubator and moves it to a constant temperature station in preparation for embryo tubulation.

Referring to fig. 5, in the embodiment, the embryo transfer robot system with the ultrasonic probe comprises an embryo transfer robot device, a double-layer heat preservation embryo transfer device, an embryo automatic tube loading robot subsystem and an embryo automatic re-inspection robot subsystem after transfer;

referring to fig. 6, the embryo transfer robot device includes an embryo transfer surgical robot, a mechanical arm mounted on the embryo transfer surgical robot for transfer operation, a power module for providing driving force for the embryo transfer surgical robot, a related auxiliary function and parameter module matched with the embryo transfer surgical robot, a reagent heat preservation storage box and a flushing device;

In an embodiment, the automatic tube loading operation robot subsystem comprises an embryo automatic tube loading robot, a mechanical arm which is arranged on the automatic tube loading robot and is used for embryo tube loading operation, a power module for providing driving force for the tube loading robot, a related auxiliary function and parameter module which is matched with the tube loading robot, and a tube loading operation area for embryo tube loading;

In an embodiment, the automatic embryo tubulation robot subsystem further comprises a microscope imaging subsystem for identifying the tubulation operation. The image of the embryo to be piped in the identification culture dish is shot by the identification tubulation operation microscope camera subsystem and is transmitted to a computer and an operation device for observation and analysis, and the automatic tubulation robot and the mechanical arm provided with the suction device and the liquid transfer device are guided by the returned evaluation image to finish the automatic tubulation of the embryo.

Referring to fig. 6, in the embodiment, the automatic embryo re-inspection robot includes an automatic embryo re-inspection robot, a mechanical arm installed on the automatic re-inspection robot for embryo re-inspection operation, a power module for providing driving force for the re-inspection robot, a related auxiliary function and parameter module matched with the re-inspection robot, and an operation area for repeatedly washing and automatically re-inspecting the transplantation tube;

In an embodiment, the automatic embryo reinspection robot subsystem further comprises an identification reinspection operation microscope camera subsystem;

Referring to fig. 2, in the embodiment, the auxiliary function and parameter module includes a camera module, a consumable reagent replacement module, a waste treatment and cleaning module, a brightness control module, a temperature and humidity control module, a gas control module, a self-checking module, a fault alarm module, a power module, and a sterile transmission module.

In the embodiment, the computer and the operation equipment for setting and operating comprise a computer provided with the system operation software and various human engineering equipment operated by an operator;

referring to fig. 3, the operating software includes four parts: an embryo selecting interface, an embryo tubulating and conveying interface, an embryo transplanting interface and an embryo rechecking interface;

the embryo selecting interface comprises an embryo photographing interface, a hospital medical record system and operation recording interface, a manual confirmation and operation interface, a parameter setting interface, a consumable processing and cleaning interface and a fault self-checking interface;

Referring to fig. 4, the using method of the device of the present invention is:

the computer runs the operation software, the system starts self-checking, and after the self-checking is correct, the operator prepares to start the transplantation operation.

The patient is ready, under the guidance of a nurse, the patient comes to the fingerprint identification area to check the fingerprint, and the fingerprint information is sent to the server to be compared with the identity information of the patient. After patient information was selected to the server, the fingerprint that simultaneously was to the patient was checked and is sent the affirmation information to board and the artifical affirmation interface of art person, treats that the equal affirmation information of art person and patient is errorless, and the server is selected the robot output signal to the embryo automation, and embryo incubator's artificial intelligence begins the patient information of automatic embryo culture dish of checking, finds patient's embryo culture dish after, artificial intelligence analyzes the embryo condition one by one, picks out the embryo of optimality. At the moment, the images of all embryos in the culture dish are sent back to the manual confirmation interfaces of an operator and a second person (the embryos selected by the artificial intelligence are highlighted and automatically graded), and if the embryos selected by the two persons are confirmed to be correct, the picking robot automatically moves the culture dish to a tube loading operation area; if the operator is not satisfied with the selection result of the artificial intelligence, the operator manually sets the embryos for tubing through a manual operation interface of the operation equipment and the computer, operates the mechanical arm of the sorting robot and moves the culture dish into the closed tubing robot system. The embryo images selected manually can be intercepted by the system for artificial intelligent learning, and the accuracy of subsequent selection is improved.

After the culture dish is moved to the tube-loading operation area, the operator adjusts various parameters of the tube-loading operation area through the parameter setting interface. And the tube filling robot sucks the embryo by using a mechanical arm provided with a liquid transfer device and a suction device according to the embryo result selected in the previous step, a columnar structure of culture solution-air-culture solution containing the embryo-air-culture solution is formed in the tube, and the embryo is sucked into a double-layer heat-preservation embryo conveying device connected with the tube filling mechanical arm under the suction of a negative pressure suction device and slowly moves to the transplanting robot. The monitoring image of the whole embryo tubulation movement is sent to the computer of the operator for real-time monitoring.

The patient takes the bladder lithotomy position on the operating table, the operator adjusts the height and the angle of the operating table to a proper position, the flushing interface commands the flushing device of the embryo transfer robot to flush the vulva of the patient, and the vagina, cervical secretions and mucus plugs in the cervical canal are wiped. After the cleaning is finished, the operator sends a transplantation operation signal to the robot, the mechanical arm of the transplantation robot automatically adjusts the angle and the height, and slowly sends a transplantation tube which is connected with the embryo conveying device and is provided with an ultrasonic probe and a pressure sensor into the uterine cavity for a preset depth, and the transplantation tube is automatically stable. The ultrasonic probe sends an ultrasonic signal back to the computer for an operator to check, meanwhile, the pressure sensor automatically measures and calculates the real-time pressure in the uterine cavity and feeds the real-time pressure back to the embryo moving speed regulator, then the embryo moving speed regulator automatically applies different pressures, the embryo is injected into the uterine cavity at a constant moving speed, and the embryo implantation success can be proved by the occurrence of a gas signal under the ultrasonic condition.

After the postoperative transplantation tube is detached by the embryo reinspection robot, the mechanical arm provided with a liquid transfer device and a suction apparatus is used for repeatedly flushing the pipeline, flushing liquid is collected into a culture dish of the reinspection operation area, the microscopic camera system transmits images back to a computer for an operator to observe, and after no embryo residue is determined, the operation is finished. The operator processes the consumables generated in the operation through the consumables processing and cleaning interface and cleans the whole system.

In conclusion, the embryo sorting and embryo transferring method and the embryo sorting and transferring device have the advantages that an operator can realize embryo sorting and embryo transferring by operating the mechanical arm of the computer application program control robot, embryo transferring error is avoided, the risk caused by taking a culture dish out of a culture box every day to observe the development of embryos is avoided, the error of embryo quality interpretation due to personal factors of an embryologist is reduced, the defect that ultrasonic display of the abdomen of part of patients is unclear is overcome, the increase of operation complications caused by interference of the operator due to self factors or external factors is reduced under the assistance of the mechanical arm of the robot, the exposure process and the embryo transferring risk of embryos in the traditional embryo transferring operation under adverse environments are avoided, and the influence of inconsistent embryo injecting speeds in the embryo loading and tube process and the embryo injecting process of different embryologists on the embryo transferring result is reduced. The system can be used for completing embryo selection, tube loading, checking, transportation, transplantation, rechecking and other operations by one operator, reduces the risk of multi-platform cooperation, and effectively saves space and manpower. In addition, the system can operate for a long time and keep stable effect.

The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.