CN115153599A - A wristband DSA control device - Google Patents

Abstract

The invention discloses a bracelet-type DSA control device, which comprises: the control bracelet comprises a bracelet band which is opposite to the wrist of a human body in size, and the bracelet band is wrapped with a miniature lithium battery, a miniature circuit board, an acceleration sensor and a gyroscope; the control cabinet comprises a cabinet body, and a power supply device, a host and a Bluetooth module are arranged in the cabinet body; the foot pedal is placed on the ground under the conduit bed in the conduit chamber to assist in control. The invention is used in interventional operation and is a device for controlling DSA motion by wearing a bracelet. The doctor can coordinate pronunciation or pedal to control each motion axis debugging of DSA and rotate and realize adjusting DSA position appearance through the action of hand for the doctor can more convenient operation DSA motion, realizes that the doctor need not remove, also need not watch sign or be familiar with other brand control layout, just can easily control DSA motion, improves user experience and feels, and then improves operation efficiency.

Description

Translated fromChinese

一种手环式DSA控制装置A wristband DSA control device

技术领域technical field

本发明属于微创血管介入手术领域，涉及对于介入手术中医生对DSA的控制技术，更具体地说，涉及一种手环式DSA控制装置。The invention belongs to the field of minimally invasive vascular interventional surgery, relates to a technique for controlling DSA by a doctor in the interventional surgery, and more particularly relates to a wristband-type DSA control device.

背景技术Background technique

全球每年有近3000万人死于心脑血管疾病，占所有疾病死亡率的30％左右，其中，我国患有心脑血管疾病人数近3亿。心脑血管疾病已经成为人类疾病死亡的三大原因之一，严重影响着国民健康和人们的正常生活。Worldwide, nearly 30 million people die from cardiovascular and cerebrovascular diseases every year, accounting for about 30% of the mortality rate of all diseases. Among them, nearly 300 million people in my country suffer from cardiovascular and cerebrovascular diseases. Cardiovascular and cerebrovascular diseases have become one of the three major causes of human death, which seriously affects national health and people's normal life.

心脑血管微创介入疗法是针对心脑血管疾病的主要治疗手段。和传统外科手术相比，有着切口小、术后恢复时间短等明显优势。心脑血管介入手术是由医生手动将导管、导丝以及支架等器械送入病患体内来完成治疗的过程。Cardiovascular minimally invasive interventional therapy is the main treatment method for cardiovascular and cerebrovascular diseases. Compared with traditional surgery, it has obvious advantages such as smaller incision and shorter postoperative recovery time. Cardiovascular interventional surgery is a process in which a doctor manually inserts catheters, guide wires, stents, and other instruments into a patient's body to complete the treatment.

而要使用介入手法就必须要用到血管造影X射线机(即DSA)。现有的DSA的控制盒都安装在导管床侧面后方的导轨上，手术中需要频繁的对DSA机头的角度、DSA平板高度等进行调节，以保证获得最佳的观看效果。医生在手术中必须要移动到导管床后方才能对DSA控制。在手术床上都会铺有隔菌的薄膜，这样使得医生操作控制盒时很不方便，也不容易看清控制盒上的标记。而且各种品牌的DSA控制盒结构、控制摇杆、按键功能也各不相同，导致在实际使用中效率不高。In order to use interventional procedures, an angiography X-ray machine (ie DSA) must be used. The existing DSA control box is installed on the guide rail behind the side of the catheter bed. During the operation, the angle of the DSA handpiece and the height of the DSA plate need to be adjusted frequently to ensure the best viewing effect. The doctor must move behind the catheter bed to control DSA during surgery. The operating bed will be covered with a bacterial membrane, which makes it very inconvenient for doctors to operate the control box, and it is not easy to see the marks on the control box. Moreover, DSA control boxes of various brands have different structures, control joysticks, and button functions, resulting in low efficiency in actual use.

目前介入手术中，医生对DSA控制存在如下几个方面的问题：(1)必须移动到导管床接近尾端的控制盒旁边，才能控制DSA运动；调整完成后需要回到病人穿刺口附近来控制导丝导管；如此反复导致很不方便，使得手术效率降低；(2)DSA的控制摇杆和按键很多，容易有误操作；(3)导管床上需覆盖无菌布，控制盒上也有透明的无菌膜，因为无法贴近，导致很难看清各摇杆和按键的标记，操作起来也不方便；(4)DSA的厂家众多，各个厂家的DSA的控制盒结构、控制摇杆、按键功能也各不相同，部分医生在去不同医院手术时，很难较好控制DSA，从而影响手术效率；(5)医生学习和熟练操作DSA的时间较长。In the current interventional surgery, doctors have the following problems in DSA control: (1) DSA movement must be controlled by moving to the control box near the end of the catheter bed; after the adjustment, it needs to return to the vicinity of the patient's puncture port to control the catheter. silk catheter; such repetitions are very inconvenient and reduce the efficiency of the operation; (2) DSA has many control joysticks and buttons, which are prone to misoperation; (3) the catheter bed needs to be covered with sterile cloth, and the control box also has transparent Because the bacterial film cannot be approached, it is difficult to see the markings of the joysticks and buttons, and the operation is inconvenient; (4) There are many DSA manufacturers, and the control box structures, control joysticks, and button functions of each manufacturer's DSA are also different. It is not the same. When some doctors go to different hospitals for surgery, it is difficult to control DSA, which affects the efficiency of surgery; (5) It takes a long time for doctors to learn and skillfully operate DSA.

因此如何提供出一种DSA控制装置以克服上述诸多问题，是本领域技术人员的一个重要研究方向。Therefore, how to provide a DSA control device to overcome the above problems is an important research direction for those skilled in the art.

发明内容SUMMARY OF THE INVENTION

本发明提供的一种手环式DSA控制装置，其目的在于解决现阶段针对方便操控的DSA装置，医生必须移动来控制DSA运动，导致手术效率降低；控制盒上的无菌膜干扰了对标识的观看；降低了对摇杆和按键的控制效率；易出现误操作；各家DSA结构功能不同导致医生学习时间长等问题。The present invention provides a wristband-type DSA control device, which aims to solve the problem that the doctor must move to control the movement of the DSA for the DSA device that is convenient to control at the present stage, which leads to the reduction of the operation efficiency; the sterile film on the control box interferes with the identification of the logo. It reduces the control efficiency of the joystick and buttons; it is prone to misoperation; the structure and function of each DSA are different, which leads to problems such as long time for doctors to study.

为此，本发明提出了一种手环式DSA控制装置，包括：To this end, the present invention proposes a wristband DSA control device, comprising:

控制手环，所述控制手环包括与人体手腕大小相对的手环带，所述手环带内包裹有微型锂电池、微型电路板、加速度传感器、陀螺仪，所述微型锂电池用以为所述控制手环内各部件供电；所述微型电路板上集成有用以分析和处理传输的数据的处理器、用以识别医生语音指令的语音模块、用以发送和接收消息的无线通讯模块；所述加速度传感器用以检测所述控制手环的运动变化，并将检测的数据传输给所述微型电路板上的所述处理器；所述陀螺仪用以检测所述控制手环的旋转角度，并将检测的数据传输给所述微型电路板上的所述处理器；Control wristband, the control wristband includes a wristband with the size of the human wrist, and the wristband is wrapped with a miniature lithium battery, a miniature circuit board, an acceleration sensor, and a gyroscope. The miniature lithium battery is used for Each component in the control bracelet is powered; the micro-circuit board is integrated with a processor for analyzing and processing the transmitted data, a voice module for recognizing the doctor's voice commands, and a wireless communication module for sending and receiving messages; The acceleration sensor is used to detect the movement change of the control bracelet, and the detected data is transmitted to the processor on the micro circuit board; the gyroscope is used to detect the rotation angle of the control bracelet, and transmit the detected data to the processor on the micro circuit board;

控制机柜，所述控制机柜包括机柜箱体，所述机柜箱体内设置有电源装置、主机、蓝牙模块，所述电源装置用以为所述控制机柜内各装置供电；所述主机用以接收数据，分析处理数据，记录各部分的状态，储存数据，所述主机与DSA的控制主机通信连接；所述蓝牙模块与所述控制手环中的所述无线通讯模块相互匹配，用以和所述控制手环之间进行无线通讯，并将数据传输给所述主机；所述机柜箱体外表面上安装有用以人机交互的触摸屏，所述触摸屏用以显示当前测量和计算的结果、显示当前状态的状态数据以及设定系统参数；A control cabinet, the control cabinet includes a cabinet box, the cabinet box is provided with a power supply device, a host, and a Bluetooth module, the power supply device is used to supply power to each device in the control cabinet; the host is used to receive data, Analyze and process data, record the status of each part, store data, and the host is connected to the control host of DSA; the Bluetooth module and the wireless communication module in the control bracelet are matched with each other to communicate with the control Wireless communication is performed between the bracelets, and data is transmitted to the host; a touch screen for human-computer interaction is installed on the outer surface of the cabinet box, and the touch screen is used to display the current measurement and calculation results, and display the current state. status data and set system parameters;

脚踏板，所述脚踏板放置在导管室内导管床下面的地面上，用以辅助控制，其包括底板，所述底板的上表面左右并排安装有第一踏板、第二踏板，所述底板的侧面安装有连接板，所述第一踏板、所述第二踏板分别与所述连接板电连接，所述连接板又通过线缆与所述控制机柜电连接。A foot pedal, which is placed on the ground below the catheter bed in the catheter chamber for auxiliary control, and includes a bottom plate, and the upper surface of the bottom plate is provided with a first pedal and a second pedal side by side. A connection board is installed on the side of the panel, the first pedal and the second pedal are respectively electrically connected to the connection board, and the connection board is in turn electrically connected to the control cabinet through cables.

本发明用于介入手术中，是一种佩戴手环来控制DSA运动的装置。医生可以通过手部的动作，配合语音或者脚踏来控制DSA各个运动轴调试转动实现调整DSA位姿，使得医生能更方便的操作DSA运动，实现医生不需要移动，也不需要观看标识或熟悉其他品牌控制布局，就能轻松控制DSA运动，提高用户体验感，进而提高手术效率。The invention is used in interventional surgery, and is a device for wearing a wristband to control DSA movement. Doctors can control DSA motion axis debugging and rotation through hand movements, voice or foot pedal to adjust DSA posture, so that doctors can operate DSA movements more conveniently, so that doctors do not need to move, and do not need to watch signs or familiarize themselves with it. If other brands control the layout, you can easily control the DSA movement, improve the user experience, and then improve the efficiency of surgery.

优选地，该手环式DSA控制装置还包括悬吊屏幕，所述悬吊屏幕分别与所述主机、DSA的控制主机通信连接，用以在DSA被控制时，显示当前针对DSA的指令状态。Preferably, the wristband-type DSA control device further includes a hanging screen, which is respectively connected to the host and the control host of the DSA in communication, so as to display the current command state for the DSA when the DSA is controlled.

优选地，所述手环带采用软硅胶材料制成。Preferably, the bracelet band is made of soft silicone material.

优选地，所述机柜箱体的底面四周各自安装有一万向轮。Preferably, a universal wheel is installed around the bottom surface of the cabinet box.

优选地，所述第一踏板、所述第二踏板呈凸起状，且设计为不同形状。Preferably, the first pedal and the second pedal are convex and designed in different shapes.

优选地，所述第一踏板为凸起的圆形踏板，用以进行功能选择；所述第二踏板为凸起的方形踏板，用以进行命令的确认。Preferably, the first pedal is a raised circular pedal for function selection; the second pedal is a raised square pedal for command confirmation.

优选地，所述控制机柜放置于导管室的角落里。Preferably, the control cabinet is placed in the corner of the catheter room.

相较于现有技术，本发明一种手环式DSA控制装置，具有以下有益效果：Compared with the prior art, a wristband DSA control device of the present invention has the following beneficial effects:

1.本发明装置通过主从控制的方式，医生通过佩戴手环后手部移动，再配合脚踏或语音可以实现对DSA的所有控制动作，医生无需移动，提高了手术效率。1. The device of the present invention adopts the master-slave control method. The doctor moves his hand after wearing the wristband, and then cooperates with the foot pedal or voice to realize all control actions of the DSA, and the doctor does not need to move, which improves the operation efficiency.

2.本发明装置，医生可以自定义操作方式，使得DSA的操作更加灵活，增强了用户的体验感和舒适度。2. With the device of the present invention, the doctor can customize the operation mode, which makes the operation of the DSA more flexible and enhances the user's sense of experience and comfort.

3.本发明装置，医生无需观看按键标识、无需适应不同品牌的控制盒结构和功能，提高了手术效率。3. With the device of the present invention, the doctor does not need to watch the button logos, and does not need to adapt to the structure and function of the control box of different brands, which improves the operation efficiency.

4.本发明装置，整体结构简单，稳定性好，采用模块化的方式，便于组装和调试。手环体积小，佩戴方便，可重复利用。4. The device of the present invention has a simple overall structure, good stability, and adopts a modularized manner, which is convenient for assembly and debugging. The bracelet is small in size, easy to wear and reusable.

5.本发明装置，适配多种操作模式，医生可以根据喜好进行自行设置，机器可以记忆和学习不同医生的不同动作，实用性高。5. The device of the present invention is suitable for a variety of operation modes, the doctor can set it according to his preference, the machine can memorize and learn the different actions of different doctors, and has high practicability.

附图说明Description of drawings

为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图做简单的介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员而言，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only It is an embodiment of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to the provided drawings without creative efforts.

图1为控制手环的结构示意图；Fig. 1 is the structural schematic diagram of control bracelet;

图2为控制机柜的结构示意图；Figure 2 is a schematic structural diagram of a control cabinet;

图3为脚踏板的结构示意图；Fig. 3 is the structural representation of foot pedal;

图4为DSA的结构示意图；Fig. 4 is the structural representation of DSA;

附图的标号分别表示为：The reference numbers of the accompanying drawings are respectively:

1-控制手环，2-手环带，3-微型锂电池，4-微型电路板，5-加速度传感器，6-陀螺仪，7-控制机柜，8-机柜箱体，9-触摸屏，10-万向轮，11-脚踏板，12-底板，13-连接板，14-圆形踏板，15-方形踏板。1-Control bracelet, 2-Bracelet strap, 3-Micro lithium battery, 4-Micro circuit board, 5-Acceleration sensor, 6-Gyroscope, 7-Control cabinet, 8-Cabinet box, 9-Touch screen, 10 - Universal wheel, 11- foot pedal, 12- bottom plate, 13- connecting plate, 14- round pedal, 15- square pedal.

具体实施方式Detailed ways

下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.

在本发明的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", The orientation or positional relationship indicated by "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the indicated device or Elements must have a particular orientation, be constructed and operate in a particular orientation and are therefore not to be construed as limitations of the invention.

此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first", "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

实施例：Example:

本发明一种手环式DSA控制装置，主要分为三部分：控制手环1、控制机柜7以及脚踏板11。手术时医生在导管室内通过控制手环1来实现控制DSA的运动。医生手术前需佩戴手环，手环在无菌手术服内部。A wristband-type DSA control device of the present invention is mainly divided into three parts: acontrol wristband 1 , a control cabinet 7 and afoot pedal 11 . During the operation, the doctor controls the movement of the DSA by controlling thewristband 1 in the catheter room. Doctors need to wear a wristband before surgery, and the wristband is inside the sterile surgical gown.

如图1所示，控制手环1是让医生进行控制DSA的操作装置，其整体装置为一个像手表一样的装置，佩戴在医生的手腕上使用。As shown in FIG. 1 , thecontrol bracelet 1 is an operating device for doctors to control the DSA. The overall device is a watch-like device, which is worn on the doctor's wrist.

具体的，控制手环1包括与人体手腕大小相对的手环带2，手环带2为软硅胶加工，有较好的弹性，可以较容易的套在医生的手腕上。手环带2内包裹有微型锂电池3、微型电路板4、加速度传感器5、陀螺仪6，保证其不至掉出来。Specifically, thecontrol wristband 1 includes awristband 2 corresponding to the size of the human wrist. Thewristband 2 is made of soft silicone, has good elasticity, and can be easily fitted on the doctor's wrist. Thewristband strap 2 is wrapped with aminiature lithium battery 3, aminiature circuit board 4, anacceleration sensor 5, and agyroscope 6 to ensure that it does not fall out.

微型锂电池3用以为控制手环1内的各部件提供5v的电源，在电池电量不足时，手环中也会有相应的报警装置给用户发出滴滴响声来提示。微型锂电池3可以进行充电，也可以进行更换。Theminiature lithium battery 3 is used to provide 5v power supply to control the various components in thebracelet 1. When the battery power is insufficient, there will also be a corresponding alarm device in the bracelet to alert the user with a beeping sound. Themicro lithium battery 3 can be charged or replaced.

微型电路板4用于处理数据、无线收发、语音识别等，其上集成有用以分析和处理传输的数据的处理器、用以识别医生语音指令的语音模块、用以发送和接收消息的无线通讯模块。Themicro circuit board 4 is used for data processing, wireless transmission and reception, speech recognition, etc., and is integrated with a processor for analyzing and processing the transmitted data, a voice module for recognizing the doctor's voice commands, and wireless communication for sending and receiving messages. module.

具体的，语音模块可以识别医生说的话，医生可以对着控制手环1进行说话，语音模块内也会存储一些特定的指令语句，如果医生说出了对应相同的话，就可以得到医生的指令。比如，医生说，C臂机架，系统就会得到医生要控制C臂机架运动的指令，选定C臂机架的运动轴等待被移动。Specifically, the voice module can recognize what the doctor said, the doctor can speak to thecontrol bracelet 1, and some specific command sentences are also stored in the voice module. If the doctor speaks the same words, the doctor's instructions can be obtained. For example, if the doctor says, C-arm rack, the system will get an instruction from the doctor to control the movement of the C-arm rack, and the motion axis of the C-arm rack is selected to be moved.

无线通讯模块中，采用了蓝牙的无线通讯模式，控制手环1和控制机柜7中的蓝牙模块可以进行相互匹配，匹配完成后，二者之间就可以相互发送和接受消息，蓝牙通讯距离15m，可以覆盖手术室的范围。也就是说，控制手环1可以和控制机柜7之间通讯，医生可以用语音来唤醒控制手环1，用语音来发送一些指令等操作。In the wireless communication module, the wireless communication mode of Bluetooth is adopted. Thecontrol bracelet 1 and the Bluetooth module in the control cabinet 7 can be matched with each other. After the matching is completed, the two can send and receive messages with each other. The Bluetooth communication distance is 15m. , can cover the scope of the operating room. That is to say, thecontrol bracelet 1 can communicate with the control cabinet 7, and the doctor can use the voice to wake up thecontrol bracelet 1, and use the voice to send some commands and other operations.

加速度传感器5用以检测控制手环1的运动变化，并将检测的数据传输给微型电路板4上的处理器。Theacceleration sensor 5 is used to detect the movement change of thecontrol bracelet 1 and transmit the detected data to the processor on themicro circuit board 4 .

具体的，加速度传感器5可以感受到控制手环1不同维度的速度变化，简单说就是当医生的手臂发生移动后，控制手环1就能感知到有变化。加速度传感器5会把检测的数据传递给微型电路板4上的处理器，然后通过无线通讯模块发送给控制机柜7的主机上，主机可以对数据进行进一步的分析计算和对比，并结合DSA的状态，决定给DSA发送什么指令。Specifically, theacceleration sensor 5 can sense the speed change in different dimensions of thecontrol bracelet 1. Simply put, when the doctor's arm moves, thecontrol bracelet 1 can sense the change. Theacceleration sensor 5 will transmit the detected data to the processor on themicro circuit board 4, and then send it to the host of the control cabinet 7 through the wireless communication module. The host can further analyze, calculate and compare the data, and combine the state of the DSA , which decides what command to send to the DSA.

陀螺仪6用以检测控制手环1的旋转角度，并将检测的数据传输给微型电路板4上的处理器。Thegyroscope 6 is used to detect the rotation angle of thecontrol bracelet 1 and transmit the detected data to the processor on themicro circuit board 4 .

具体的，当手臂进行旋转后，陀螺仪6就能感知到有变化，然后把检测的数据传递给微型电路板4上的处理器，然后通过无线通讯模块发送给控制机柜7的主机上，主机可以对数据进行进一步的分析计算和对比，并结合DSA的状态，决定给DSA发送什么指令。Specifically, when the arm rotates, thegyroscope 6 can sense the change, and then transmit the detected data to the processor on themicro circuit board 4, and then send it to the host of the control cabinet 7 through the wireless communication module. The data can be further analyzed, calculated and compared, and combined with the state of the DSA, it is possible to decide what command to send to the DSA.

如图2所示，控制机柜7用于数据收发、分析计算、信号转化、系统设置、信息反馈等，其放置在导管室的角落里，可以和控制手环1进行无线通讯，同时也可以和DSA的控制主机进行实时通讯，能够把控制手环1发出的指令在经过转换后，传递给DSA的控制主机，进而变为DSA的运动指令。As shown in Figure 2, the control cabinet 7 is used for data transmission and reception, analysis and calculation, signal conversion, system setting, information feedback, etc. It is placed in the corner of the catheterization room and can communicate wirelessly with thecontrol bracelet 1, and can also communicate with thecontrol bracelet 1. The control host of the DSA communicates in real time, which can convert the commands sent by thecontrol bracelet 1 to the control host of the DSA, and then turn them into motion commands of the DSA.

具体的，控制机柜7包括机柜箱体8，机柜箱体8内设置有电源装置、主机、蓝牙模块，电源装置用以为控制机柜7内各装置提供稳定的电源；主机用以接收蓝牙模块发送的数据，分析处理数据，记录各部分的状态，储存数据等，是整个系统的核心部分，主机还与DSA的控制主机有数据线连接，二者之间可以通讯；蓝牙模块与控制手环1中的无线通讯模块相互匹配，用以和控制手环1之间进行无线通讯，并将数据传输给主机，无线通讯的范围为15米，完全能满足手术室内的需求。机柜箱体8外表面上还安装有用以人机交互的触摸屏9，触摸屏9用以显示当前测量和计算的结果、显示当前状态的状态数据，以及具有设定系统参数等功能。Specifically, the control cabinet 7 includes acabinet box 8, and thecabinet box 8 is provided with a power supply device, a host, and a Bluetooth module. The power supply device is used to provide stable power for each device in the control cabinet 7; the host is used to receive the bluetooth module. Data, analyzing and processing data, recording the status of each part, storing data, etc. are the core parts of the entire system. The host is also connected with the DSA control host by a data cable, and the two can communicate with each other; the Bluetooth module and thecontrol bracelet 1 The wireless communication modules are matched with each other to carry out wireless communication with thecontrol bracelet 1 and transmit data to the host. The wireless communication range is 15 meters, which can fully meet the needs of the operating room. Atouch screen 9 for human-computer interaction is also installed on the outer surface of thecabinet box 8. Thetouch screen 9 is used to display the current measurement and calculation results, display the status data of the current state, and have functions such as setting system parameters.

进一步的，机柜箱体8的底面四周各自安装有一万向轮10，用于方便装置移动。Further, auniversal wheel 10 is installed around the bottom surface of thecabinet box 8 to facilitate the movement of the device.

如图3所示，脚踏板11放置在导管室内导管床下面的地面上，用以辅助医生向控制机柜7发送一些指令，其包括放置在导管室内导管床下面的地面上的底板12，底板12的上表面左右并排安装有第一踏板、第二踏板，底板12的侧面安装有连接板13，第一踏板、第二踏板分别与连接板13电连接，连接板13又通过背后方线缆与控制机柜7电连接。医生可以选择用脚踏板11配合控制手环1进行操作，使得操作更加灵活。As shown in FIG. 3, thefoot pedal 11 is placed on the ground below the catheter bed in the catheter room to assist the doctor to send some instructions to the control cabinet 7, which includes abottom plate 12 placed on the ground below the catheter bed in the catheter room. A first pedal and a second pedal are installed side by side on the upper surface of thebottom plate 12, a connectingplate 13 is installed on the side of thebottom plate 12, the first pedal and the second pedal are respectively electrically connected with the connectingplate 13, and the connectingplate 13 is connected through the rear cable. It is electrically connected to the control cabinet 7 . The doctor can choose to use thefoot pedal 11 to cooperate with thecontrol bracelet 1 to operate, which makes the operation more flexible.

第一踏板、第二踏板呈凸起状，且设计为不同形状。具体的，第一踏板为凸起的圆形踏板14，安装在底板12左侧，用以进行功能选择；第二踏板为凸起的方形踏板15，安装在底板12右侧，用以进行命令的确认。因为两个踏板有着明显的区别，所以医生在使用中可以无须观看脚下便能完成踩踏。The first pedal and the second pedal are convex and designed in different shapes. Specifically, the first pedal is a raisedcircular pedal 14, which is installed on the left side of thebase plate 12 for function selection; the second pedal is a raisedsquare pedal 15, which is installed on the right side of thebase plate 12 for commanding 's confirmation. Because the two pedals are clearly different, the doctor can complete the pedaling without looking under the feet.

需要说明的是，脚踏板11是配合控制手环1操作的选择之一，医生可以根据个人喜好进行选择使用。It should be noted that thefoot pedal 11 is one of the options to cooperate with the operation of thecontrol bracelet 1, and the doctor can choose and use it according to personal preference.

在进一步的具体实施例中，本发明手环式DSA控制装置还包括悬吊屏幕，悬吊屏幕分别与主机、DSA的控制主机通信连接，用以在DSA被控制时，显示当前针对DSA的指令状态。In a further specific embodiment, the wristband DSA control device of the present invention further includes a suspension screen, and the suspension screen is respectively connected to the host computer and the control host of the DSA to display the current instruction for the DSA when the DSA is controlled. state.

也就是说，当DSA在被控制时，可以让悬吊屏幕上显示当前选中要移动的DSA的部位，显示当前的移动动作，运行状态等信息，来帮助医生更好的实现用手环进行控制。比如，医生说，C臂机架，系统就会经语音模块得到医生要控制C臂机架运动的指令，选定C臂机架的运动轴等待被移动，此时悬吊屏幕上也会出现要移动的装置为C臂机架的字幕，使得医生更加明确要进行的动作。That is to say, when the DSA is being controlled, the part of the DSA that is currently selected to be moved can be displayed on the suspension screen, and the current moving action, running status and other information can be displayed to help the doctor better realize the control by the wristband. . For example, if the doctor says, C-arm frame, the system will get the doctor's instruction to control the movement of the C-arm frame through the voice module, and the motion axis of the selected C-arm frame is waiting to be moved. At this time, the suspension screen will also appear. The device to be moved is the subtitle of the C-arm stand, which makes the doctor more clear about the action to be performed.

在使用本发明装置工作前，医生需要先定义自己想要的操作方式。系统提供了多种方式来实现对DSA的运动控制，机器可以灵活的适应用户喜好的操作方式，最大程度的满足了用户操作的舒适度。控制手环1的动作有多种多样，医生可以自行定义，并训练控制手环1适应自己喜欢的方式进行控制指令的发送。比如，可以旋转手腕，正向旋转，C臂向左转动，反向旋转C臂向右转动等等。除了手环部分，系统还提供了语音指令和脚踏指令，都可以来辅助完成对DSA的操作控制。Before using the device of the present invention to work, the doctor needs to define the operation mode he wants. The system provides a variety of ways to realize the motion control of the DSA, the machine can flexibly adapt to the user's preferred operation mode, and satisfies the user's operating comfort to the greatest extent. There are various actions to control thewristband 1, and the doctor can define it by himself, and train thecontrol wristband 1 to send control commands in the way he likes. For example, you can rotate the wrist, rotate forward, rotate the C-arm to the left, rotate the C-arm to the right in the reverse direction, and so on. In addition to the bracelet part, the system also provides voice commands and foot pedal commands, both of which can be used to assist in the operation and control of the DSA.

下面举一个简单的例子来说明如何控制DSA，当然也不局限于这种方式。A simple example is given below to illustrate how to control the DSA, but of course it is not limited to this way.

医生在左手佩戴好手环后，穿好手术服站在导管床旁边进行手术时，此时，如果想控制C臂旋转一个角度，医生可以用脚踩圆形踏板14，选定到C臂转动，悬吊屏幕上出现C臂转动字样后，用脚踩方形踏板15，确认后，移动左臂，C臂开始转动，到位后，医生移动左臂退回原位；然后完成移动，和控制手环1说“完成”；系统关闭DSA移动，手臂移动不再影响DSA移动。After the doctor wears the wristband on the left hand and puts on the surgical gown and stands beside the catheter bed for surgery, at this time, if he wants to control the rotation of the C-arm by an angle, the doctor can step on thecircular pedal 14 with his feet and select the rotation of the C-arm. After the word C-arm rotation appears on the suspension screen, step on thesquare pedal 15 with your feet. After confirming, move the left arm, the C-arm starts to rotate, and when it is in place, the doctor moves the left arm back to its original position; Say "done"; the system turns off DSA movement and arm movement no longer affects DSA movement.

当然，医生也可以全程借助控制手环1进行语音控制，完成DSA移动，无需脚踏板11的辅助，控制形式多样。Of course, the doctor can also use thecontrol bracelet 1 to perform voice control throughout the process to complete the DSA movement without the assistance of thefoot pedal 11, and the control forms are various.

本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的装置而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant part can be referred to the description of the method.

对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。The above description of the disclosed embodiments enables any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (7)

Translated fromChinese

1.一种手环式DSA控制装置，其特征在于，包括：1. a wristband type DSA control device, is characterized in that, comprises:控制手环，所述控制手环包括与人体手腕大小相对的手环带，所述手环带内包裹有微型锂电池、微型电路板、加速度传感器、陀螺仪，所述微型锂电池用以为所述控制手环内各部件供电；所述微型电路板上集成有用以分析和处理传输的数据的处理器、用以识别医生语音指令的语音模块、用以发送和接收消息的无线通讯模块；所述加速度传感器用以检测所述控制手环的运动变化，并将检测的数据传输给所述微型电路板上的所述处理器；所述陀螺仪用以检测所述控制手环的旋转角度，并将检测的数据传输给所述微型电路板上的所述处理器；Control wristband, the control wristband includes a wristband with the size of the human wrist, and the wristband is wrapped with a miniature lithium battery, a miniature circuit board, an acceleration sensor, and a gyroscope. The miniature lithium battery is used for Each component in the control bracelet is powered; the micro-circuit board is integrated with a processor for analyzing and processing the transmitted data, a voice module for recognizing the doctor's voice commands, and a wireless communication module for sending and receiving messages; The acceleration sensor is used to detect the movement change of the control bracelet, and the detected data is transmitted to the processor on the micro circuit board; the gyroscope is used to detect the rotation angle of the control bracelet, and transmit the detected data to the processor on the micro circuit board;控制机柜，所述控制机柜包括机柜箱体，所述机柜箱体内设置有电源装置、主机、蓝牙模块，所述电源装置用以为所述控制机柜内各装置供电；所述主机用以接收数据，分析处理数据，记录各部分的状态，储存数据，所述主机与DSA的控制主机通信连接；所述蓝牙模块与所述控制手环中的所述无线通讯模块相互匹配，用以和所述控制手环之间进行无线通讯，并将数据传输给所述主机；所述机柜箱体外表面上安装有用以人机交互的触摸屏，所述触摸屏用以显示当前测量和计算的结果、显示当前状态的状态数据以及设定系统参数；A control cabinet, the control cabinet includes a cabinet box, the cabinet box is provided with a power supply device, a host, and a Bluetooth module, the power supply device is used to supply power to each device in the control cabinet; the host is used to receive data, Analyze and process data, record the status of each part, store data, and the host is connected to the control host of DSA; the Bluetooth module and the wireless communication module in the control bracelet are matched with each other to communicate with the control Wireless communication is performed between the bracelets, and data is transmitted to the host; a touch screen for human-computer interaction is installed on the outer surface of the cabinet box, and the touch screen is used to display the current measurement and calculation results, and display the current state. status data and set system parameters;脚踏板，所述脚踏板放置在导管室内导管床下面的地面上，用以辅助控制，其包括底板，所述底板的上表面左右并排安装有第一踏板、第二踏板，所述底板的侧面安装有连接板，所述第一踏板、所述第二踏板分别与所述连接板电连接，所述连接板又通过线缆与所述控制机柜电连接。A foot pedal, which is placed on the ground below the catheter bed in the catheter chamber for auxiliary control, and includes a bottom plate, and the upper surface of the bottom plate is provided with a first pedal and a second pedal side by side. A connection board is installed on the side of the panel, the first pedal and the second pedal are respectively electrically connected to the connection board, and the connection board is in turn electrically connected to the control cabinet through cables.2.根据权利要求1所述的一种手环式DSA控制装置，其特征在于，还包括悬吊屏幕，所述悬吊屏幕分别与所述主机、DSA的控制主机通信连接，用以在DSA被控制时，显示当前针对DSA的指令状态。2. a kind of wristband type DSA control device according to claim 1, is characterized in that, also comprises hanging screen, described hanging screen is respectively connected with the control host computer of described host computer, DSA, in order to be in DSA When controlled, the current command status for DSA is displayed.3.根据权利要求1所述的一种手环式DSA控制装置，其特征在于，所述手环带采用软硅胶材料制成。3 . The wristband-type DSA control device according to claim 1 , wherein the wristband is made of soft silicone material. 4 .4.根据权利要求1所述的一种手环式DSA控制装置，其特征在于，所述机柜箱体的底面四周各自安装有一万向轮。4 . The wristband-type DSA control device according to claim 1 , wherein a universal wheel is installed around the bottom surface of the cabinet box. 5 .5.根据权利要求1所述的一种手环式DSA控制装置，其特征在于，所述第一踏板、所述第二踏板呈凸起状，且设计为不同形状。5 . The wristband DSA control device according to claim 1 , wherein the first pedal and the second pedal are convex and designed in different shapes. 6 .6.根据权利要求5所述的一种手环式DSA控制装置，其特征在于，所述第一踏板为凸起的圆形踏板，用以进行功能选择；所述第二踏板为凸起的方形踏板，用以进行命令的确认。6. A wristband-type DSA control device according to claim 5, wherein the first pedal is a raised circular pedal for function selection; the second pedal is a raised Square pedal for confirmation of commands.7.根据权利要求1所述的一种手环式DSA控制装置，其特征在于，所述控制机柜放置于导管室的角落里。7 . The wristband DSA control device according to claim 1 , wherein the control cabinet is placed in a corner of the catheterization room. 8 .

Images