CN107049499A - Teleoperation vascular intervention surgical robot system and method - Google Patents
Teleoperation vascular intervention surgical robot system and method Download PDFInfo
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- CN107049499A CN107049499A CN201710414380.7A CN201710414380A CN107049499A CN 107049499 A CN107049499 A CN 107049499A CN 201710414380 A CN201710414380 A CN 201710414380A CN 107049499 A CN107049499 A CN 107049499A
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00743—Type of operation; Specification of treatment sites
- A61B2017/00778—Operations on blood vessels
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Abstract
The invention provides a kind of teleoperation vascular intervention surgical robot system and method, including lifting portion, near-end operating portion and far-end operation portion, wherein：The near-end operating portion is arranged in the lifting portion；The far-end operation portion is used to drive the near-end operating portion；The near-end operating portion can be moved or rotated in three dimensions.The present invention has the advantage that as follows：Compact conformation, the flexible property of operation are high, meet the operational requirements of general clinical intervention operation；Performed the operation by far-end operation portion control machinery hand, operation is flexibly and accurate, improve the quality of intervention operation；Performed the operation by far-end operation portion control machinery hand, Invasive Technology Department doctor is freed from ray environment, reduce accumulative ray damage.
Description
Technical field
The present invention relates to medical instruments field, in particular it relates to a kind of teleoperation vascular intervention surgical robot system and
Method, more specifically, can be realized to conduit, seal wire, support release lever etc. the present invention relates to one kind under doctor's remote control
The device and method operated.
Background technology
Blood vessel intervention operation needs doctor to be completed under ray monitoring, and doctor is shown white thin by accumulative ray damage
Born of the same parents are reduced, and cancer morbidity is higher, and its is healthy seriously to be threatened.In addition, some dangerous diseases of severe in intervention operation,
, it is necessary to which fine action is treated such as dissection of aorta, hemangioma, the hand-motion jitter of doctor, positioning are inaccurate, release
The surgical effect for influencing whether these diseases of the uneven grade of branch booster in various degree.Research can be to long section, miscellaneous
Blood vessel intervention carries out the device of dexterous manipulation with catheter guide wire, doctor is freed from ray environment, and utilize Electrical Control
The flutter isolation of system processed, accurate movement control technology improve interventional therapeutic effect, are intervention precisely treatment and employment security hairs
The inexorable trend of exhibition.
Computer Motion companies of the U.S. have developed the endoscope hand that First is used to aid in Minimally Invasive Surgery in 1994
The Aesop's system of art system one, it has virtual joint, is operated, has been stepped outside robot though instruction can not be independently executed
A crucial step for section's surgical technic；L998, the said firm develops second generation Zeus's Zeus systems, by 3 mechanical arms, Yi Shengcao
Make platform and computer control composition, tentatively realize man-machine coordination and implement operation；, famous Leonardo da Vinci in the world in 2000
(Da Vinci) robot is produced by Intuitive Surgical companies of the U.S., indicates the surgical operation robot epoch
Arrive.Leonardo da Vinci's operating robot can not only clearly show surgical field of view, can also filter the vibration of patient's hand so that doctor
Operation can be more completed rapidly and accurately.Scalpel, operating forceps that above surgical operation robot is mostly operated etc., it is impossible to
Operate the blood vessel interventional instruments that long section, description are various.
The Magellan robots of Hansen companies of the U.S. can under doctor's remote control 360 ° of steering nozzles, but the equipment
Catheter manipulation is carried out to roller extruding using crawler belt, function is single, involves great expense, and doctor does not have feel when operating.Domestic Beijing Institute of Aeronautics, in
Institute of Automation Deng Duojia mechanisms of institute of section have also carried out the follow of external similar research, and seal wire is operated using being clamped to rolling,
It is only capable of completing a link of blood vessel intervention operation, strongly limit the function of robot.
From the point of view of various data, the operation of single catheter seal wire has been provided with the device of comparative maturity at present, but this
Operation is only a link of intervention operation, rather than entirely operation, and typical intervention operation would generally use to enter to lead along seal wire
Pipe, enter along conduit many utensils cooperations such as seal wire, pipe silk Coordinate development, support release, and these actions often tangible doctor and its
It could be completed under the cooperation of assistant.Accordingly, it would be desirable to explore increasingly complex, the more dexterous new interventional procedure surgical engine of function
Device people's system.
The content of the invention
For defect of the prior art, it is an object of the invention to provide a kind of teleoperation vascular intervention surgical robot system
System and method.
A kind of teleoperation vascular intervention surgical robot system provided according to the present invention, including lifting portion, near-end operation
Portion and far-end operation portion, wherein：The near-end operating portion is arranged in the lifting portion；The far-end operation portion driving is described
Near-end operating portion；The near-end operating portion can be moved or rotated in three dimensions.
Preferably, the lifting portion includes lifting stand, vertical loading board, pitch regulation handwheel and clamping screw, wherein：
The vertical loading board is detachably through the top of the lifting stand, and the vertical loading board and the lifting stand can lead to
Cross locked bolt fastening；
The pitch regulation handwheel is arranged at the tail end of the vertical loading board, and the pitch regulation handwheel is used to adjust described near
Hold position and the angle of operating portion；
The clamping screw is used to fasten the robot gantry and the vertical loading board.
Preferably, the near-end operating portion includes robot gantry, manipulator, rotation sth. made by twisting controller and push-and-pull controller,
Wherein：
The robot gantry is arranged at the head end of the vertical loading board；
The manipulator can be slided on the robot gantry；
The push-and-pull controller is installed on the end of the robot gantry, and the push-and-pull controller is used to control the machine
The slip of tool hand；
The rotation twists with the fingers controller and connects the push-and-pull controller by spring cable；
The manipulator is identical with the quantity that controller is twisted with the fingers in the rotation and corresponds, and controller is twisted with the fingers in each rotation to be used to drive
Clamping and rotation with the corresponding manipulator of control to wire catheter.
Preferably, the far-end operation portion includes operational control device, be provided with the operational control device handle, switch with
And speed governing knob；Wherein：
The quantity of the handle is identical with the quantity of the manipulator, and the handle is corresponded with the manipulator, and one
Individual handle correspondence one manipulator of control；Each handle has 3 free degree operations；
The switch includes power switch and emergency stop switch；The power switch is used for open system；The emergency stop switch
For in case of emergency locked system；
The speed governing knob includes push-and-pull speed governing knob and rotation speed governing knob；The push-and-pull speed governing knob is used to adjust institute
State the speed of push-and-pull controller；The rotation speed governing knob is used to adjust the speed that controller is twisted with the fingers in the rotation.
Preferably, 3 frees degree operation includes left and right operation, forward/backward operation and push-botton operation, wherein：
The left and right is operated for manipulator or so translation；
The forward/backward operation is used for manipulator away from operator's rotation and Proximity operation person rotation；
The push-botton operation is used for clamping or release of the manipulator to catheter guide wire.
Preferably, the far-end operation portion passes through near-end operating portion described in feed cable and CAN communication cable connection.
Preferably, it is using processor of single chip computer as core that controller is twisted with the fingers in the operational control device, push-and-pull controller and rotation
The heart, periphery carries out power supply voltage stabilizing, motor driving, CAN communication, the circuit system of positional information collection.
A kind of blood vessel intervention operation robot system wire catheter propulsion method, comprises the following steps：
Step 1：Multiple manipulators are between releasing orientation, manipulator keeping spacing, and seal wire is walked therebetween；
Step 2：First manipulator clamps seal wire, and the second manipulator is withdrawn to the right；
Step 3：First manipulator loose convinces silk by patient analysis, and the second manipulator clamps seal wire；
Step 4：Second manipulator clamps seal wire and promoted to the left；
Step 5：First manipulator clamps seal wire, and the second manipulator loose convinces silk by patient analysis, and withdraws the position of step 2.
A kind of blood vessel intervention operation robot system wire catheter propulsion method, comprises the following steps：
Step 1：Multiple manipulators are between releasing orientation, manipulator keeping spacing, and seal wire is walked therebetween；
Step 2：First manipulator unclamps and outwards goes to extreme position, the second manipulator loose be opened in be inverted to the limit
Put；
Step 3：First manipulator clamps seal wire and inwardly rotated, and the second manipulator loose, which is opened, to be turned out, then seal wire is inside
Rotate an angle；
Step 4：First manipulator loose is convinced silk by patient analysis and is turned out, the second manipulator clamp it is inside rotate, then seal wire again to
One angle of interior rotation.
Compared with prior art, the present invention has following beneficial effect：
1st, the present invention has the advantages that compact conformation, operates flexible property high, meets the behaviour of general clinical intervention operation
Make demand；
2nd, performed the operation by far-end operation portion control machinery hand, operation is flexibly and accurate, improve the matter of intervention operation
Amount；
3rd, performed the operation by far-end operation portion control machinery hand, Invasive Technology Department doctor freed from ray environment,
Reduce accumulative ray damage.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the theory of constitution figure of teleoperation vascular intervention surgical robot system；
Fig. 2 is the control system schematic diagram of teleoperation vascular intervention surgical robot system；
Fig. 3 is that catheter guide wire continuously promotes action process exploded view automatically；
Fig. 4 is the continuous rotation process exploded view of catheter guide wire；
Fig. 5 is to enter seal wire procedure decomposition figure along conduit；
Fig. 6 is to enter catheter procedure exploded view along seal wire；
Fig. 7 is pipe silk cooperation schematic diagram.
Shown in figure：
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that to the ordinary skill of this area
For personnel, without departing from the inventive concept of the premise, some changes and improvements can also be made.These belong to the present invention
Protection domain.
As shown in figure 1, a kind of teleoperation vascular intervention surgical robot system provided according to the present invention, including lifting
Portion, near-end operating portion and far-end operation portion, wherein：The near-end operating portion is arranged in the lifting portion；The distal end behaviour
Making portion is used to drive the near-end operating portion；The near-end operating portion can be moved or rotated in three dimensions.
Further, the near-end operating portion includes the first manipulator 18, the second manipulator 16, the 3rd manipulator 14, the
Four manipulators 12, robot gantry, push-and-pull controller, the first rotation twist with the fingers the rotation sth. made by twisting rotation of controller the 15, the 3rd of controller 17, second and twist with the fingers control
The rotation of device the 13, the 4th processed is twisted with the fingers in controller 11 and spring cable, the near-end operating portion, the first manipulator 18, the second manipulator
16th, the 3rd manipulator 14, the 4th manipulator 12 be arranged on robot gantry on, the manipulator robot gantry chute or
Slided on person's bar, robot gantry is lifted on hoisting bracket using vertical loading board, and pitch regulation handwheel is fixed on vertical loading board end,
Clamping screw on hoisting bracket can locked vertical loading board, when adjusting the luffing angle of robot gantry, unclamp locked bolt,
Pitch regulation handwheel is rotated, while push-and-pull vertical loading board adjusts the lateral position of robot gantry, the driving of push-and-pull controller and control
Linear motion of the manipulator on robot gantry, the first rotation twists with the fingers the rotation sth. made by twisting rotation of controller the 15, the 3rd of controller 17, second and twists with the fingers control
The difference drive control of controller 11 first manipulator 18, the second manipulator 16, the 3rd manipulator the 14, the 4th are twisted with the fingers in the rotation of device the 13, the 4th
Manipulator 12 clamps catheter guide wire and around catheter guide wire center rotating, and the first rotation twists with the fingers the rotation of controller 17, second and twists with the fingers controller 15, the
Three rotations twist with the fingers the rotation of controller the 13, the 4th and twist with the fingers controller 11 respectively by the first spring cable 10, second spring cable 9, the 3rd spring electricity
Cable 8, the 4th spring cable 7 are connected on push-and-pull controller 6, and spring cable is used to power and CAN communication.
More specifically, there is each manipulator three degree of freedom to carry out the clamping of wire catheter, rotate and push, two
Manipulator is the both hands of one group of imitation doctor, and two other manipulator is the both hands of one group of imitation assistant, and 4 Handball Associations are same can be real
Existing complicated surgical action, such as advance and retreat wire catheter, rotation wire catheter, when entering revolve wire catheter, conduit entered along seal wire,
Seal wire, wire catheter linkage are changed in conduit, catheter guide wire is removed, support discharges.The clamping, rotation and the motion pushed
Driven by motor, the kind of drive includes wire rope gearing, link transmission or screw rod transmission.
Present invention employs the hoisting structure that multiple degrees of freedom can be adjusted passively, lifting stand is fixed on the ground, vertical loading board
Through the through hole on the top of lifting stand, vertical loading board can be slided and rotated in through-holes, and robot gantry is suspended from by vertical loading board
Above operating table, manipulator and the lateral distance of patient body are adjusted by transverse shifting vertical loading board, is adjusted by rotary luffing
Section handwheel intervenes the suitable height of arm end and angle to find, and lifting form can save space, can reduce as far as possible
Robot system and the sky of intervention operation table peripheral device such as DSA contrast machines, video monitor, infusion device, oxygen supply device etc.
Between interfere, readily satisfy sterility requirements.
Far-end operation portion includes operational control device, be provided with the operational control device first handle 24, second handle 23,
3rd handle 22, the 4th handle 21, power switch, emergency stop switch, push-and-pull speed governing knob and rotation speed governing button, the distal end
In operating portion, first handle 24, second handle 23, the 3rd handle 22, the 4th handle 21 and the first manipulator 18, the second manipulator
16th, the 3rd manipulator 14, the 4th manipulator 12 are corresponded, and handle has an operation of 3 frees degree, including left and right operation, front and rear
Operation and push-botton operation, wherein：The left and right is operated for manipulator or so translation；It is remote that the forward/backward operation is used for manipulator
From operator's rotation and Proximity operation person rotation；The push-botton operation is used for clamping or release of the manipulator to catheter guide wire.
3 frees degree operation of operational control device detection handle, and be sent on CAN communication cable, power switch is used for start stop system,
The system that emergency stop switch is used under emergency is locked, and push-and-pull speed governing knob and rotation speed governing button are used for what catheter guide wire was operated
Speed is adjusted.
By feed cable, CAN communication cable connection between near-end operating portion and far-end operation portion, it is powered and communicates,
Near-end operating portion major control manipulator is operated to catheter guide wire, and far-end operation portion is mainly responsible for detection operator's handle
Instruction, and publish on CAN communication cable, and then clamping, rotation and the push action of corresponding manipulator are controlled, often
The control machinery hand that individual handle swings is moved, the rotation of swing control machinery hand, and the button in operation handle is then controlled
Clamping of the manipulator to catheter guide wire, is operated using a dynamic formula, is clamped and is unclamped alternating.
Far-end operation portion and near-end operating portion employ distributed control program, and controller is twisted with the fingers in 4 rotations to be used to control to drive
Dynamic clamping and rotation, push-and-pull controller are used to control push-and-pull catheter guide wire, and operational control device is used to detect that handle is acted and issued
CAN communication cable communication is used between operational order, each controller.Each controller is with a processor of single chip computer
For core, periphery adopted between power supply voltage stabilizing, motor driving, CAN communication, the circuit system of positional information collection, controller
Information exchange is carried out with CAN communication, each controller has independent ID addresses, and all controllers are in operational control device
Switching Power Supply is powered.
The advance and retreat wire catheter of the present invention refers to that conduit or seal wire are exited in propulsion, and implementation is said by taking seal wire as an example
Bright, conduit uses same method, and continuous to promote seal wire to be completed by the front and rear two adjacent manipulators being close to, remote holder clamping is led
Silk, defensive position, which is unclamped seal wire and dropped back, clamps seal wire after the distance of one end, and remote holder unclamps seal wire, and defensive position, which is advanced to, is close to remote holder, repeat with
Upper process can realize the continuous propulsion of seal wire, exit seal wire and then directly clamp seal wire, continuous to move backward over long distances.
The rotation wire catheter of the present invention refers to rotary guide pipe or seal wire, and implementation illustrates by taking seal wire as an example, leads
Pipe follows same method, and continuous rotation is completed by front and rear two adjacent manipulators, and remote holder clamping seal wire revolves in one direction
Turn, defensive position is unclamped seal wire and rotated in the opposite direction, remote holder is exchanged with when both are to extreme position from opening, defensive position is clamped, then front and rear hand
Rotate backward, the continuous rotation of seal wire can be realized by repeating above procedure, if the initial rotation direction of hand before and after changing,
It can realize that the continuous of seal wire is rotated backward.
The present invention's revolves wire catheter when entering, and is achieved in that single manipulator, when clamping wire catheter, enters simultaneously
Row rotation and the motion for promoting two frees degree, send propulsion corresponding to operation handle and rotation are ordered.
The present invention's enters conduit along seal wire and refers to that seal wire is motionless, and conduit is promoted, using front and rear two neighboring manipulator, after
Hand clamps seal wire, and remote holder clamps conduit, and simultaneously pushing catheter forward, due to the guide effect of seal wire, can be promoted over long distances；Along conduit
Enter seal wire and refer to that conduit is motionless, seal wire is promoted, using front and rear two neighboring manipulator, remote holder clamps conduit, before defensive position is close to
Unclamp afterwards after seal wire one segment distance of recession, defensive position clamps seal wire and simultaneously derives silk forward, is close to after remote holder, repeats the action of defensive position；
Wire catheter links, and front and rear two neighboring manipulator is one group totally two groups, every group of individually operated conduit or seal wire.
The support release of the present invention needs the cooperation of former and later two manipulators, and defensive position is used to clamp the seal wire in scaffold tube
Seat, and remain stationary as, the front and rear handle for being used to clamp scaffold tube connection, rotation recession or directly recession will be driven after conduit
Draw, support is discharged among blood vessel.
As shown in Fig. 2 a kind of driving control system for blood vessel intervention operation robot that the present embodiment is provided, including：Electricity
Source switch 25, Switching Power Supply 291, emergency stop switch 26, console singlechip controller 292, push-and-pull speed governing knob 27, rotation speed governing
Button 28, the 4th handle 21, the 3rd handle 22, second handle 23, first handle 24, push-and-pull singlechip controller 61, push-and-pull electricity
Machine driver 62, the first manipulator push-and-pull motor M1, the second manipulator push-and-pull motor M2, the 3rd manipulator push-and-pull motor M3,
Four manipulator push-and-pull motor M4, the first Manipulator Controller 171, the first manipulator motor drive controller 172, the first manipulator
Electric rotating machine M11, the first manipulator clamping motor M12, the second Manipulator Controller 151, the second manipulator drive and control of electric machine
Device 152, the second manipulator electric rotating machine M9, the second manipulator clamping motor M10, the machinery of the 3rd Manipulator Controller the 131, the 3rd
Hand rotates and clamping motor driver 132, the 3rd manipulator electric rotating machine M7, the 3rd manipulator clamping motor M8, the 4th machinery
Hand controls 111, the 4th manipulator motor drive controller 112, the 4th manipulator electric rotating machine M5, the 4th manipulator clamping electricity
Machine M6.Console singlechip controller 292 and push-and-pull singlechip controller 61.
First Manipulator Controller 171, the second Manipulator Controller 151, the machinery of the 3rd Manipulator Controller the 131, the 4th
Hand controls 111 is powered by Switching Power Supply 291, and by the control of power switch 25 and emergency stop switch 26, console single-chip microcomputer
Controller 292 is responsible for the 4th handle 21, the 3rd handle 22, second handle 23, first handle 24, push-and-pull speed governing knob 27, rotation
The state of speed governing button 28, and the order of response is issued to CAN communication cable, wherein first handle 24 corresponds to control first respectively
Motor M1, M11, M12 of manipulator, second handle 23 correspond to motor M2, M9, M10 of the second manipulator of control respectively, the
Three handles 22 correspond to motor M3, M7, M8 of the 3rd manipulator of control respectively, and the 4th handle 21 corresponds to the machinery of control the 4th respectively
Motor M4, M5, M6 of hand.
As shown in figure 3, a kind of blood vessel intervention operation robot system wire catheter propulsion method that the present embodiment is provided, leads
The operation of pipe and seal wire has similitude, illustrates here by taking the operation of seal wire as an example, including 5 steps and its circulation：4 machineries
Optionally adjacent two in hand, the first manipulator 18 and the second manipulator 16 is selected to illustrate here, original state such as (1), 4 machines
Tool hand is between releasing orientation, manipulator keeping certain distance, and seal wire is walked therebetween；(2) step, the first manipulator 18 is pressed from both sides
Tight seal wire, the second manipulator 16 is withdrawn to the right；(3) step, the first manipulator 18 unclamps, and the second manipulator 16 clamps seal wire；The
(4) step, the first manipulator 18 remains in that relaxation, and the second manipulator 16 clamps seal wire and promoted to the left；(5) step, the first machinery
Hand 18 clamps seal wire, and the second manipulator 16 unclamps, and withdraws the state of position, i.e. (2) step shown in dotted line, and circulation (2) is arrived
(5), then it can realize that seal wire is persistently promoted.
As shown in figure 4, a kind of blood vessel intervention operation robot system wire catheter spinning solution that the present embodiment is provided, leads
The operation of pipe and seal wire has similitude, illustrates here by taking the operation of seal wire as an example, including 4 steps and its circulation：4 machineries
Optionally adjacent two in hand, the first manipulator 18 and the second manipulator 16 is selected to illustrate here, original state such as (1), 4 machines
Tool hand is between releasing orientation, manipulator keeping certain distance, and seal wire is walked therebetween；In (2) step, the first manipulator 18
Unclamp and outwards go to extreme position, the second manipulator 16, which unclamps, is inwardly inverted to extreme position；In (3) step, the first machinery
Hand 18 is clamped and seal wire and inwardly rotated, and the second manipulator 16, which unclamps, to be turned out, then inside one angle of rotation of seal wire, the
(4) step, the first manipulator 18 unclamps seal wire and is turned out, and the second manipulator 16 clamps inside rotation, then seal wire inwardly turns again
An angle is moved, being alternately rotated for (3) and (4) is repeated, then can realize continuous 360 ° of revolutions of seal wire.
As shown in figure 5, a kind of blood vessel intervention operation robot system that the present embodiment is provided continuously promotes seal wire along conduit
Method, including 4 steps and its circulation optionally adjacent two in 4 manipulators, select the 3rd manipulator 14 and the here
Four manipulators 12 illustrate that such as (1), 4 manipulators are in keeping certain distance between releasing orientation, manipulator original state,
Seal wire is walked in the catheter, and is maintained in the 4th manipulator 12, and conduit runs in the guide the first manipulator 18, the and of the second manipulator 16
In 3rd manipulator 14, in (2) step, the 3rd manipulator 14 clamping conduit, the 4th manipulator 12 is dropped back a segment distance, the
(3) step, the 4th manipulator 12 clamping seal wire, in (4) step, the 4th manipulator 12 clamping seal wire promotes, unclamps seal wire and withdraw
Dotted line position is the state of (2) step, and the operation for entering seal wire along conduit can then be realized to (4) by repeating (2).
As shown in fig. 6, a kind of blood vessel intervention operation robot system that the present embodiment is provided continuously promotes conduit along seal wire
Method, including 4 steps and its circulation optionally adjacent two in 4 manipulators, select the 3rd manipulator 14 and the here
Four manipulators 12 illustrate that such as (1), 4 manipulators are in keeping certain distance between releasing orientation, manipulator original state,
Seal wire is walked in the catheter, and is maintained in the 4th manipulator 12, and conduit runs in the guide the first manipulator 18, the and of the second manipulator 16
In 3rd manipulator 14, in (2) step, the 3rd manipulator 14 clamping conduit, the 4th manipulator 12 clamps seal wire, in (3) step,
The clamping of 3rd manipulator 14 pushes conduit to the left, and in (4) step, then No. 3 manipulator recession repeat to the position of (2) step
(2) action to (4) carries out the continuous propulsion of conduit.
As shown in fig. 7, a kind of blood vessel intervention operation robot system pipe silk Synergistic method that the present embodiment is provided, principle is such as
(1), the first manipulator 18 and the second manipulator 16 are one group, and the 3rd manipulator 14 and the 4th manipulator 12 are one group, two groups of machines
Tool hand operates conduit or seal wire according to Fig. 3 method, realizes the collaboration of the two.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or change within the scope of the claims, this not shadow
Ring the substantive content of the present invention.In the case where not conflicting, feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (9)
1. a kind of teleoperation vascular intervention surgical robot system, it is characterised in that including lifting portion, near-end operating portion and remote
Operating portion is held, wherein：The near-end operating portion is arranged in the lifting portion；The far-end operation portion drives the near-end operation
Portion；The near-end operating portion can be moved or rotated in three dimensions.
2. teleoperation vascular intervention surgical robot system according to claim 1, it is characterised in that the lifting portion bag
Lifting stand, vertical loading board, pitch regulation handwheel and clamping screw are included, wherein：
The vertical loading board detachably can pass through lock through the top of the lifting stand, the vertical loading board and the lifting stand
Dead bolt fastening；
The pitch regulation handwheel is arranged at the tail end of the vertical loading board, and the pitch regulation handwheel is used to adjust the near-end behaviour
Make position and the angle in portion；
The clamping screw is used to fasten the robot gantry and the vertical loading board.
3. teleoperation vascular intervention surgical robot system according to claim 1, it is characterised in that the near-end operation
Portion includes robot gantry, manipulator, rotation sth. made by twisting controller and push-and-pull controller, wherein：
The robot gantry is arranged at the head end of the vertical loading board；
The manipulator can be slided on the robot gantry；
The push-and-pull controller is installed on the end of the robot gantry, and the push-and-pull controller is used to control the manipulator
Slip；
The rotation twists with the fingers controller and connects the push-and-pull controller by spring cable；
The manipulator is identical with the quantity that controller is twisted with the fingers in the rotation and corresponds, and controller is twisted with the fingers in each rotation to be used to drive and control
Make clamping and rotation of the corresponding manipulator to wire catheter.
4. teleoperation vascular intervention surgical robot system according to claim 3, it is characterised in that the far-end operation
Portion includes being provided with handle, switch and speed governing knob on operational control device, the operational control device；Wherein：
The quantity of the handle is identical with the quantity of the manipulator, and the handle is corresponded with the manipulator, a hand
Handle correspondence one manipulator of control；Each handle has 3 free degree operations；
The switch includes power switch and emergency stop switch；The power switch is used for open system；The emergency stop switch is used for
In case of emergency locked system；
The speed governing knob includes push-and-pull speed governing knob and rotation speed governing knob；The push-and-pull speed governing knob is used to adjust described push away
Draw the speed of controller；The rotation speed governing knob is used to adjust the speed that controller is twisted with the fingers in the rotation.
5. teleoperation vascular intervention surgical robot system according to claim 4, it is characterised in that 3 freedom
Degree operation includes left and right operation, forward/backward operation and push-botton operation, wherein：
The left and right is operated for manipulator or so translation；
The forward/backward operation is used for manipulator away from operator's rotation and Proximity operation person rotation；
The push-botton operation is used for clamping or release of the manipulator to catheter guide wire.
6. teleoperation vascular intervention surgical robot system according to claim 1, it is characterised in that the far-end operation
Portion passes through near-end operating portion described in feed cable and CAN communication cable connection.
7. teleoperation vascular intervention surgical robot system according to claim 4, it is characterised in that the operational control
It is that, using processor of single chip computer as core, periphery carries out power supply voltage stabilizing, motor and driven that controller is twisted with the fingers in device, push-and-pull controller and rotation
Dynamic, the collection of CAN communication, positional information circuit system.
8. a kind of wire catheter propulsion side of the blood vessel intervention operation robot system any one of utilization claim 1-7
Method, it is characterised in that comprise the following steps：
Step 1：Multiple manipulators are between releasing orientation, manipulator keeping spacing, and seal wire is run in the guide between manipulator；
Step 2：First manipulator clamps seal wire, and the second manipulator is withdrawn to the right；
Step 3：First manipulator loose convinces silk by patient analysis, and the second manipulator clamps seal wire；
Step 4：Second manipulator clamps seal wire and promoted to the left；
Step 5：First manipulator clamps seal wire, and the second manipulator loose convinces silk by patient analysis, and withdraws the position of step 2.
9. a kind of wire catheter propulsion side of the blood vessel intervention operation robot system any one of utilization claim 1-7
Method, it is characterised in that comprise the following steps：
Step 1：Multiple manipulators are between releasing orientation, manipulator keeping spacing, and seal wire is walked therebetween；
Step 2：First manipulator unclamps and outwards goes to extreme position, and the second manipulator loose is opened to interior be inverted to extreme position；
Step 3：First manipulator clamps seal wire and inwardly rotated, and the second manipulator loose, which is opened, to be turned out, then seal wire is inwardly rotated
One angle；
Step 4：First manipulator loose is convinced silk by patient analysis and is turned out, and the second manipulator clamps inside rotation, then seal wire inwardly turns again
Move an angle.
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| CN108904049A (en) * | 2018-04-26 | 2018-11-30 | 西安理工大学 | A kind of clinical intubation operation application apparatus |
| CN108904050A (en) * | 2018-04-26 | 2018-11-30 | 西安理工大学 | A kind of intubation operating robot |
| CN108904049B (en) * | 2018-04-26 | 2021-01-15 | 西安理工大学 | Clinical intubation operation application apparatus |
| CN109124779A (en) * | 2018-08-01 | 2019-01-04 | 中国医学科学院北京协和医院 | Operation tool platform and its system |
| CN112888398A (en) * | 2018-10-22 | 2021-06-01 | 韩商未来股份有限公司 | Main robot and control method thereof |
| CN112888398B (en) * | 2018-10-22 | 2023-11-21 | 韩商未来股份有限公司 | Main robot and control method thereof |
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| CN111150921A (en) * | 2020-01-22 | 2020-05-15 | 上海庆之医疗科技有限公司 | Intravascular interventional robot, catheter and intravascular interventional system |
| CN112155735A (en) * | 2020-10-10 | 2021-01-01 | 北京唯迈医疗设备有限公司 | Interventional operation control box |
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Effective date of registration: 20210520 Address after: 2 / F, No.3, Lane 215, Amber Road, Pudong New Area, Shanghai, 201321 Patentee after: SHANGHAI AOPENG MEDICAL TECHNOLOGY Co.,Ltd. Address before: 201109 room 3017, building 10, No. 1088, Fanghe Road, Minhang District, Shanghai Patentee before: SHANGHAI SUJIE ROBOT TECHNOLOGY Co.,Ltd. |