CN103976766B - A kind of principal and subordinate's interventional surgery aid system - Google Patents
A kind of principal and subordinate's interventional surgery aid system Download PDFInfo
- Publication number
- CN103976766B CN103976766B CN201410209032.2A CN201410209032A CN103976766B CN 103976766 B CN103976766 B CN 103976766B CN 201410209032 A CN201410209032 A CN 201410209032A CN 103976766 B CN103976766 B CN 103976766B
- Authority
- CN
- China
- Prior art keywords
- master
- unit
- fixture
- installing plate
- connecting axle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001356 surgical procedure Methods 0.000 title claims abstract description 41
- 238000001514 detection method Methods 0.000 claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims description 32
- 230000008878 coupling Effects 0.000 claims description 27
- 238000010168 coupling process Methods 0.000 claims description 27
- 238000005859 coupling reaction Methods 0.000 claims description 27
- 229920001971 elastomer Polymers 0.000 claims description 24
- 239000000806 elastomer Substances 0.000 claims description 24
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 22
- 229910052802 copper Inorganic materials 0.000 claims description 22
- 239000010949 copper Substances 0.000 claims description 22
- 230000001360 synchronised effect Effects 0.000 claims description 22
- 230000006835 compression Effects 0.000 claims description 19
- 238000007906 compression Methods 0.000 claims description 19
- 239000004020 conductor Substances 0.000 claims description 18
- 230000033001 locomotion Effects 0.000 claims description 17
- 239000007788 liquid Substances 0.000 claims description 13
- 229920002635 polyurethane Polymers 0.000 claims description 12
- 239000004814 polyurethane Substances 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 12
- 238000003384 imaging method Methods 0.000 claims description 10
- 238000013016 damping Methods 0.000 claims description 8
- 239000013307 optical fiber Substances 0.000 claims description 5
- 229920006395 saturated elastomer Polymers 0.000 claims description 5
- 230000011664 signaling Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 13
- 230000009471 action Effects 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 5
- 230000002159 abnormal effect Effects 0.000 abstract description 3
- 210000004204 blood vessel Anatomy 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 238000013461 design Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 208000007536 Thrombosis Diseases 0.000 description 3
- 238000013152 interventional procedure Methods 0.000 description 3
- 208000024172 Cardiovascular disease Diseases 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 2
- 208000009443 Vascular Malformations Diseases 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 208000026106 cerebrovascular disease Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000002526 effect on cardiovascular system Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000007654 immersion Methods 0.000 description 2
- 239000012212 insulator Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000035479 physiological effects, processes and functions Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000010008 shearing Methods 0.000 description 2
- 238000002627 tracheal intubation Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 206010059245 Angiopathy Diseases 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 208000034189 Sclerosis Diseases 0.000 description 1
- 206010047139 Vasoconstriction Diseases 0.000 description 1
- 238000002583 angiography Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 206010055031 vascular neoplasm Diseases 0.000 description 1
- 230000025033 vasoconstriction Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Abstract
A kind of principal and subordinate's interventional surgery aid system, is characterized in that it forms by master part with from side part; Its method of work comprises signal detection, transmission, process, action; Superiority is: the safety that operation conduit institute transmission of information in real time, is accurately performed the operation can improve effectively; Abnormal operation and the system failure are detected in real time, effectively the safety of safeguards system; Propelling error is low; Duct wall contact force sensor can not only detect contact force size can also distinguish Impact direction.
Description
(1) technical field:
The invention belongs to technical field of medical equipment, especially a kind of principal and subordinate's interventional surgery aid system, be specially adapted to the excision of angiography, thrombosis or foreign body, treatment tumor or the aspect such as vascular malformation, thrombus.
(2) background technology:
Cardiovascular and cerebrovascular disease has become one of large Death causes of the mankind three, serious threat human health.The situation of angiopathy mainly contains vascular tumor, thrombosis blocking, vascular malformation, vasoconstriction, sclerosis of blood vessels etc.Intubation intervention operation is the most effective method of existing treatment cardiovascular and cerebrovascular disease, compared with performing the operation with " opening ", it has, and wound is little, safety, post-operative recovery soon, the advantage such as few intercurrent disease.But traditional blood vessel intervention operation also exists some problems, first intubation intervention operation is carried out under the guiding of medical imaging device, and doctor is subject to the radiation of X-ray for a long time, damages the health of doctor; Next is the high risk of operation, and requiring high to the operation skill of operation doctor, must be that high-caliber specialist could perform, and the difficulty therefore existed is that the time of the shortage of doctor and training of doctors is long, cost is high; Be that operating time is long again, doctor can be tired because of long-time operation, and the physiology of doctor trembles and all greatly can reduce the safety of operation with maloperation time tired.
Remote operating principal and subordinate interventional surgery aid system can effectively solve the problem, doctor can not be subject to operation in the environment of X-ray radiation a safety, the physiology of doctor trembles and maloperation can be filtered out by system, decreases the training time of doctor.In recent years, remote operating principal and subordinate interventional surgery aid system has become a study hotspot.Doctor's straightforward manipulation operating theater instruments in traditional operation, the contact information of apparatus and tissue directly can pass to doctor, and tactile data in Minimally Invasive Surgery in surgical is difficult to obtain due to the relation of operating theater instruments mostly.Therefore, in Minimally Invasive Surgery, doctor makes operation add danger owing to having lacked tactile data, may because of misoperation or the too quickly organ damaging patient.Tactile feedback has and relates in a lot of research, but the traditional direct mode by operating theater instruments of feedback system differs greatly, and the mode of operation of doctor and traditional mode are also different greatly, normally directly sending action instruction.Therefore, the Experiences and Skills that traditional intervene operation accumulates can not get good utilization, does not meet the requirement of ergonomics.In numerous research, the catheter manipulation robot device design of operative site is all based on the mode of friction roller, and this mode easily causes damage to conduit, and the conduit of damage also may damage blood vessel, and the promotion itself that simultaneously rubs exists propelling error.The collection feedback of conduit axial operation power has become an emphasis, but conduit rotation torque is often out in the cold.Meanwhile, in the detection that catheter proximal end is stressed, the detection of duct wall contact force almost do not related to or just detects whether have contact force and its size, and not distinguishing Impact direction.
(3) summary of the invention:
The object of the present invention is to provide a kind of principal and subordinate's interventional surgery aid system, it can overcome the deficiencies in the prior art, allow doctor as traditional operation, go operation, intervention action is completed according to the operation information of doctor, and real-time power visual information and visual information can be fed back to doctor intuitively, can improve safety and the operability of intervene operation, and structure is simple and easy to realize.
Technical scheme of the present invention: a kind of principal and subordinate's interventional surgery aid system, is characterized in that it forms by master part with from side part; Wherein, described major sides is divided and is comprised main operation device, master controller and master PC; Describedly comprise IP photographic head, from operator, from controller, from side PC and surgical catheters from side part; The input of described main operation device receives the operation signal of doctor and the feedback control signal of master controller, and its outfan is connected with the input of master controller provides force feedback to operator simultaneously; The input of described master controller receives the operation information of main operation device and the feedback information of master PC, its outfan is connected with the input of main operation device, export the feedback control signal passing to main operation device, the outfan of described master controller is also connected with master PC simultaneously, and the operation information of main operation device is uploaded to master PC; The input of described master PC gathers the image information of IP photographic head, simultaneously with master controller and from side PC in being bi-directionally connected, its outfan exports the visual feedback signal for operative doctor reference; The on-the-spot real time imaging of described IP camera collection, its outfan is connected with master PC; Described from side PC and master PC and from controller respectively in being bi-directionally connected; The described input from controller receives the actuating signal of surgical catheters; Described from controller also with from operator in being bi-directionally connected; The described outfan from operator is connected with surgical catheters; Simultaneously from operator to the operational motion of surgical catheters as on-the-spot real time imaging by IP photographic head record.
Described surgical catheters is the surgical catheters of force sensor; Described sensor is duct wall contact force sensor and catheter proximal end impact force sensor.
The outfan of described IP photographic head is connected with master PC by Internet; Describedly directly to be connected by network from side PC with master PC.
Described main operation device comprises axial force feedback damper elements, torque feedback output unit, main clamp unit, operation information collecting unit, master conduit, line slideway and height adjustable base; Wherein, described axial force feedback damper elements is arranged on height adjustable base, and its outfan exports as the antihunt signal to master conduit; Described torque feedback output unit is arranged on line slideway, and its outfan exports the torque signals to main clamp unit; The outfan of described main clamp unit is connected with master tubes fit; The input of described operation information collecting unit gathers rotation angle information and the axially-movable information of the output of torque feedback output unit outfan, and it exports and connects master controller; Described master conduit is through main clamp unit; Described line slideway is arranged on height adjustable base; Described height adjustable base is the mounting seat of main operation device; The outfan of described main clamp unit and the connection of master conduit are for clamp master conduit or to unclamp master conduit.
Described axial force feedback damper elements is made up of piston rod, antivibrator, antivibrator gripper shoe I and antivibrator gripper shoe II; Wherein, described antivibrator is arranged on antivibrator gripper shoe I and antivibrator gripper shoe II, and its outfan exports as the antihunt signal to piston rod; The input of described piston rod receives the antihunt signal of antivibrator, and its outfan exports the antihunt signal to master conduit; Described antivibrator gripper shoe I and antivibrator gripper shoe II is installed on height adjustable base.
Described antivibrator is made up of damping wall, piston, coil and polyurethane sponge; Wherein, described piston is connected with piston rod; Described coil is entangled on piston; Described polyurethane sponge covers and is tied with on the piston of coil.
Magnetic flow liquid is adsorbed to saturated in described polyurethane sponge.
Described torque feedback output unit is made up of moment output motor, moment output motor installing plate, master-side synchronization belt wheel I, master-side synchronization belt wheel II and master-side synchronization band; Wherein, described moment output motor is arranged on moment output motor installing plate, and its outfan output torque signal is connected with main clamp unit with master-side synchronization band by master-side synchronization belt wheel I, master-side synchronization belt wheel II; Described moment output motor installing plate is arranged on line slideway; Described master-side synchronization belt wheel I is arranged on the output shaft of moment output motor; Described master-side synchronization belt wheel II is connected with main clamp unit.
Described main clamp unit is made up of master electric fixture I, master electric fixture II, master fixture connecting axle, brush dish, axle gripper shoe and master rear end fixture installing plate; Wherein, described master electric fixture I is connected on master fixture connecting axle, the input of described master electric fixture I receives the torque signal that the torque feedback output unit that transmitted by master-side synchronization belt wheel I, the master-side synchronization belt wheel II of master fixture connecting axle and torque feedback output unit, master-side synchronization band is exported, its outfan clamping or unclamp master conduit; Described master electric fixture II is arranged on the fixture installing plate of master rear end, and its outfan clamps or unclamps master conduit; Described axle gripper shoe has perforation, and described master fixture connecting axle is that bearing is connected by boring a hole with axle gripper shoe; Described master fixture connecting axle is provided with master-side synchronization belt wheel II; The piston rod that the front end of described master fixture connecting axle and axial force are fed back in damper elements is threaded, and its rear end is connected with master electric fixture I; Described axle gripper shoe is arranged on the moment output motor installing plate of torque feedback output unit, supports master fixture connecting axle; Described master rear end fixture installing plate is arranged on height adjustable base; Described brush dish is arranged on master fixture connecting axle, prevents the lead-in wire kinking of master electric fixture I.
Described master electric fixture I is made up of jig plate I, spring, jig plate II, screw, clamp sheet, clamp motor installing plate, clamp motor, cam and pin; Wherein, described clamp motor is arranged on clamp motor installing plate; The outfan of described cam jockey motor, and be connected with clamp sheet; Described jig plate I is connected on master fixture connecting axle; Described jig plate II is with between jig plate I, be all connected by screw between jig plate II with clamp motor installing plate; Described clamp sheet is fixed by a pin between jig plate I and clamp motor installing plate; Described jig plate II has screwed hole, and described spring is through jig plate II upper screwed hole, and one end is pressed in clamp sheet, and one end connects with the screw being screwed into jig plate II upper screwed hole.
Described master electric fixture II has identical structure with master electric fixture I.
Described line slideway is made up of line slideway track and straight-line guide rail slide block; Wherein, described straight-line guide rail slide block is provided with the moment output motor installing plate of torque feedback output unit; Described straight-line guide rail slide block is arranged on line slideway track, and is that ball is connected between described straight-line guide rail slide block with line slideway track.
Described height adjustable base is made up of lifting platform I, lifting platform II and lifting platform installing plate; Wherein, described lifting platform installing plate is arranged on lifting platform I and lifting platform II; Described lifting platform installing plate is provided with antivibrator gripper shoe I and antivibrator gripper shoe II, the master rear end fixture installing plate of main clamp unit and the line slideway track of line slideway of axial force feedback damper elements.
Described lifting platform I is made up of lifting platform base plate, threaded rod, axle I, axle II, lifting platform top board and lifting platform support bar; Wherein, described lifting platform support bar lower end is arranged on lifting platform base plate, upper end supporting elevation platform top board; Described axle I is as the rotating shaft of lifting platform support bar; Described axle II is the rotating shaft of lifting platform support bar; Described threaded rod passes axle I and axle II, and contrary with the connecting thread direction of axle I and axle II.
Described lifting platform II has identical structure with lifting platform I.
Described operation information collecting unit is made up of linear displacement transducer, linear displacement transducer slide block and photoelectric encoder; Wherein, described linear displacement transducer is arranged on lifting platform installing plate, and its input receives the position signalling of linear displacement transducer slide block; Described linear displacement transducer slide block is arranged on the moment output motor installing plate of torque feedback output unit; Described photoelectric encoder is arranged on the moment output motor of torque feedback output unit, and its input receives the rotary angle signal of moment output motor.
Described master conduit is Wicresoft's intervene operation medical catheter.
The stroke of described antivibrator, line slideway and the range correspondent equal of linear displacement transducer, may be selected to be 0-400mm.
Described from operator comprise axial push unit, rotary unit, from catching unit, operating physical force detecting unit and tilt adjustable base; Wherein, described axial push unit is arranged on tilt adjustable base, it exports driven rotary unit, from catching unit and operating physical force detecting unit in axially-movable; Described rotary unit is arranged on the sliding end keyset of axial push unit, and its outfan connects from catching unit, makes to rotate from catching unit; Described surgical catheters is passed from catching unit; The described output from catching unit is for clamping or unclamp surgical catheters; The input of described operating physical force detecting unit detects from the propelling movement force signal of catching unit to surgical catheters and the torque signal of rotary unit; Described tilt adjustable base is the mounting seat from operator device.
Described axial push unit is made up of Linear slide platform, slide unit drive motors and sliding end keyset; Described rotary unit by rotary drive motor, rotary drive motor installing plate, shaft coupling I, shaft coupling II, Timing Belt wheel shaft, from side synchronous pulley I, from side synchronous pulley II with form from side Timing Belt; Wherein, the outfan connecting linear slide unit of described slide unit drive motors, for the movement of the sliding end of Linear slide platform provides driving force; Described Linear slide platform is arranged on tilt adjustable base; Described sliding end keyset is arranged on the sliding end of Linear slide platform; Described rotary drive motor is arranged on rotary drive motor installing plate, and its outfan passes through shaft coupling I, torque sensor, shaft coupling II, Timing Belt wheel shaft, from side synchronous pulley I, from side Timing Belt, connects from side electric fixture I from side synchronous pulley II and from side fixture connecting axle II; Described rotary drive motor installing plate is arranged on sliding end keyset.
The stroke of described Linear slide platform can advance according to one way and be sized to 0-400mm.
Described from catching unit by from side electric fixture I, from side electric fixture II, from side fixture connecting axle I, install riser and forming from rear flank end fixture installing plate from side fixture connecting axle II, front end; Wherein, described axial push unit is arranged on tilt adjustable base, its export driven rotary unit, from catching unit from side electric fixture I and operating physical force detecting unit in axially-movable; Describedly connect from side fixture connecting axle I with from side fixture connecting axle II respectively from electric fixture I two ends, side, it exports clamping or unclamps surgical catheters; Described connection with from side electric fixture I from fixture connecting axle I one end, side plays a supporting role, and one end is connected in bearing mode with operating physical force detecting unit; Described connection with from side electric fixture I from fixture connecting axle II one end, side plays a supporting role, and one end and front end are installed riser and be connected in bearing mode; Describedly be arranged on from the end fixture installing plate of rear flank from side electric fixture II, it exports clamping or unclamps surgical catheters; Described front end is installed riser and is arranged on the sliding end keyset of axial push unit; Describedly to be arranged on tilt adjustable base from rear flank end fixture installing plate.
Described operating physical force detecting unit is made up of torque sensor, pull pressure sensor, pull pressure sensor installing plate, tension and compression annular sleeve and disk; Wherein, described being connected in bearing mode with pull pressure sensor installing plate from one end of side fixture connecting axle I from catching unit; Described torque sensor is connected with the outfan of the rotary drive motor of rotary unit by the shaft coupling I of axial push unit, detects its output torque; Described pull pressure sensor is arranged on pull pressure sensor installing plate, the axial operation force signal that the input collection of described pull pressure sensor is come by tension and compression annular sleeve and disk transmission; Described pull pressure sensor installing plate is arranged on the sliding end keyset of axial push unit; Described tension and compression annular sleeve is arranged in the detection axis of pull pressure sensor; Described disk be arranged on from catching unit from the fixture connecting axle I of side, its edge is embedded in tension and compression annular sleeve; The described input from side electric fixture I passes through shaft coupling I, torque sensor, shaft coupling II, from side synchronous pulley I, from side Timing Belt, is connected with the outfan of rotary drive motor from side synchronous pulley II and from side fixture connecting axle II.
The range of described torque sensor is 0-0.2NM, and precision is ± 0.3%F.S.
The range of described pull pressure sensor is 0-5N, and precision is 0.025%R.O.
Described pull pressure sensor installing plate is U-shaped pull pressure sensor installing plate.
Described tilt adjustable base is made up of pan frontward end riser, pony sill, gripper shoe, riser connecting axle, sleeve pipe, telescopic joint axle, adjusting lever, connecting axle and holding screw; Described pan frontward end riser is arranged on pony sill; Described sleeve pipe is connected with pony sill, and can rotate around telescopic joint axle; Described adjusting lever is embedded in sleeve pipe according to the holding screw of adjustable embedded length; The gripper shoe of described tilt adjustable base is connected with pan frontward end riser respectively by riser connecting axle, is connected with adjusting lever by connecting axle, and riser connecting axle and connecting axle are rotatable connecting axles; The Linear slide platform of described axial push unit is installed on the supporting plate; Described installing on the supporting plate from rear flank end fixture installing plate from catching unit.
Described tilt adjustable base is manual adjustments frame; The riser connecting axle of described gripper shoe and pan frontward end riser can rotate; The telescopic joint axle of described joint sleeve and pony sill can rotate; The connecting axle of described gripper shoe and adjusting lever can rotate;
Described have identical structure from side electric fixture I with from side electric fixture II with master electric fixture I.
Described duct wall contact force sensor is made up of copper electrode, pressure sensitive elastomer, copper conductor, the sensor element be strobed, direct voltage source and constant resistance; Described pressure sensitive elastomer be arranged in 3 × 3 pressure sensitive elastomer sensor matrices structure; Described copper electrode has viscosity, and stick the sensor matrices both sides formed at pressure sensitive elastomer, side is as row electrode, and opposite side is as row electrode; Described copper conductor is connected to sensor matrices both sides by copper electrode, and side is as row contact conductor, and side is as row contact conductor; The described sensor element be strobed is the sensor matrices element that sensor matrices that pressure sensitive elastomer is arranged in 3 × 3 is connected in series in direct voltage source and constant resistance circuit after copper conductor is drawn through row gating and column selection is led to.
Described catheter proximal end impact force sensor is a kind of collision detection sensor based on optical fiber, and its output passes to from controller after demodulation.
A method of work for principal and subordinate's interventional surgery aid system, is characterized in that it comprises the following steps:
1. the proper height of adjustment operation device:
I, when carrying out operation technique, according to the requirement for height of different doctor to operator, first manual adjustments lifting platform I and lifting platform II obtains; Described lifting platform I, threaded rod has positive/negative thread, and axle I can be made during hand rotation threaded rod to draw close with axle II or be separated, thus regulates the distance between lifting platform base plate and lifting platform top board, plays the effect of lifting;
II, same, for different curers or operation intervention position, obtained any intervention angle of 0-45 ° by adjustable inclination adjustable base; The length that adjusting lever gos deep into sleeve pipe determines the size getting involved angle, when the length that adjusting lever gos deep into sleeve pipe reaches the intervention angle of doctor's expectation, is fixed by holding screw;
2. main operation device detects the operation information of doctor:
In interventional surgery process, doctor is according to the visual feedback on master PC and force feedback situation on hand, and straightforward manipulation is arranged on a true conduit on main operation device, and the operation information of doctor needs to detect and extract;
Master electric fixture I on main operation device and master electric fixture II alternation, when master electric fixture I clamps master conduit, master conduit and piston rod and the torque feedback output unit, the photoelectric encoder that are arranged on line slideway, linear displacement transducer slide block is fixed into an entirety, and operation master conduit can make this mass motion; Wherein, the opening angle of clamp sheet is decided by the anglec of rotation of clamp motor, and the anglec of rotation of different clamp motor removes by cam the opening angle controlling clamp sheet;
After master electric fixture I unclamps, when master electric fixture II clamps master conduit, because master electric fixture II is arranged on the master rear end fixture installing plate fixing with height adjustable base, therefore master conduit and height adjustable base keep motionless, piston rod is pulled to drive master electric fixture I, and the torque feedback output unit be arranged on line slideway, photoelectric encoder, linear displacement transducer slide block moves integrally to adjust piston does not affect master conduit position to the rear side of antivibrator, then master electric fixture I clamps, master electric fixture II unclamps, start the operation of a new journey,
When described master electric fixture I clamps master conduit, the motion that doctor operates master conduit has two degree of freedom, comprises axially and rotates:
I, collection for axially-movable information, be arranged on linear displacement transducer slide block on moment output motor installing plate along with master conduit synchronizing moving, the change that linear displacement transducer responds to linear displacement transducer slide position in real time can draw axial displacement and the speed of master conduit;
II, for rotation information, the output shaft rotating through master-side synchronization band and moment output motor of master conduit keeps synchronous, and the photoelectric encoder be therefore arranged on moment output motor can detect the rotation information of master conduit;
3. the transmission of operation information:
The operation information that main operation device detects uploads to master controller, uploads master PC after master controller processes, master PC with from the communication of side PC, this information is delivered to from side PC, will pass to it from controller again from side PC;
4. interventional procedure is performed from operator:
Described receive from controller the operation signal that main side passes over after, to from operator output function control signal; Alternately surgical catheters is clamped from side electric fixture I with from side electric fixture II from operator, corresponding with the master electric fixture I of master and master electric fixture II; When clamping surgical catheters from side electric fixture I, surgical catheters is in intervention duty; When clamping surgical catheters from side electric fixture II, surgical catheters keeps original state motionless, and slide unit drive motors drives Linear slide platform to make Linear slide platform sliding end move to the rear end of Linear slide platform;
That imitates doctor from the clamping of side electric fixture I grabs pipe action, and what doctor's hands was imitated in the propelling of Linear slide platform and the rotation of rotary drive motor send pipe, coil action; When surgical catheters is clamped from side electric fixture I, there are two degree of freedom from the operation of operator to surgical catheters, comprise rotation and axially-movable, be made up of following step:
I, rotary drive motor be rotated through shaft coupling I, torque sensor, shaft coupling II, Timing Belt wheel shaft, from side Timing Belt, from side fixture connecting axle II, finally be delivered to from side electric fixture I, thus drive the surgical catheters clamped from side electric fixture I to rotate together, realize the rotary motion of surgical catheters;
The rotation of II, slide unit drive motors makes Linear slide platform sliding end slide, thus the surgical catheters axially-movable that realization promotion clamps from side electric fixture I;
5. detect from the operating physical force of operator:
Described detection the operating physical force of surgical catheters from operator comprises the detection of axial operation power and the detection of rotation torque):
The detection of I, described axial operation power is completed by pull pressure sensor, and described tension and compression annular sleeve is when not having pressure by disk contact but not extruding, and disk does not affect tension and compression annular sleeve with the rotation of axle; When clamping surgical catheters from side electric fixture I and axially moving, surgical catheters can make axially producing micro-movement from side electric fixture I to the counteracting force from side electric fixture I, this micro-movement is delivered to pull pressure sensor by the combination of disk and tension and compression annular sleeve, and pull pressure sensor can detect the axial operation power to surgical catheters;
The detection of II, described rotation torque is completed by torque sensor, and described torque sensor is arranged between the outfan of rotary drive motor and Timing Belt wheel shaft; After torque sensor detects the output torque of rotary drive motor, real-time output torque deducts output torque during zero load, can obtain real-time moment of torsion during operation catheter manipulation;
6. the stressed detection of catheter proximal end:
Described from operator intra-operative procedures, the stressed of surgical catheters front end has front end crash power and sidewall contact power:
I, detection for sidewall contact power, adopt the catheter proximal end impact force sensor based on pressure sensitive elastomer; This pressure sensitive elastomer is insulator in its natural state, but when there being slight pressure, resistance is die-offed, and when pressure arrives 1.5N, along with the increase of pressure, its resistance no longer changes; Authority's blood vessel gets involved surgical experience, and to obtain the pressure that blood vessel can bear be 0.49N, therefore designed catheter proximal end impact force sensor.Detection demand can be met;
Row electrode and row electrode are guided to the input of two panels analog channel gating chip by sensor matrices that pressure sensitive elastomer is arranged in 3 × 3 respectively through copper conductor, analog channel gating chip output is drawn and is connected in series in the circuit of direct voltage source, constant resistance; To see off column selection messenger to successively analog channel gating chip from controller, the sensor element be strobed that synchronization is only in gating ranks infall is connected in series in circuit; Now, the sensor element be strobed is equivalent to a varistor, by detecting the partial pressure value of constant resistance, can obtain the pressure suffered by pressure sensitive elastomer element of current gating; Adopt the mode of similar cycle scanning to analog channel gating CE signal from controller, the partial pressure value Real-time Collection of constant resistance is delivered to from controller, judges that whether current gating element is stressed from controller by magnitude of voltage; This stressed size and positional information are all delivered to from controller;
II, detection for front end crash power, adopt a kind of collision detection sensor based on optical fiber, its output passes to from controller after demodulation;
7. the transmission of feedback information:
The described front end crash force information that is subject to the axial operation force information of surgical catheters and rotation torque information and surgical catheters front end from operator and sidewall contact force information all upload to from controller; From controller, these information are uploaded to from side PC, again through passing to master PC from side PC by communication network; Wherein from operator, through master PC, master controller is passed to the axial operation force information of surgical catheters and rotation torque information; The real time imaging of described IP camera collection directly passes to master PC by IP network;
8. the force feedback of main operation device:
Master controller controls main operation device realizable force feedback according to from the axial operation force information to surgical catheters of side be passed back and rotation torque information, wherein:
I, for axial operation force feedback, to be realized by damper structure application intellectual material magnetic flow liquid: damping wall and piston space have gap, and piston is tied with coil; Covering after polyurethane sponge immersion magnetic flow liquid is saturated is tied with on the piston of coil; To produce with the closed magnet circuit of piston, magnetic flow liquid, damping wall, magnetic flow liquid, piston when being electrified stream in coil, now promote piston movement, magnetic flow liquid then can produce shearing force, forms resistance to piston; Different magnetic field sizes produces different resistance, and the size in magnetic field can be obtained by the size of current in control coil, piston rod and master conduit are fixed together by master electric fixture I, this resistance is delivered to the feedback of formation axial force on hand of doctor by master conduit;
II, the feedback of moment of torsion, realized by moment output motor, torque feedback output unit is arranged on line slideway, the output of moment output motor is by master-side synchronization belt wheel I, master-side synchronization band, master-side synchronization belt wheel II, master fixture connecting axle is delivered to piston rod, piston rod moves together with master conduit, therefore output torque can be delivered on doctor's hands by the master conduit moved together with piston rod, the size of the output torque of moment output motor is determined by supply current size, and electric current is by from holding the torque information that feeds back and being connected intrinsic moment of torsion and deciding,
9. the visual feedback on master PC
Doctor, while thoughts and feelings is from force feedback on hand, also needs the safety operation of the stressed guarantee intervene operation knowing field condition and surgical catheters front end; Doctor obtains visual feedback by master PC:
The real time imaging that I, IP photographic head is sent back, the form with image window after revising shows doctor;
II, catheter proximal end sidewall stressing conditions detected by duct wall contact force sensor, indicate forced position with virtual display lamp matrix, carrys out stressed order of magnitude by the color of virtual display lamp;
III, the front end crash power detected by catheter proximal end impact force sensor, is presented to the size of doctor's impact force with the form of progress bar, mix real-time numerical value display under progress bar.
Superiority of the present invention is: 1, doctor's straightforward manipulation true conduit as in traditional operation, and design meets the requirement of ergonomics, can make full use of the operating experience skill obtained in traditional operation; 2, operate by doctor real-time, force feedback accurately that conduit transmits and allow doctor have to be in the action the sensation of operation, according to power, doctor feels that feedback and visual feedback perform decision-making of performing the operation, the safety of operation can improve effectively; 3, controller detects in real time to abnormal operation and the system failure, filters out abnormal operation, locked interventional procedure mechanism at once when finding the system failure, thus the safety of safeguards system effectively; 4, imitate grabbing of doctor from manipulator design and send mode, design meets bionic requirement, can effectively reduce propelling error simultaneously; Even if 5 in traditional blood vessel intervention operation, doctor is also very little by hands to the perception of catheter proximal end contact force, doctor operates completely by rule of thumb, in the design, add duct wall contact force sensor and front end crash force transducer, particularly duct wall contact force sensor in catheter proximal end and detecting sensor size can not only can also distinguish Impact direction.
(4) accompanying drawing illustrates:
Fig. 1 is the entire system schematic diagram of a kind of interventional surgery aid system involved in the present invention.
The main operation apparatus structured flowchart of Fig. 2 a kind of principal and subordinate's interventional surgery aid system involved by the present invention.
The main operation apparatus overall structure schematic diagram of Fig. 3 a kind of principal and subordinate's interventional surgery aid system involved by the present invention.
The axial force feedback damper structure schematic diagram of Fig. 4 a kind of main operation apparatus of principal and subordinate's interventional surgery aid system involved by the present invention.
Fig. 5 is a kind of main operation apparatus torque feedback output unit of principal and subordinate's interventional surgery aid system and the scheme of installation of line slideway 11 involved by the present invention.
Main operation apparatus master electric fixture I17 structural representation (wherein Fig. 6-a is exploded view, and Fig. 6-b is constitutional diagram) of Fig. 6 a kind of principal and subordinate's interventional surgery aid system involved by the present invention.
The main operation apparatus lifting platform I1 structural representation of Fig. 7 a kind of principal and subordinate's interventional surgery aid system involved by the present invention.
Fig. 8 involved by the present invention a kind of principal and subordinate's interventional surgery aid system from operator apparatus structure block diagram.
Fig. 9 involved by the present invention a kind of principal and subordinate's interventional surgery aid system from operator device overall structure schematic diagram.
The structural representation rotating realization and axial pipe operating physical force and the detection of conduit rotation torque from operator device conduit of Figure 10 a kind of principal and subordinate's interventional surgery aid system involved by the present invention.
Figure 11 involved by the present invention a kind of principal and subordinate's interventional surgery aid system from operator device tilt adjustable understructure schematic diagram.
Figure 12 is the detection arrays structural representation of the duct wall contact force sensor of a kind of interventional surgery aid system involved in the present invention.
Figure 13 is the Cleaning Principle schematic diagram of the duct wall contact force sensor of a kind of interventional surgery aid system involved in the present invention.
Wherein, 1 is lifting platform I, 1-1 is lifting platform base plate, 1-2 is threaded rod, 1-3 is axle I, 1-4 is axle II, 1-5 is lifting platform top board, 1-6 is lifting platform support bar, 2 is lifting platform installing plate, 3 is linear displacement transducer, 4 is linear displacement transducer slide block, 5 is lifting platform II, 6 is moment output motor installing plate, 7 is piston rod, 8 is antivibrator gripper shoe I, 9 is antivibrator, 9-1 is damping wall, 9-2 is piston, 9-3 is coil, 9-4 is polyurethane sponge, 10 is antivibrator gripper shoe II, 11 is line slideway, 11-1 is line slideway track, 11-2 is straight-line guide rail slide block, 12 is photoelectric encoder, 13 is moment output motor, 14 is master fixture connecting axle, 15 is master-side synchronization belt wheel I, 16 is master-side synchronization belt wheel II, 17 is master electric fixture I, 17-1 is jig plate I, 17-2 is spring, 17-3 is jig plate II, 17-4 is screw, 17-5 is clamp sheet, 17-6 is clamp motor installing plate, 17-7 is clamp motor, 17-8 is cam, 17-9 is pin, 18 is master conduit, 19 is master rear end fixture installing plate, 20 is master electric fixture II, 21 is brush dish, 22 is master-side synchronization band, 23 is axle gripper shoe.24 is pan frontward end riser, 25 is pony sill, 26 is sleeve pipe, 27 is riser connecting axle, 28 is adjusting lever, 29 is from side synchronous pulley I, 30 is Timing Belt wheel shaft, 31 is disk, 32 is pull pressure sensor installing plate, 33 is shaft coupling I, 34 is rotary drive motor installing plate, 35 is holding screw, 36 is connecting axle, 37 is slide unit drive motors, 38 is from rear flank end fixture installing plate, 39 is sliding end keyset, 40 is shaft coupling II, 41 for installing riser in front end, 42 is from side Timing Belt, 43 is from side electric fixture I, 44 is from side fixture connecting axle I, 45 is tension and compression annular sleeve, 46 is pull pressure sensor, 47 is torque sensor, 48 is rotary drive motor, 49 is surgical catheters, 50 is from side electric fixture II, 51 is Linear slide platform, 52 is gripper shoe, 53 is telescopic joint axle, 54 is from side fixture connecting axle II, 55 is from side synchronous pulley II, 56 is copper electrode, 57 is pressure sensitive elastomer, 58 is copper conductor, 59 sensor elements for being strobed, 60 is direct voltage source, 61 is constant resistance.
(5) detailed description of the invention:
Embodiment: a kind of principal and subordinate's interventional surgery aid system (see Fig. 1), is characterized in that it forms by master part with from side part; Wherein, described major sides is divided and is comprised main operation device, master controller and master PC; Describedly comprise IP photographic head, from operator, from controller, from side PC and surgical catheters 49 from side part; The input of described main operation device receives the operation signal of doctor and the feedback control signal of master controller, and its outfan is connected with the input of master controller provides force feedback to operator simultaneously; The input of described master controller receives the operation information of main operation device and the feedback information of master PC, its outfan is connected with the input of main operation device, export the feedback control signal passing to main operation device, the outfan of described master controller is also connected with master PC simultaneously, and the operation information of main operation device is uploaded to master PC; The input of described master PC gathers the image information of IP photographic head, simultaneously with master controller and from side PC in being bi-directionally connected, its outfan exports the visual feedback signal for operative doctor reference; The on-the-spot real time imaging of described IP camera collection, its outfan is connected with master PC; Described from side PC and master PC and from controller respectively in being bi-directionally connected; The described input from controller receives the actuating signal of surgical catheters 49; Described from controller also with from operator in being bi-directionally connected; The described outfan from operator is connected with surgical catheters 49; Simultaneously from operator to the operational motion of surgical catheters 49 as on-the-spot real time imaging by IP photographic head record.
Described surgical catheters 49 is surgical catheters 49 of force sensor; Described sensor is duct wall contact force sensor and catheter proximal end impact force sensor (see Fig. 1).
The outfan of described IP photographic head is connected with master PC by Internet; Describedly directly to be connected (see Fig. 1) by network from side PC with master PC.
Described main operation device (see Fig. 2, Fig. 3) comprises axial force feedback damper elements, torque feedback output unit, main clamp unit, operation information collecting unit, master conduit 18, line slideway 11 and height adjustable base; Wherein, described axial force feedback damper elements is arranged on height adjustable base, and its outfan exports as the antihunt signal to master conduit 18; Described torque feedback output unit is arranged on line slideway 11, and its outfan exports the torque signals to main clamp unit; Outfan and the master conduit 18 of described main clamp unit are connected; The input of described operation information collecting unit gathers rotation angle information and the axially-movable information of the output of torque feedback output unit outfan, and it exports and connects master controller; Described master conduit 18 is through main clamp unit; Described line slideway 11 is arranged on height adjustable base; Described height adjustable base is the mounting seat of main operation device; The outfan of described main clamp unit and the connection of master conduit 18 are for clamp master conduit 18 or to unclamp master conduit 18.
Described axial force feedback damper elements (see Fig. 3) is made up of piston rod 7, antivibrator 9, antivibrator gripper shoe I8 and antivibrator gripper shoe II10; Wherein, described antivibrator 9 is arranged on antivibrator gripper shoe I8 and antivibrator gripper shoe II10, and its outfan exports as the antihunt signal to piston rod 7; The input of described piston rod 7 receives the antihunt signal of antivibrator 9, and its outfan exports the antihunt signal to master conduit 18; Described antivibrator gripper shoe I8 and antivibrator gripper shoe II10 is installed on height adjustable base.
Described antivibrator 9 (see Fig. 4) is made up of damping wall 9-1, piston 9-2, coil 9-3 and polyurethane sponge 9-4; Wherein, described piston 9-2 is connected with piston rod 7; Described coil 9-3 is entangled on piston 9-2; Described polyurethane sponge 9-4 covers and is tied with on the piston 9-2 of coil 9-3.
Magnetic flow liquid is adsorbed to saturated in described polyurethane sponge 9-4.
Described torque feedback output unit (see Fig. 2, Fig. 3) is made up of moment output motor 13, moment output motor installing plate 6, master-side synchronization belt wheel I15, master-side synchronization belt wheel II16 and master-side synchronization band 22; Wherein, described moment output motor 13 is arranged on moment output motor installing plate 6, and its outfan output torque signal is connected with main clamp unit with master-side synchronization band 22 by master-side synchronization belt wheel I15, master-side synchronization belt wheel II16; Described moment output motor installing plate 6 is arranged on line slideway 11; Described master-side synchronization belt wheel I15 is arranged on the output shaft of moment output motor 13; Described master-side synchronization belt wheel II16 is connected with main clamp unit.
Described main clamp unit (see Fig. 2, Fig. 3) is made up of master electric fixture I17, master electric fixture II20, master fixture connecting axle 14, brush dish 21, axle gripper shoe 23 and master rear end fixture installing plate 19; Wherein, described master electric fixture I17 is connected on master fixture connecting axle 14, the input of described master electric fixture I17 receives the torque signal that the torque feedback output unit that transmitted by master-side synchronization belt wheel I15, the master-side synchronization belt wheel II16 of master fixture connecting axle 14 and torque feedback output unit, master-side synchronization band 22 is exported, its outfan clamping or unclamp master conduit 18; Described master electric fixture II20 is arranged on master rear end fixture installing plate 19, and its outfan clamps or unclamps master conduit 18; Described axle gripper shoe 23 has perforation, and described master fixture connecting axle 14 is connected in bearing with axle gripper shoe 23 by perforation; Described master fixture connecting axle 14 is provided with master-side synchronization belt wheel II16; The piston rod 7 that the front end of described master fixture connecting axle 14 and axial force are fed back in damper elements is threaded, and its rear end is connected with master electric fixture I17; Described axle gripper shoe 23 is arranged on the moment output motor installing plate 6 of torque feedback output unit, supports master fixture connecting axle 14; Described master rear end fixture installing plate 19 is arranged on height adjustable base; Described brush dish 21 is arranged on master fixture connecting axle 14, prevents the lead-in wire kinking of master electric fixture I17.
Described master electric fixture I17 (see Fig. 6-a, Fig. 6-b) is made up of jig plate I17-1, spring 17-2, jig plate II17-3, screw 17-4, clamp sheet 17-5, clamp motor installing plate 17-6, clamp motor 17-7, cam 17-8 and pin 17-9; Wherein, described clamp motor 17-7 is arranged on clamp motor installing plate 17-6; The outfan of described cam 17-8 jockey motor 17-7, and be connected with clamp sheet 17-5; Described jig plate I17-1 is connected on master fixture connecting axle 14; Described jig plate II17-3 is all connected by screw with between jig plate I17-1, between jig plate II17-3 with clamp motor installing plate 17-6; Described clamp sheet 17-5 is fixed between jig plate I17-1 and clamp motor installing plate 17-6 by pin 17-9; Described jig plate II17-3 has screwed hole, and described spring 17-2 is through jig plate II17-3 upper screwed hole, and one end is pressed on clamp sheet 17-5, and one end connects with the screw 17-4 being screwed into jig plate II17-3 upper screwed hole.
Described master electric fixture II20 has identical structure with master electric fixture I17.
Described line slideway 11 (see Fig. 5) is made up of line slideway track 11-1 and straight-line guide rail slide block 11-2; Wherein, described straight-line guide rail slide block 11-2 is provided with the moment output motor installing plate 6 of torque feedback output unit; Described straight-line guide rail slide block 11-2 is arranged on line slideway track 11-1, and is that ball is connected between described straight-line guide rail slide block 11-2 with line slideway track 11-1.
Described height adjustable base (see Fig. 2, Fig. 3) is made up of lifting platform I1, lifting platform II5 and lifting platform installing plate 2; Wherein, described lifting platform installing plate 2 is arranged on lifting platform I1 and lifting platform II5; Described lifting platform installing plate 2 is provided with antivibrator gripper shoe I8 and antivibrator gripper shoe II10, the master rear end fixture installing plate 19 of main clamp unit and the line slideway track 11-1 of line slideway 11 of axial force feedback damper elements.
Described lifting platform I1 (see Fig. 7) is made up of lifting platform base plate 1-1, threaded rod 1-2, axle I1-3, axle II1-4, lifting platform top board 1-5 and lifting platform support bar 1-6; Wherein, described lifting platform support bar 1-6 lower end is arranged on lifting platform base plate 1-1, upper end supporting elevation platform top board 1-5; Described axle I1-3 is as the rotating shaft of lifting platform support bar 1-6; Described axle II1-4 is the rotating shaft of lifting platform support bar 1-6; Described threaded rod 1-2 passes axle I1-3 and axle II1-4, and contrary with the connecting thread direction of axle I1-3 and axle II1-4.
Described lifting platform II5 has identical structure with lifting platform I1.
Described operation information collecting unit (see Fig. 2, Fig. 3) is made up of linear displacement transducer 3, linear displacement transducer slide block 4 and photoelectric encoder 12; Wherein, described linear displacement transducer 3 is arranged on lifting platform installing plate 2, and its input receives the position signalling of linear displacement transducer slide block 4; Described linear displacement transducer slide block 4 is arranged on the moment output motor installing plate 6 of torque feedback output unit; Described photoelectric encoder 12 is arranged on the moment output motor 13 of torque feedback output unit, and its input receives the rotary angle signal of moment output motor 13.
Described master conduit 18 is Wicresoft's intervene operation medical catheter.
The stroke of described antivibrator 9, line slideway 11 and the range correspondent equal of linear displacement transducer 3, may be selected to be 0-400mm, and the present embodiment is 200mm.
Described from operator (see Fig. 8, Fig. 9) comprise axial push unit, rotary unit, from catching unit, operating physical force detecting unit and tilt adjustable base; Wherein, described axial push unit is arranged on tilt adjustable base, it exports driven rotary unit, from catching unit and operating physical force detecting unit in axially-movable; Described rotary unit is arranged on the sliding end keyset 39 of axial push unit, and its outfan connects from catching unit, makes to rotate from catching unit; Described surgical catheters 49 is passed from catching unit; The described output from catching unit is for clamping or unclamp surgical catheters 49; The input of described operating physical force detecting unit detects from the propelling movement force signal of catching unit to surgical catheters 49 and the torque signal of rotary unit; Described tilt adjustable base is the mounting seat from operator device.
Described axial push unit (see Fig. 9) is made up of Linear slide platform 51, slide unit drive motors 37 and sliding end keyset 39; Described rotary unit (see Fig. 9, Figure 10) by rotary drive motor 48, rotary drive motor installing plate 34, shaft coupling I33, shaft coupling II40, Timing Belt wheel shaft 30, from side synchronous pulley I29, from side synchronous pulley II55 with form from side Timing Belt 42; Wherein, the outfan connecting linear slide unit 51 of described slide unit drive motors 37, for the movement of the sliding end of Linear slide platform 51 provides driving force; Described Linear slide platform 51 is arranged on tilt adjustable base; Described sliding end keyset 39 is arranged on the sliding end of Linear slide platform 51; Described rotary drive motor 48 is arranged on rotary drive motor installing plate 34, and its outfan passes through shaft coupling I33, torque sensor 47, shaft coupling II40, Timing Belt wheel shaft 30, from side synchronous pulley I29, from side Timing Belt 42, connects from side electric fixture I43 from side synchronous pulley II55 and from side fixture connecting axle II54; Described rotary drive motor installing plate 34 is arranged on sliding end keyset 39.
The stroke of described Linear slide platform 51 can advance according to one way and be sized to 0-400mm, and the effective travel of the present embodiment is 200mm.
Described from catching unit (see Fig. 8, Fig. 9, Figure 10) by from side electric fixture I43, from side electric fixture II50, from side fixture connecting axle I44, install riser 41 and forming from rear flank end fixture installing plate 38 from side fixture connecting axle II54, front end; Wherein, described axial push unit is arranged on tilt adjustable base, its export driven rotary unit, from catching unit from side electric fixture I43 and operating physical force detecting unit in axially-movable; Describedly connect from side fixture connecting axle I44 with from side fixture connecting axle II54 respectively from electric fixture I43 two ends, side, it exports clamping or unclamps surgical catheters 49; Described connection with from side electric fixture I43 from fixture connecting axle I44 one end, side plays a supporting role, and one end is connected in bearing mode with operating physical force detecting unit; Described connection with from side electric fixture I43 from fixture connecting axle II54 one end, side plays a supporting role, and one end and front end are installed riser 41 and be connected in bearing mode; Describedly be arranged on from rear flank end fixture installing plate 38 from side electric fixture II50, it exports clamping or unclamps surgical catheters 49; Described front end is installed riser 41 and is arranged on the sliding end keyset 39 of axial push unit; Describedly to be arranged on tilt adjustable base from rear flank end fixture installing plate 38.
Described operating physical force detecting unit (see Fig. 8, Fig. 9) is made up of torque sensor 47, pull pressure sensor 46, pull pressure sensor installing plate 32, tension and compression annular sleeve 45 and disk 31; Wherein, described being connected in bearing mode with pull pressure sensor installing plate 32 from one end of side fixture connecting axle I44 from catching unit; Described torque sensor 47 is connected with the outfan of the rotary drive motor 48 of rotary unit by the shaft coupling I33 of axial push unit, detects its output torque; Described pull pressure sensor 46 is arranged on pull pressure sensor installing plate 32, and the input collection of described pull pressure sensor 46 transmits next axial operation force signal by tension and compression annular sleeve 45 and disk 31; Described pull pressure sensor installing plate 32 is arranged on the sliding end keyset 39 of axial push unit; Described tension and compression annular sleeve 45 is arranged in the detection axis of pull pressure sensor 46; Described disk 31 be arranged on from catching unit from the fixture connecting axle I44 of side, its edge is embedded in tension and compression annular sleeve 45; The described input from side electric fixture I43 passes through shaft coupling I33, torque sensor 47, shaft coupling II40, from side synchronous pulley I29, from side Timing Belt 42, is connected with the outfan of rotary drive motor 48 from side synchronous pulley II55 and from side fixture connecting axle II54.
The range of described torque sensor 47 is 0-0.2NM, and precision is ± 0.3%F.S.The present embodiment taken amount journey is 0.15NM, and precision is ± 0.3%F.S.
The range of described pull pressure sensor 46 is 0-5N, and precision is 0.025%R.O.The present embodiment taken amount journey is 2.5N, and precision is 0.025%R.O.
Described pull pressure sensor installing plate 32 is U-shaped pull pressure sensor installing plate.
Described tilt adjustable base (see Figure 11) is made up of pan frontward end riser 24, pony sill 25, gripper shoe 52, riser connecting axle 27, sleeve pipe 26, telescopic joint axle 53, adjusting lever 28, connecting axle 36 and holding screw 35; Described pan frontward end riser 24 is arranged on pony sill 25; Described sleeve pipe 26 is connected with pony sill 25, and can rotate around telescopic joint axle 53; Described adjusting lever 28 is embedded in sleeve pipe 26 according to the holding screw 35 of adjustable embedded length; The gripper shoe 52 of described tilt adjustable base is connected with pan frontward end riser 24 respectively by riser connecting axle 27, is connected with adjusting lever 28 by connecting axle 36, and riser connecting axle 27 and connecting axle 36 are rotatable connecting axles; The Linear slide platform 51 of described axial push unit is arranged in gripper shoe 52; Described being arranged on gripper shoe 52 from rear flank end fixture installing plate 38 from catching unit.
Described tilt adjustable base is manual adjustments frame (see Figure 11); Described gripper shoe 52 can rotate with the riser connecting axle 27 of pan frontward end riser 24; The telescopic joint axle 53 of described joint sleeve 26 and pony sill 25 can rotate; The connecting axle 36 of described gripper shoe 52 and adjusting lever 28 can rotate;
Described have identical structure from side electric fixture I43 with from side electric fixture II50 with master electric fixture I17.
Described duct wall contact force sensor (Figure 12, Figure 13) is made up of copper electrode 56, pressure sensitive elastomer 57, copper conductor 58, the sensor element 59 be strobed, direct voltage source 60 and constant resistance 61; Described pressure sensitive elastomer 57 be arranged in 3 × 3 pressure sensitive elastomer sensor matrices structure; Described copper electrode has viscosity, and stick the sensor matrices both sides formed at pressure sensitive elastomer 57, side is as row electrode, and opposite side is as row electrode; Described copper conductor 58 is connected to sensor matrices both sides by copper electrode 56, and side is as row contact conductor, and side is as row contact conductor; The described sensor element 59 be strobed is sensor matrices elements that sensor matrices that pressure sensitive elastomer 57 is arranged in 3 × 3 is connected in series in direct voltage source 60 and constant resistance 61 circuit after copper conductor 58 is drawn through row gating and column selection is led to.
Described catheter proximal end impact force sensor is a kind of collision detection sensor based on optical fiber, and its output passes to from controller after demodulation.
A method of work for principal and subordinate's interventional surgery aid system, is characterized in that it comprises the following steps:
1. the proper height of adjustment operation device:
I, when carrying out operation technique, according to the requirement for height of different doctor to operator, first manual adjustments lifting platform I1 and lifting platform II5 obtains; Described lifting platform I1 (see Fig. 7), threaded rod 1-2 there is positive/negative thread, axle I1-3 can be made to draw close with axle II1-4 or be separated during hand rotation threaded rod 1-2, thus regulate the distance between lifting platform base plate 1-1 and lifting platform top board 1-5, play the effect of lifting;
II, same, for different curers or operation intervention position, obtained any intervention angle of 0-45 ° by adjustable inclination adjustable base; The length that adjusting lever 28 gos deep into sleeve pipe 26 determines the size getting involved angle, when the length that adjusting lever 28 gos deep into sleeve pipe 26 reaches the intervention angle of doctor's expectation, is fixed by holding screw 35;
2. main operation device detects the operation information of doctor:
In interventional surgery process, doctor is according to the visual feedback on master PC and force feedback situation on hand, and straightforward manipulation is arranged on a true conduit on main operation device, and the operation information of doctor needs to detect and extract;
Master electric fixture I17 on main operation device and master electric fixture II20 alternation, when master electric fixture I17 clamps master conduit 18, master conduit 18 and piston rod 7 and the torque feedback output unit, the photoelectric encoder 12 that are arranged on line slideway 11, linear displacement transducer slide block 4 is fixed into an entirety, and operation master conduit 18 can make this mass motion; Wherein, the opening angle of clamp sheet 17-5 is decided by the anglec of rotation of clamp motor 17-7, and the anglec of rotation of different clamp motor 17-7 removes by cam 17-8 the opening angle controlling clamp sheet 17-5;
After master electric fixture I17 unclamps, when master electric fixture II20 clamps master conduit 18, because master electric fixture II20 is arranged on the master rear end fixture installing plate 19 fixing with height adjustable base, therefore master conduit 18 and height adjustable base keep motionless, piston rod 7 is pulled to drive master electric fixture I17, and the torque feedback output unit be arranged on line slideway 11, photoelectric encoder 12, linear displacement transducer slide block 4 moves integrally to adjust piston 9-2 does not affect master conduit 18 position to the rear side of antivibrator 9, then master electric fixture I17 clamps, master electric fixture II20 unclamps, start the operation of a new journey,
When described master electric fixture I17 clamps master conduit 18, the motion that doctor operates master conduit 18 has two degree of freedom, comprises axially and rotates:
I, collection for axially-movable information, be arranged on linear displacement transducer slide block 4 on moment output motor installing plate 6 along with master conduit 18 synchronizing moving, the change of linear displacement transducer 3 induction linear displacement transducer slide block 4 position in real time can draw axial displacement and the speed of master conduit 18;
II, for rotation information, the output shaft rotating through master-side synchronization band 22 and moment output motor 13 of master conduit 18 keeps synchronous, and the photoelectric encoder 12 be therefore arranged on moment output motor 13 can detect the rotation information of master conduit 18;
3. the transmission of operation information:
The operation information that main operation device detects uploads to master controller, uploads master PC after master controller processes, master PC with from the communication of side PC, this information is delivered to from side PC, will pass to it from controller again from side PC;
4. interventional procedure is performed from operator:
Described receive from controller the operation signal that main side passes over after, to from operator output function control signal; Surgical catheters 49 is alternately clamped from side electric fixture I43 with from side electric fixture II50 from operator, corresponding with the master electric fixture I17 of master and master electric fixture II20; When clamping surgical catheters 49 from side electric fixture I43, surgical catheters 49 is in intervention duty; When clamping surgical catheters 49 from side electric fixture II50, surgical catheters 49 keeps original state motionless, and slide unit drive motors 37 drives Linear slide platform 51 to make Linear slide platform 51 sliding end move to the rear end of Linear slide platform 51;
That imitates doctor from the clamping of side electric fixture I43 grabs pipe action, and what doctor's hands was imitated in the propelling of Linear slide platform 51 and the rotation of rotary drive motor 48 send pipe, coil action; When surgical catheters 49 is clamped from side electric fixture I43, there are two degree of freedom from the operation of operator to surgical catheters 49, comprise rotation and axially-movable, be made up of following step:
I, rotary drive motor 48 be rotated through shaft coupling I33, torque sensor 47, shaft coupling II40, Timing Belt wheel shaft 30, from side Timing Belt 42, from side fixture connecting axle II54, finally be delivered to from side electric fixture I43, thus drive the surgical catheters 49 clamped from side electric fixture I43 to rotate together, realize the rotary motion of surgical catheters 49;
The rotation of II, slide unit drive motors 37 makes Linear slide platform 51 sliding end slide, thus surgical catheters 49 axially-movable that realization promotion clamps from side electric fixture I43;
5. detect from the operating physical force of operator:
Described detection the operating physical force of surgical catheters 49 from operator comprises the detection of axial operation power and the detection (see Figure 10) of rotation torque:
The detection of I, described axial operation power is completed by pull pressure sensor 46, and described tension and compression annular sleeve 45 is contacted by disk 31 when not having pressure but not extruding, and disk 31 does not affect tension and compression annular sleeve 45 with the rotation of axle; When clamping surgical catheters 49 from side electric fixture I43 and axially moving, surgical catheters 49 can make axially producing micro-movement from side electric fixture I43 to the counteracting force from side electric fixture I43, this micro-movement is delivered to pull pressure sensor 46 by the combination of disk 31 and tension and compression annular sleeve 45, and pull pressure sensor 46 can detect the axial operation power to surgical catheters 49;
The detection of II, described rotation torque is completed by torque sensor 47, and described torque sensor 47 is arranged between the outfan of rotary drive motor 48 and Timing Belt wheel shaft 30; After torque sensor 47 detects the output torque of rotary drive motor 48, real-time output torque deducts output torque during zero load, can obtain real-time moment of torsion when operating surgical catheters 49;
6. the stressed detection of catheter proximal end:
Described from operator intra-operative procedures, the stressed of surgical catheters 49 front end has front end crash power and sidewall contact power:
I, detection for sidewall contact power, adopt the catheter proximal end impact force sensor (see Figure 12, Figure 13) based on pressure sensitive elastomer 57; This pressure sensitive elastomer is insulator in its natural state, but when there being slight pressure, resistance is die-offed, and when pressure arrives 1.5N, along with the increase of pressure, its resistance no longer changes; Authority's blood vessel gets involved surgical experience, and to obtain the pressure that blood vessel can bear be 0.49N, therefore designed catheter proximal end impact force sensor.Detection demand can be met.
Row electrode and row electrode are guided to the input of two panels analog channel gating chip by sensor matrices that pressure sensitive elastomer 57 is arranged in 3 × 3 respectively through copper conductor 58, analog channel gating chip output is drawn and is connected in series in the circuit of direct voltage source 60, constant resistance 61; To see off column selection messenger to successively analog channel gating chip from controller, the sensor element 59 be strobed that synchronization is only in gating ranks infall is connected in series in circuit; Now, the sensor element 59 be strobed is equivalent to a varistor, by detecting the partial pressure value of constant resistance 61, can obtain the pressure suffered by pressure sensitive elastomer element 59 of current gating; Adopt the mode of similar cycle scanning to analog channel gating CE signal from controller, the partial pressure value Real-time Collection of constant resistance is delivered to from controller, judges that whether current gating element is stressed from controller by magnitude of voltage; This stressed size and positional information are all delivered to from controller;
II, detection for front end crash power, adopt a kind of collision detection sensor based on optical fiber, its output passes to from controller after demodulation;
7. the transmission of feedback information:
The described front end crash force information that is subject to the axial operation force information of surgical catheters 49 and rotation torque information and surgical catheters 49 front end from operator and sidewall contact force information all upload to from controller; From controller, these information are uploaded to from side PC, again through passing to master PC from side PC by communication network; Wherein from operator, through master PC, master controller is passed to the axial operation force information of surgical catheters 49 and rotation torque information; The real time imaging of described IP camera collection directly passes to master PC by IP network;
8. the force feedback of main operation device:
Master controller controls main operation device realizable force feedback according to from the axial operation force information to surgical catheters 49 of side be passed back and rotation torque information, wherein:
I, for axial operation force feedback, to be realized by damper structure application intellectual material magnetic flow liquid: have gap between damping wall 9-1 and piston 9-2, piston 9-2 is tied with coil 9-3; Covering after polyurethane sponge 9-4 immersion magnetic flow liquid is saturated is tied with on the piston 9-2 of coil 9-3; To produce with the closed magnet circuit of piston 9-2, magnetic flow liquid, damping wall 9-1, magnetic flow liquid, piston 9-2 when being electrified stream in coil 9-3, now promote piston 9-2 motion, magnetic flow liquid then can produce shearing force, forms resistance to piston 9-2; Different magnetic field sizes produces different resistance, and the size in magnetic field can be obtained by the size of current in control coil 9-3, piston rod 7 and master conduit 18 are fixed together by master electric fixture I17, this resistance is delivered to the feedback of formation axial force on hand of doctor by master conduit 18;
II, the feedback of moment of torsion, realized by moment output motor 13, torque feedback output unit is arranged on line slideway 11, the output of moment output motor 13 is by master-side synchronization belt wheel I15, master-side synchronization band 22, master-side synchronization belt wheel II16, master fixture connecting axle 14 is delivered to piston rod 7, piston rod 7 moves together with master conduit 18, therefore output torque can be delivered on doctor's hands by the master conduit 18 moved together with piston rod 7, the size of the output torque of moment output motor 13 is determined by supply current size, and electric current is by from holding the torque information that feeds back and being connected intrinsic moment of torsion and deciding,
9. the visual feedback on master PC
Doctor, while thoughts and feelings is from force feedback on hand, also needs the safety operation of the stressed guarantee intervene operation knowing field condition and surgical catheters 49 front end; Doctor obtains visual feedback by master PC:
The real time imaging that I, IP photographic head is sent back, the form with image window after revising shows doctor;
II, catheter proximal end sidewall stressing conditions detected by duct wall contact force sensor, indicate forced position with virtual display lamp matrix, carrys out stressed order of magnitude by the color of virtual display lamp;
III, the front end crash power detected by catheter proximal end impact force sensor, is presented to the size of doctor's impact force with the form of progress bar, mix real-time numerical value display under progress bar.
Claims (15)
1. principal and subordinate's interventional surgery aid system, is characterized in that it forms by master part with from side part; Wherein, described major sides is divided and is comprised main operation device, master controller and master PC; Describedly comprise IP photographic head, from operator, from controller, from side PC and surgical catheters from side part; The input of described main operation device receives the operation signal of doctor and the feedback control signal of master controller, and its outfan is connected with the input of master controller provides force feedback to operator simultaneously; The input of described master controller receives the operation information of main operation device and the feedback information of master PC, its outfan is connected with the input of main operation device, export the feedback control signal passing to main operation device, the outfan of described master controller is also connected with master PC simultaneously, and the operation information of main operation device is uploaded to master PC; The input of described master PC gathers the image information of IP photographic head, simultaneously with master controller and from side PC in being bi-directionally connected, its outfan exports the visual feedback signal for operative doctor reference; The on-the-spot real time imaging of described IP camera collection, its outfan is connected with master PC; Described from side PC and master PC and from controller respectively in being bi-directionally connected; The described input from controller receives the actuating signal of surgical catheters; Described from controller also with from operator in being bi-directionally connected; The described outfan from operator is connected with surgical catheters; Simultaneously from operator to the operational motion of surgical catheters as on-the-spot real time imaging by IP photographic head record; Described main operation device comprises axial force feedback damper elements, torque feedback output unit, main clamp unit, operation information collecting unit, master conduit, line slideway and height adjustable base; Wherein, described axial force feedback damper elements is arranged on height adjustable base, and its outfan exports as the antihunt signal to master conduit; Described torque feedback output unit is arranged on line slideway, and its outfan exports the torque signals to main clamp unit; The outfan of described main clamp unit is connected with master tubes fit; The input of described operation information collecting unit gathers rotation angle information and the axially-movable information of the output of torque feedback output unit outfan, and it exports and connects master controller; Described master conduit is through main clamp unit; Described line slideway is arranged on height adjustable base; Described height adjustable base is the mounting seat of main operation device; The outfan of described main clamp unit and the connection of master conduit are for clamp master conduit or to unclamp master conduit.
2. a kind of principal and subordinate's interventional surgery aid system according to claim 1, is characterized in that described surgical catheters is the surgical catheters of force sensor; Described sensor is duct wall contact force sensor and catheter proximal end impact force sensor; The outfan of described IP photographic head is connected with master PC by Internet; Describedly directly to be connected by network from side PC with master PC.
3. a kind of principal and subordinate's interventional surgery aid system according to claim 1, is characterized in that described axial force feedback damper elements is made up of piston rod, antivibrator, antivibrator gripper shoe I and antivibrator gripper shoe II; Wherein, described antivibrator is arranged on antivibrator gripper shoe I and antivibrator gripper shoe II, and its outfan exports as the antihunt signal to piston rod; The input of described piston rod receives the antihunt signal of antivibrator, and its outfan exports the antihunt signal to master conduit; Described antivibrator gripper shoe I and antivibrator gripper shoe II is installed on height adjustable base;
Described torque feedback output unit is made up of moment output motor, moment output motor installing plate, master-side synchronization belt wheel I, master-side synchronization belt wheel II and master-side synchronization band; Wherein, described moment output motor is arranged on moment output motor installing plate, and its outfan output torque signal is connected with main clamp unit with master-side synchronization band by master-side synchronization belt wheel I, master-side synchronization belt wheel II; Described moment output motor installing plate is arranged on line slideway; Described master-side synchronization belt wheel I is arranged on the output shaft of moment output motor; Described master-side synchronization belt wheel II is connected with main clamp unit;
Described main clamp unit is made up of master electric fixture I, master electric fixture II, master fixture connecting axle, brush dish, axle gripper shoe and master rear end fixture installing plate; Wherein, described master electric fixture I is connected on master fixture connecting axle, the input of described master electric fixture I receives the torque signal that the torque feedback output unit that transmitted by master-side synchronization belt wheel I, the master-side synchronization belt wheel II of master fixture connecting axle and torque feedback output unit, master-side synchronization band is exported, its outfan clamping or unclamp master conduit; Described master electric fixture II is arranged on the fixture installing plate of master rear end, and its outfan clamps or unclamps master conduit; Described axle gripper shoe has perforation, and described master fixture connecting axle is that bearing is connected by boring a hole with axle gripper shoe; Described master fixture connecting axle is provided with master-side synchronization belt wheel II; The piston rod that the front end of described master fixture connecting axle and axial force are fed back in damper elements is threaded, and its rear end is connected with master electric fixture I; Described axle gripper shoe is arranged on the moment output motor installing plate of torque feedback output unit, supports master fixture connecting axle; Described master rear end fixture installing plate is arranged on height adjustable base; Described brush dish is arranged on master fixture connecting axle, prevents the lead-in wire kinking of master electric fixture I;
Described line slideway is made up of line slideway track and straight-line guide rail slide block; Wherein, described straight-line guide rail slide block is provided with the moment output motor installing plate of torque feedback output unit; Described straight-line guide rail slide block is arranged on line slideway track, and is that ball is connected between described straight-line guide rail slide block with line slideway track;
Described operation information collecting unit is made up of linear displacement transducer, linear displacement transducer slide block and photoelectric encoder; Wherein, described linear displacement transducer is arranged on lifting platform installing plate, and its input receives the position signalling of linear displacement transducer slide block; Described linear displacement transducer slide block is arranged on the moment output motor installing plate of torque feedback output unit; Described photoelectric encoder is arranged on the moment output motor of torque feedback output unit, and its input receives the rotary angle signal of moment output motor;
Described height adjustable base is made up of lifting platform I, lifting platform II and lifting platform installing plate; Wherein, described lifting platform installing plate is arranged on lifting platform I and lifting platform II; Described lifting platform installing plate is provided with antivibrator gripper shoe I and antivibrator gripper shoe II, the master rear end fixture installing plate of main clamp unit and the line slideway track of line slideway of axial force feedback damper elements;
Described lifting platform I is made up of lifting platform base plate, threaded rod, axle I, axle II, lifting platform top board and lifting platform support bar; Wherein, described lifting platform support bar lower end is arranged on lifting platform base plate, upper end supporting elevation platform top board; Described axle I is as the rotating shaft of lifting platform support bar; Described axle II is the rotating shaft of lifting platform support bar; Described threaded rod passes axle I and axle II, and contrary with the connecting thread direction of axle I and axle II; Described lifting platform II has identical structure with lifting platform I;
Described master conduit is Wicresoft's intervene operation medical catheter.
4. a kind of principal and subordinate's interventional surgery aid system according to claim 3, is characterized in that described antivibrator is made up of damping wall, piston, coil and polyurethane sponge; Wherein, described piston is connected with piston rod; Described coil is entangled on piston; Described polyurethane sponge covers and is tied with on the piston of coil.
5. a kind of principal and subordinate's interventional surgery aid system according to claim 4, is characterized in that adsorbing magnetic flow liquid in described polyurethane sponge to saturated.
6. a kind of principal and subordinate's interventional surgery aid system according to claim 3, is characterized in that described master electric fixture I is made up of jig plate I, spring, jig plate II, screw, clamp sheet, clamp motor installing plate, clamp motor, cam and pin; Wherein, described clamp motor is arranged on clamp motor installing plate; The outfan of described cam jockey motor, and be connected with clamp sheet; Described jig plate I is connected on master fixture connecting axle; Described jig plate II is with between jig plate I, be all connected by screw between jig plate II with clamp motor installing plate; Described clamp sheet is fixed by a pin between jig plate I and clamp motor installing plate; Described jig plate II has screwed hole, and described spring is through jig plate II upper screwed hole, and one end is pressed in clamp sheet, and one end connects with the screw being screwed into jig plate II upper screwed hole; Described master electric fixture II has identical structure with master electric fixture I.
7. a kind of principal and subordinate's interventional surgery aid system according to claim 3, is characterized in that the stroke of described antivibrator, line slideway and the range correspondent equal of linear displacement transducer, is chosen as 0-400mm.
8. a kind of principal and subordinate's interventional surgery aid system according to claim 1, it is characterized in that described from operator comprise axial push unit, rotary unit, from catching unit, operating physical force detecting unit and tilt adjustable base; Wherein, described axial push unit is arranged on tilt adjustable base, it exports driven rotary unit, from catching unit and operating physical force detecting unit in axially-movable; Described rotary unit is arranged on the sliding end keyset of axial push unit, and its outfan connects from catching unit, makes to rotate from catching unit; Described surgical catheters is passed from catching unit; The described output from catching unit is for clamping or unclamp surgical catheters; The input of described operating physical force detecting unit detects from the propelling movement force signal of catching unit to surgical catheters and the torque signal of rotary unit; Described tilt adjustable base is the mounting seat from operator device.
9. a kind of principal and subordinate's interventional surgery aid system according to claim 8, is characterized in that described axial push unit is made up of Linear slide platform, slide unit drive motors and sliding end keyset; Described rotary unit by rotary drive motor, rotary drive motor installing plate, shaft coupling I, shaft coupling II, Timing Belt wheel shaft, from side synchronous pulley I, from side synchronous pulley II with form from side Timing Belt; Wherein, the outfan connecting linear slide unit of described slide unit drive motors, for the movement of the sliding end of Linear slide platform provides driving force; Described Linear slide platform is arranged on tilt adjustable base; Described sliding end keyset is arranged on the sliding end of Linear slide platform; Described rotary drive motor is arranged on rotary drive motor installing plate, and its outfan passes through shaft coupling I, torque sensor, shaft coupling II, Timing Belt wheel shaft, from side synchronous pulley I, from side Timing Belt, connects from side electric fixture I from side synchronous pulley II and from side fixture connecting axle II; Described rotary drive motor installing plate is arranged on sliding end keyset;
Described from catching unit by from side electric fixture I, from side electric fixture II, from side fixture connecting axle I, install riser and forming from rear flank end fixture installing plate from side fixture connecting axle II, front end; Wherein, described axial push unit is arranged on tilt adjustable base, its export driven rotary unit, from catching unit from side electric fixture I and operating physical force detecting unit in axially-movable; Describedly connect from side fixture connecting axle I with from side fixture connecting axle II respectively from electric fixture I two ends, side, it exports clamping or unclamps surgical catheters; Described connection with from side electric fixture I from fixture connecting axle I one end, side plays a supporting role, and one end is connected in bearing mode with operating physical force detecting unit; Described connection with from side electric fixture I from fixture connecting axle II one end, side plays a supporting role, and one end and front end are installed riser and be connected in bearing mode; Describedly be arranged on from the end fixture installing plate of rear flank from side electric fixture II, it exports clamping or unclamps surgical catheters; Described front end is installed riser and is arranged on the sliding end keyset of axial push unit; Describedly be arranged on tilt adjustable base from rear flank end fixture installing plate;
Described operating physical force detecting unit is made up of torque sensor, pull pressure sensor, pull pressure sensor installing plate, tension and compression annular sleeve and disk; Wherein, described being connected in bearing mode with pull pressure sensor installing plate from one end of side fixture connecting axle I from catching unit; Described torque sensor is connected with the outfan of the rotary drive motor of rotary unit by the shaft coupling I of axial push unit, detects its output torque; Described pull pressure sensor is arranged on pull pressure sensor installing plate, the axial operation force signal that the input collection of described pull pressure sensor is come by tension and compression annular sleeve and disk transmission; Described pull pressure sensor installing plate is arranged on the sliding end keyset of axial push unit; Described tension and compression annular sleeve is arranged in the detection axis of pull pressure sensor; Described disk be arranged on from catching unit from the fixture connecting axle I of side, its edge is embedded in tension and compression annular sleeve; The described input from side electric fixture I passes through shaft coupling I, torque sensor, shaft coupling II, from side synchronous pulley I, from side Timing Belt, is connected with the outfan of rotary drive motor from side synchronous pulley II and from side fixture connecting axle II;
Described tilt adjustable base is made up of pan frontward end riser, pony sill, gripper shoe, riser connecting axle, sleeve pipe, telescopic joint axle, adjusting lever, connecting axle and holding screw; Described pan frontward end riser is arranged on pony sill; Described sleeve pipe is connected with pony sill, and can rotate around telescopic joint axle; Described adjusting lever is embedded in sleeve pipe according to the holding screw of adjustable embedded length; The gripper shoe of described tilt adjustable base is connected with pan frontward end riser respectively by riser connecting axle, is connected with adjusting lever by connecting axle, and riser connecting axle and connecting axle are the connecting axles that can rotate; The Linear slide platform of described axial push unit is installed on the supporting plate; Described installing on the supporting plate from rear flank end fixture installing plate from catching unit.
10. a kind of principal and subordinate's interventional surgery aid system according to claim 9, is characterized in that the stroke of described Linear slide platform advances according to one way and is sized to 0-400mm.
11. a kind of principal and subordinate's interventional surgery aid systems according to claim 9, it is characterized in that the range of described torque sensor is 0-0.2NM, precision is ± 0.3%F.S; The range of described pull pressure sensor is 0-5N, and precision is 0.025%R.O; Described pull pressure sensor installing plate is U-shaped pull pressure sensor installing plate.
12. a kind of principal and subordinate's interventional surgery aid systems according to claim 9, is characterized in that described tilt adjustable base is manual adjustments frame; The riser connecting axle of described gripper shoe and pan frontward end riser can rotate; The telescopic joint axle of described joint sleeve and pony sill can rotate; The connecting axle of described gripper shoe and adjusting lever can rotate.
13. a kind of principal and subordinate's interventional surgery aid systems according to claim 9, is characterized in that describedly having identical structure from side electric fixture I with from side electric fixture II with master electric fixture I.
14. a kind of principal and subordinate's interventional surgery aid systems according to claim 2, is characterized in that described duct wall contact force sensor is made up of copper electrode, pressure sensitive elastomer, copper conductor, the sensor element be strobed, direct voltage source and constant resistance; Described pressure sensitive elastomer be arranged in 3 × 3 pressure sensitive elastomer sensor matrices structure; Described copper electrode has viscosity, and stick the sensor matrices both sides formed at pressure sensitive elastomer, side is as row electrode, and opposite side is as row electrode; Described copper conductor is connected to sensor matrices both sides by copper electrode, and side is as row contact conductor, and side is as row contact conductor; The described sensor element be strobed is the sensor matrices element that sensor matrices that pressure sensitive elastomer is arranged in 3 × 3 is connected in series in direct voltage source and constant resistance circuit after copper conductor is drawn through row gating and column selection is led to.
15. a kind of principal and subordinate's interventional surgery aid systems according to claim 2, it is characterized in that described catheter proximal end impact force sensor is a kind of collision detection sensor based on optical fiber, its output passes to from controller after demodulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410209032.2A CN103976766B (en) | 2014-05-16 | 2014-05-16 | A kind of principal and subordinate's interventional surgery aid system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410209032.2A CN103976766B (en) | 2014-05-16 | 2014-05-16 | A kind of principal and subordinate's interventional surgery aid system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103976766A CN103976766A (en) | 2014-08-13 |
| CN103976766B true CN103976766B (en) | 2016-03-30 |
Family
ID=51269111
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410209032.2A Active CN103976766B (en) | 2014-05-16 | 2014-05-16 | A kind of principal and subordinate's interventional surgery aid system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103976766B (en) |
Families Citing this family (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9962229B2 (en) | 2009-10-12 | 2018-05-08 | Corindus, Inc. | System and method for navigating a guide wire |
| WO2016090270A1 (en) | 2014-12-05 | 2016-06-09 | Corindus, Inc. | System and method for navigating a guide wire |
| CN105193508B (en) * | 2015-10-23 | 2017-10-27 | 哈尔滨工程大学 | A kind of experimental bench available for micro- apparatus three-dimensional force demarcation of performing the operation |
| CN105596084B (en) * | 2016-02-02 | 2018-11-16 | 上海交通大学 | Cardiovascular interventional operation robot |
| CN105662588B (en) * | 2016-03-16 | 2018-06-29 | 北京理工大学 | A kind of master-slave mode interventional surgery remote operating system |
| CN107753109B (en) * | 2016-08-16 | 2022-02-11 | 新加坡国立大学 | Concentric tube robot device and control method thereof |
| CN108066008B (en) * | 2017-03-23 | 2020-05-29 | 深圳市罗伯医疗科技有限公司 | Medical instrument control method and system for assisting operation |
| EP3417901A1 (en) | 2017-06-20 | 2018-12-26 | Siemens Healthcare GmbH | Autonomous catheterization assembly |
| CN107744405B (en) * | 2017-08-31 | 2024-01-30 | 首都医科大学附属北京天坛医院 | Robot slave device, operating system and control method thereof |
| CN107595395B (en) * | 2017-09-22 | 2020-06-02 | 山东电子职业技术学院 | Telesurgical operating system with force feedback |
| CN107496031A (en) * | 2017-09-22 | 2017-12-22 | 山东电子职业技术学院 | Remote operation multi-spindle machining hand and remote operation device |
| CN107684459A (en) * | 2017-09-30 | 2018-02-13 | 天津理工大学 | Blood vessel intervention operation robot manipulation's security early warning system and method based on LabView |
| CN108158656B (en) * | 2017-11-27 | 2024-02-27 | 深圳爱博合创医疗机器人有限公司 | Vascular cavity interventional operation robot guide wire/catheter operation torque detection device |
| CN108888848B (en) * | 2018-04-13 | 2020-11-24 | 上海交通大学 | Robot mechanical system for precision intervention operation of micro-fine wire tube |
| CN108433813B (en) * | 2018-04-18 | 2024-02-06 | 合肥美亚光电技术股份有限公司 | Filiform object detection device and master-slave intervention operation remote operation system with same |
| CN109481022A (en) * | 2018-11-14 | 2019-03-19 | 李兴国 | A kind of main hand end operating mechanism of master-slave operation blood vessel intervention operation robot |
| CN109528308B (en) * | 2018-12-22 | 2020-12-25 | 上海交通大学 | Main end intervention force in-situ sensing variable damping control system |
| CN109549674A (en) * | 2019-01-18 | 2019-04-02 | 北京灵众博通科技有限公司 | Urological surgery robot |
| CN109730779B (en) * | 2019-03-07 | 2024-05-14 | 深圳爱博合创医疗机器人有限公司 | Vascular intervention operation robot catheter guide wire cooperative control system and method |
| CN110141366A (en) * | 2019-05-06 | 2019-08-20 | 清华大学 | The blood vessel intervention operation robotic actuator that motion control information stream directly transmits |
| CN111047940B (en) * | 2019-12-30 | 2024-05-14 | 西南石油大学 | Manual operation device based on vascular intervention operation training system |
| CN111856942B (en) * | 2020-08-03 | 2022-05-20 | 深圳市爱博医疗机器人有限公司 | Time lag and error improvement method for remote intervention operation control system |
| CN111938817B (en) * | 2020-08-05 | 2022-05-24 | 北京唯迈医疗设备有限公司 | Interventional operation robot guide wire action safety early warning method and system |
| CN112587241B (en) * | 2020-12-14 | 2021-11-26 | 北京理工大学 | Main end guide wire/catheter operating device of vascular intervention surgical robot |
| CN113040917B (en) * | 2021-03-16 | 2022-07-26 | 山东大学 | Concentric tube surgical robot for natural orifice |
| CN113143583B (en) * | 2021-05-10 | 2022-07-15 | 中国科学院自动化研究所 | Automatic wire feeder for glaucoma operation visco-angioplasty |
| CN113545855B (en) * | 2021-05-31 | 2022-12-06 | 中国科学院自动化研究所 | Force detection system and method applied to vascular interventional operation |
| CN114224502B (en) * | 2022-01-12 | 2023-04-21 | 天津理工大学 | Vascular intervention operation robot main end device with tactile feedback |
| CN115607297B (en) * | 2022-10-19 | 2024-04-30 | 山东大学 | Master-slave operation robot control system and method for tremor suppression |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000060421A2 (en) * | 1999-04-07 | 2000-10-12 | Intuitive Surgical, Inc. | Alignment of master and slave in a minimally invasive surgical apparatus |
| CN102028549A (en) * | 2011-01-17 | 2011-04-27 | 哈尔滨工业大学 | Catheter robot system for minimally invasive interventional operation in blood vessel |
| CN103006328A (en) * | 2012-12-03 | 2013-04-03 | 北京航空航天大学 | Fuzzy fusion method for force feedback of vascular intervention surgical robot |
| CN103006327A (en) * | 2012-12-03 | 2013-04-03 | 北京航空航天大学 | Master-slave teleoperation vascular intervention surgical robot |
| CN203935212U (en) * | 2014-05-16 | 2014-11-12 | 天津理工大学 | A kind of principal and subordinate's minimally-invasive vascular intervene operation aid system |
-
2014
- 2014-05-16 CN CN201410209032.2A patent/CN103976766B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000060421A2 (en) * | 1999-04-07 | 2000-10-12 | Intuitive Surgical, Inc. | Alignment of master and slave in a minimally invasive surgical apparatus |
| CN102028549A (en) * | 2011-01-17 | 2011-04-27 | 哈尔滨工业大学 | Catheter robot system for minimally invasive interventional operation in blood vessel |
| CN103006328A (en) * | 2012-12-03 | 2013-04-03 | 北京航空航天大学 | Fuzzy fusion method for force feedback of vascular intervention surgical robot |
| CN103006327A (en) * | 2012-12-03 | 2013-04-03 | 北京航空航天大学 | Master-slave teleoperation vascular intervention surgical robot |
| CN203935212U (en) * | 2014-05-16 | 2014-11-12 | 天津理工大学 | A kind of principal and subordinate's minimally-invasive vascular intervene operation aid system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103976766A (en) | 2014-08-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103976766B (en) | A kind of principal and subordinate's interventional surgery aid system | |
| CN110141365A (en) | Simulate the blood vessel intervention operation auxiliary device remote control system of surgical operation | |
| CN109730779B (en) | Vascular intervention operation robot catheter guide wire cooperative control system and method | |
| CN103976765A (en) | Master end operator device of master slave minimal invasive blood vessel interventional surgical assistant system | |
| CN111110989B (en) | Vascular intervention operation guide wire catheter advancing device | |
| CN104042259B (en) | A kind of principal and subordinate's interventional surgery aid system is from operator device | |
| CN110742775B (en) | Upper limb active and passive rehabilitation training robot system based on force feedback technology | |
| CN105283144A (en) | A robotic manipulator system | |
| CN101702277B (en) | Virtual and artificial force feedback surgical instrument | |
| CN107106155A (en) | The catheter propelling control method and catheter propelling equipment of blood vessel intervention operation robot | |
| CN210056225U (en) | Novel vascular intervention surgical robot catheter guide wire cooperative operation implementation device | |
| CN203935212U (en) | A kind of principal and subordinate's minimally-invasive vascular intervene operation aid system | |
| CN107822711A (en) | A kind of seal wire intervention device of minimally invasive intervention operation robot | |
| CN106361539A (en) | Three-degree-of-freedom wrist joint rehabilitation robot and system thereof | |
| CN211024680U (en) | Guide wire catheter operating device for interventional embolism operation | |
| CN111227946A (en) | Minimally invasive vascular intervention operation robot operating device | |
| CN106572783A (en) | Robotic actuator for transeopagel echocardiography probe | |
| CN116212199A (en) | Force feedback main end device for vascular intervention operation | |
| CN114432575A (en) | Novel blood vessel intervention operation system | |
| JP2019528146A5 (en) | Flexible Surgical Instruments and Flexible Surgical Instrument Systems | |
| CN203935213U (en) | A kind of principal and subordinate's minimally-invasive vascular intervene operation aid system is from operator device | |
| CN108836602B (en) | Spine traction bed for medical orthopedic patient | |
| CN107280777A (en) | Multi-shaft interlocked position adjustments anti-acne device | |
| CN205459039U (en) | Principal and subordinate intervenes surgery robot from end operating means | |
| CN203935214U (en) | A kind of principal and subordinate's minimally-invasive vascular intervene operation aid system main side operator device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200713 Address after: 518000 Guangdong city of Shenzhen province Qianhai Shenzhen Hong Kong cooperation zone before Bay Road No. 1 building 201 room A Patentee after: Frontier Industrial Design Research (Shenzhen) Co.,Ltd. Address before: 300384 Tianjin city Xiqing District West Binshui Road No. 391 Patentee before: TIANJIN University OF TECHNOLOGY |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200902 Address after: Room 1401-1406, building 12, zhonghisense innovation industry city, No. 12, Ganli Road, gankeng community, Jihua street, Longgang District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Aibo medical robot Co.,Ltd. Address before: 518000 Guangdong city of Shenzhen province Qianhai Shenzhen Hong Kong cooperation zone before Bay Road No. 1 building 201 room A Patentee before: Frontier Industrial Design Research (Shenzhen) Co.,Ltd. |
|
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee after: Shenzhen Aibo medical robot Co.,Ltd. Address before: 1401-1406, building 12, China Hisense innovation industry city, No. 12, ganliliu Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong 518000 Patentee before: Shenzhen Aibo medical robot Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee before: Shenzhen Aibo medical robot Co.,Ltd. |