CN109157287B - Robot slave hand capable of sensing advancing resistance and clamping force of catheter or guide wire - Google Patents
Robot slave hand capable of sensing advancing resistance and clamping force of catheter or guide wire Download PDFInfo
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- CN109157287B CN109157287B CN201810745272.2A CN201810745272A CN109157287B CN 109157287 B CN109157287 B CN 109157287B CN 201810745272 A CN201810745272 A CN 201810745272A CN 109157287 B CN109157287 B CN 109157287B
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- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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- A—HUMAN NECESSITIES
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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Abstract
A robot slave hand capable of sensing the advancing resistance and the clamping force of a catheter or a guide wire comprises an L-shaped bottom plate and is characterized in that a catheter clamping mechanism and a guide wire clamping mechanism both comprise a screw rod, a nut, an anti-rotation block and a compliant mechanism, the screw rod is driven by a motor to rotate, the nut which is screwed on the screw rod is limited by the anti-rotation block and can only move, the nut is connected with the compliant mechanism, and the nut rotates to drive the compliant mechanism to clamp the guide wire or the catheter on the V-shaped block; the catheter clamping mechanism and the guide wire clamping mechanism are fixedly connected with a rotor of the corresponding first hollow ultrasonic motor and a rotor of the corresponding second hollow ultrasonic motor, and the first hollow ultrasonic motor and the second hollow ultrasonic motor drive the flexible mechanism to simulate a human finger to twist the guide wire or the catheter when rotating. The invention can accurately simulate the manual operation of a human hand, is accurate and reliable, and lays a foundation for the popularization and the application of a master-slave robot system for the vascular interventional operation.
Description
Technical Field
The invention relates to a robot technology, in particular to a medical robot technology, in particular to a slave robot hand which is suitable for a master-slave robot system of a vascular interventional operation and can sense the advancing resistance and clamping force of a catheter or a guide wire by sensing the hand force.
Background
The minimally invasive vascular interventional operation has the characteristics of small wound, high safety, light pain of a patient, quick postoperative recovery, few complications and the like, and becomes an important means for treating cardiovascular diseases and tumors which is generally accepted by the medical field. The robot technology is combined with the minimally invasive vascular interventional operation, and a special surgical robot system is designed to assist an interventional doctor in completing the delivery of interventional instruments such as guide wires, catheters and the like.
Before the vascular intervention operation, guide wires which are matched with each other need to penetrate into a catheter, the guide wires are longer than the catheter, and the head end and the tail end of each guide wire are exposed outside the catheter. After the blood vessel puncture succeeds, the head end of the guide wire is inserted into the blood vessel through the puncture needle seat, and the catheter is also sent into the blood vessel under the guidance of the guide wire. Under the guidance of the image, firstly, one hand holds the catheter to prevent the catheter from moving; the tail end of the guide wire is controlled by the other hand, and the guide wire is twisted for a certain angle or pushed (withdrawn) for a certain displacement; then, the operation object is changed by two hands, one hand holds the guide wire to prevent the guide wire from moving, the other hand operates (pushes or withdraws or twists) the tail end of the catheter, and the catheter is correspondingly moved under the guidance of the guide wire. This alternates between steering the guide wire and catheter, with the guide wire always in front of the catheter, and guiding the catheter forward until the catheter reaches the target vascular site.
The robot system for the vascular intervention operation mainly comprises a master hand and a slave hand, during operation, a doctor confirms the position of a guide wire/catheter in a blood vessel according to a real-time image, the master hand makes linear movement or rotary movement required for further advancing or withdrawing the guide wire/catheter in the blood vessel, the master hand transmits signals generated by the movement to the slave hand, the slave hand is driven by a motor to repeat the operation of the doctor at the master hand, and the linear movement or rotary movement of the guide wire/catheter is completed, so that the accuracy of the operation is improved, the stability of the operation process is also improved, and more importantly, the doctor is prevented from being exposed to X rays for a long time.
When a doctor operates the catheter/guide wire, whether the catheter/guide wire is pinched and whether the catheter/guide wire is retracted is deduced according to force sense information of hands, namely, the resistance for pushing the catheter/guide wire is high, which indicates that the catheter/guide wire can not be pushed forward blindly, otherwise, the injury to a blood vessel wall is generated. At present, the force perception of the hands of the robot system for vascular intervention operation is not consistent with the actual perception of doctors, and almost all robot systems want to add a miniature force sensor at the front end of a guide wire or a catheter, which has the defects that: (1) the miniature force sensor at the front end of the guide wire or the catheter cannot sense the friction between the catheter or the middle part of the guide wire in the blood vessel and the blood vessel wall; (2) the structure and the size of the existing commercial mature catheter and guide wire are changed, and the popularization and the application of the catheter and the guide wire are limited; (3) the practical use of this approach is hindered by the ability of the sensor to withstand sterilization, potential damage to body tissue from its electrical conductivity, and the like.
When a doctor pushes the catheter or the guide wire, the doctor senses the travel resistance through hands and clamps the catheter/the guide wire by means of the clamping force of fingers, and if the doctor can simulate the hand feeling of the doctor to know the travel resistance and the clamping force of the catheter and the guide wire, the mature commercial guide wire and the catheter do not need to be changed.
Disclosure of Invention
The invention aims to design a robot slave hand capable of sensing the advancing resistance and the clamping force of a catheter or a guide wire, aiming at the problem that the slave hand of a master-slave robot system of the existing vascular interventional operation cannot sense the advancing resistance and is difficult to popularize and apply. .
The technical scheme of the invention is as follows:
a robot slave hand capable of sensing the advancing resistance and the clamping force of a catheter or a guide wire comprises an L-shaped bottom plate 1, wherein a linear ultrasonic motor moving guide rail 5 and a hollow ultrasonic motor moving guide rail 6 are respectively arranged on the bottom surface of the L-shaped bottom plate 1, a friction strip 2 is attached to the vertical surface of the L-shaped bottom plate 1, the friction strip 2 is always in contact with the driving feet of a first linear ultrasonic motor 21 and a second linear ultrasonic motor 22, and when the linear ultrasonic motors are electrified and driven, the friction strip 2 is fixed and does not move, so that the body of the linear ultrasonic motor linearly moves under the guidance of the linear ultrasonic motor moving guide rail 5; the bodies of the first linear ultrasonic motor 21 and the second linear ultrasonic motor 22 are fixedly connected with the first hollow ultrasonic motor 19 and the second hollow ultrasonic motor 20 respectively so as to drive the first hollow ultrasonic motor 19 and the second linear ultrasonic motor 22 to do linear movement on the hollow ultrasonic motor movement guide rail 6; the catheter clamping mechanism 24 and the guide wire clamping mechanism 26 have the same structural form, the catheter clamping mechanism 24 is used for clamping a catheter 18, and the guide wire clamping mechanism 26 is used for clamping a guide wire 16, and the catheter clamping mechanism 24 and the guide wire clamping mechanism 26 are both characterized by comprising a screw rod 11, a nut 9, an anti-rotation block 10 and a compliant mechanism 15, wherein the screw rod 11 is driven by a motor 13 to rotate, the nut 9 which is rotatably arranged on the screw rod 11 is limited by the anti-rotation block 10 and can only move, the nut 9 is connected with the compliant mechanism 15, and the nut 9 rotates to drive the compliant mechanism 15 to clamp the guide wire 16 or the catheter 18 on a V-shaped block 17; the guide wire clamping mechanism 26 and the catheter clamping mechanism 24 are fixedly connected with a rotor of the corresponding first hollow ultrasonic motor 19 and a rotor of the corresponding second hollow ultrasonic motor 20, and the first hollow ultrasonic motor 19 and the second hollow ultrasonic motor 20 drive the flexible mechanism 15 to simulate human fingers to twist the guide wire or the catheter when rotating.
The axis of the guide wire 16 or the guide pipe 18 is superposed with the rotation center line of the rotor of the first hollow ultrasonic motor 19 or the second hollow ultrasonic motor 20 when the V-shaped positioning groove of the V-shaped block 17 is positioned.
The catheter 18 is supported on the first cavernous body 23, and the guide wire 16 is supported on the second cavernous body 25, so that the catheter/guide wire is prevented from seriously sagging; the first sponge body 23 and the second sponge body 25 have good compressibility, do not generate resistance to driving of a motor, have good resilience, and always keep a supporting function on a catheter/guide wire.
The first hollow ultrasonic motor 19 is connected with a first hollow rotary encoder 27 for sensing the rotation angle of the guide wire, and the second hollow ultrasonic motor 20 is connected with a second hollow rotary encoder 28 for sensing the rotation angle of the guide wire or the guide pipe.
The base plate 1 is also provided with a linear grating ruler 4, and a linear displacement sensor reading head 3 matched with the linear grating ruler 4 is fixedly connected to the first linear ultrasonic motor 21 and the second linear ultrasonic motor 22 so as to respectively sense the linear displacement of the guide wire or the guide pipe.
The compliant mechanism 15 mainly comprises a first strain gauge 29, a first flexible hinge 30, a second strain gauge 31 and a second flexible hinge 32, wherein the first strain gauge 29 for sensing the clamping force on the catheter or the guide wire is attached to the first flexible hinge 30, and the second strain gauge 31 for sensing the advancing resistance of the catheter or the guide wire is attached to the second flexible hinge 32.
The first flexible hinge 30 and the second flexible hinge 32 are integrally connected to form a 9 shape, the starting point of the 9 shape is fixedly connected with the nut 9 through a pin shaft 33, and a pressure head 34 of the first flexible hinge is pressed on a guide wire or a guide pipe.
The bodies of the first flexible hinge 30 and the second flexible hinge 32 are arranged in parallel.
The invention has the beneficial effects that:
the invention adopts the flexible mechanism to sense the advancing resistance and the clamping force of the catheter and the guide wire, can completely simulate the stress condition of the hands of a doctor when controlling the guide wire and the catheter, and does not need to change the mature commercial catheter and guide wire.
The invention adopts a flexible mechanism with parallel flexible hinges, the flexible hinges generate bending strain when the flexible mechanism is in contact with a clamping force of a catheter/guide wire and the catheter/guide wire is subjected to resistance in the advancing process, and strain gauges sense the bending strain and calculate the advancing resistance and the clamping force through the theoretical decoupling of the rotation amount.
Drawings
Fig. 1 is a schematic left side view of the structure of the present invention.
Fig. 2 is a schematic top view of the structure of the present invention.
Fig. 3 is a front view showing the structure of the present invention.
FIG. 4 is a schematic view of a compliant mechanism of the present invention.
FIG. 5 is a diagram of a model torsion spring for a compliant mechanism.
FIG. 6 is a force rotation graph of a compliant mechanism.
In the figure: 1. l-shaped bottom plate, 2, friction strip, 3, linear displacement sensor reading head, 4, linear grating ruler, 5, linear ultrasonic motor moving guide rail, 6, hollow ultrasonic motor moving guide rail, 7, baffle, 8, support plate 1, 9, nut, 10, anti-rotation block, 11, screw rod, 12, support plate 2, 13, common motor, 14, hollow motor rotor, 15, compliance mechanism, 16, guide wire, 17, V-shaped block, 18, conduit, 19, first hollow ultrasonic motor, 20, second hollow ultrasonic motor, 21, first linear ultrasonic motor, 22, second linear ultrasonic motor, 23, first sponge body, 24, conduit clamping mechanism, 25, second sponge body, 26, guide wire clamping mechanism, 27, first hollow rotary encoder, 28, second hollow rotary encoder, 29, first strain gauge, 30, first flexible hinge, 31, second strain gauge, first strain gauge, second strain gauge, a second strain gauge 32, a second flexible hinge 33, a pin shaft 34 and a pressure head.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 1-6.
A robot slave hand capable of sensing the advancing resistance and the clamping force of a catheter or a guide wire comprises an L-shaped bottom plate 1, wherein a linear ultrasonic motor moving guide rail 5 and a hollow ultrasonic motor moving guide rail 6 are respectively arranged on the bottom surface of the L-shaped bottom plate 1, a friction strip 2 is attached to the vertical surface of the L-shaped bottom plate 1, the friction strip 2 is always in contact with driving feet of a first linear ultrasonic motor 21 and a second linear ultrasonic motor 22 (as shown in figure 2), and when the linear ultrasonic motor is powered on and driven, the friction strip 2 is fixed, so that the body of the linear ultrasonic motor linearly moves under the guidance of the linear ultrasonic motor moving guide rail 5; the bodies of the first linear ultrasonic motor 21 and the second linear ultrasonic motor 22 are fixedly connected with the first hollow ultrasonic motor 19 and the second hollow ultrasonic motor 20 respectively so as to drive the first hollow ultrasonic motor 19 and the second linear ultrasonic motor 22 to do linear movement on the hollow ultrasonic motor movement guide rail 6; the structure forms of the catheter clamping mechanism 24 and the guide wire clamping mechanism 26 are the same, the catheter clamping mechanism 24 is used for clamping the catheter 18, the guide wire clamping mechanism 26 is used for clamping the guide wire 16, the catheter clamping mechanism 24 and the guide wire clamping mechanism 26 respectively comprise a screw rod 11, a nut 9, an anti-rotation block 10 and a compliant mechanism 15, the screw rod 11 is driven to rotate by a motor 13, the nut 9 which is rotatably installed on the screw rod 11 is limited by the anti-rotation block 10 and can only move, and the nut 9 is connected with the compliant mechanism 15. As shown in FIG. 4, the compliance mechanism 15 mainly comprises a first strain gauge 29, a first flexible hinge 30, a second strain gauge 31 and a second flexible hinge 32, wherein the first strain gauge 29 for sensing the clamping force on the catheter or the guide wire is attached to the first flexible hinge 30, and the second strain gauge 31 for sensing the advancing resistance of the catheter or the guide wire is attached to the second flexible hinge 32. As can be seen from FIG. 4, the first flexible hinge 30 and the second flexible hinge 32 are integrally connected to form a structure similar to the shape of the Chinese character "9", the starting point of the "9" is not connected to the vertical edge and is fixedly connected with the nut 9 through the pin shaft 33, and the pressure head 34 of the "9" is pressed on the guide wire or the guide pipe. It can also be seen from fig. 4 that the bodies of flex hinge number one 30 and flex hinge number two 32 are arranged in parallel. As shown in fig. 1, the nut 9 rotates to drive the compliance mechanism 15 to clamp the guide wire 16 or the guide tube 18 on the V-shaped block 17, and the axis of the guide wire 16 or the guide tube 18 when the V-shaped positioning groove of the V-shaped block 17 is positioned coincides with the rotation center line of the rotor of the first hollow ultrasonic motor 19 or the second hollow ultrasonic motor 20. The catheter clamping mechanism 24 and the guide wire clamping mechanism 26 are fixedly connected with the corresponding rotor of the first hollow ultrasonic motor 19 and the corresponding rotor of the second hollow ultrasonic motor 20, and the first hollow ultrasonic motor 19 and the second hollow ultrasonic motor 20 drive the flexible mechanism 15 to simulate human fingers to twist the guide wire or the catheter. As shown in fig. 1. To prevent sagging of the guide wire or catheter, it is contemplated that the catheter 18 may be supported on the first sponge 23 and the guide wire 16 on the second sponge 25 to prevent severe sagging of the catheter/guide wire; the first and second sponges 23, 25 have good compressibility without resistance to the driving of the motor, and good recovery, and always support the catheter/guide wire, as shown in fig. 3. In addition, in order to realize the precise stroke control and the twisting angle control, the first hollow ultrasonic motor 19 can be connected with a first hollow rotary encoder 27 for sensing the rotation angle of the guide wire, and the second hollow ultrasonic motor 20 can be connected with a second hollow rotary encoder 28 for sensing the rotation angle of the guide wire or the guide pipe. Meanwhile, a linear grating ruler 4 is installed on the bottom plate 1, and a first linear ultrasonic motor 21 and a second linear ultrasonic motor 22 are respectively and fixedly connected with a linear displacement sensor reading head 3 matched with the linear grating ruler 4 so as to respectively sense the linear displacement of the guide wire or the guide pipe.
The details are as follows:
the linear sound motor moving guide rail 5 and the hollow ultrasonic motor moving guide rail 6 are respectively arranged on the bottom surface of the L-shaped bottom plate 1, and the friction strip 2 is attached to the vertical surface of the L-shaped bottom plate 1. The friction strip 2 is always in contact with the driving feet of the first linear ultrasonic motor 21 and the second linear ultrasonic motor 22, and when the linear ultrasonic motors are powered on and driven, the friction strip 2 is fixed and does not move, so that the bodies of the linear ultrasonic motors linearly move under the guidance of the linear ultrasonic motor moving guide rails 5. The bodies of the first linear ultrasonic motor 21 and the second linear ultrasonic motor 22 are fixedly connected with the first hollow ultrasonic motor 19 and the second hollow ultrasonic motor 20 respectively, so that the first linear ultrasonic motor 21 can drive the first hollow ultrasonic motor 19 to linearly move under the guide of the hollow ultrasonic motor moving guide rail 6, and similarly, the second linear ultrasonic motor 22 can drive the second hollow ultrasonic motor 20 to linearly move under the guide of the hollow ultrasonic motor moving guide rail 6.
The catheter clamping mechanism 24 is configured in the same manner as the guide wire clamping mechanism 26. When the screw 11 rotates, the nut 9 is limited by the anti-rotation block 10 and can only move, and the compliance mechanism 15 is driven to move, so that the guide wire 16 or the guide pipe 18 can be clamped on the V-shaped block 17. Cooperating with the compliance mechanism 15 to compress the guide wire 16 or catheter 18 is a V-block 17 which positions guide wires and catheters of different diameters.
The catheter clamping mechanism 24 is for clamping the catheter 18 and the guidewire clamping mechanism 26 is for clamping the guidewire 16. The locking mechanism body of the catheter clamping mechanism 24 is fixedly connected with the rotor of the first hollow ultrasonic motor 19, and the locking mechanism body of the guide wire clamping mechanism 26 is fixedly connected with the rotor of the second hollow ultrasonic motor 20. The axis of the guide wire 16 or the catheter 18 when the V-shaped positioning groove of the locking mechanism body is positioned coincides with the rotation center line of the rotor of the hollow ultrasonic motor. When the guide wire 16 or the catheter 18 is clamped by the locking mechanism, the hollow ultrasonic motor rotates to simulate the twisting action of human fingers on the guide wire or the catheter.
The first sponge 23 and the second sponge 25 can simply support the catheter/guide wire to prevent the catheter/guide wire from seriously sagging. The first sponge body 23 and the second sponge body 25 have good compressibility and hardly generate resistance to the driving of a motor, and the first sponge body 23 and the second sponge body 25 have good recoverability and always keep the supporting function on a catheter/a guide wire.
The first hollow rotary encoder 27 and the second hollow rotary encoder 28 are respectively fixedly connected with the first hollow ultrasonic motor 19 and the second hollow ultrasonic motor 20 to sense the rotation angle of the guide wire or the catheter. The linear grating ruler 4 is attached to the bottom plate 1, and the linear displacement sensor reading head 3 fixedly connected with the linear ultrasonic motor body can sense and sense linear displacement of the guide wire or the guide pipe.
The procedure of performing the vascular intervention operation from the hand is as follows: the catheter clamping mechanism 24 clamps the trailing end of the catheter 18 and the guidewire clamping mechanism 26 clamps the trailing end of the guidewire 16. When the guide wire 16 needs to be pushed, the linear movement of the body of the first linear ultrasonic motor 21 can drive the guide wire 16 to move linearly, the rotation of the first hollow ultrasonic motor 19 can drive the guide wire 16 to move in a rotating mode, the movement of the two degrees of freedom is completely decoupled, and the two degrees of freedom can also be driven simultaneously, so that the guide wire 16 is driven to move in a rotating and linear mode; when the guide pipe 18 needs to be pushed, the linear movement of the body of the second linear ultrasonic motor 22 can drive the guide pipe 18 to move linearly, the rotation of the second hollow ultrasonic motor 20 can drive the guide pipe 18 to move in a rotating mode, the movement of the two degrees of freedom is completely decoupled, and the two degrees of freedom can also be driven simultaneously, so that the guide pipe 18 is driven to move in a rotating mode and in a linear mode.
The principle of the force sensing part of the present invention is as follows:
the first strain gauge 29 is attached to the top of the first flexible hinge 30, the second strain gauge 31 is attached to the bottom of the second flexible hinge 32, and when the compliant mechanism is in pressing contact with the guide wire and the guide wire encounters resistance in the advancing process, the two flexible hinges generate corresponding bending strain epsilon1And ε2The strain gauge can detect the instant bending strain of the flexible hinge, and the pressing force and the resistance value can be obtained through the following conversion. And bending strain epsilon1And ε2Corresponding rotational deformation
And
can be calculated by the following formula.
Wherein the content of the first and second substances,
βi≡ti/(2ri)tiis the width of the narrowest part of the flexible hinge, riRadius being a flexible angle of a circular arc
The flexibility coefficients of two flexible hinges are known to be c1And c2(given the dimensions and materials of the flexural hinges, it is possible to calculate) the instantaneous change in the rotational deformation at each flexural hinge is
And
the amount of change δ τ in the bending moment acting on each flexible hinge1And δ τ2It can be expressed as:
since the detected quantity is bending strain, without loss of generality, the flexible hinge is replaced by a torsion spring in the analytical model. The whole mechanism can be seen as an articulated tandem robot, as shown in fig. 5. Under the condition that the joint rotation angle is known, the position coordinates of any two instantaneous torsion springs and the mechanism stress point can be solved by using a D-H method, and the instantaneous motion momentum S of the torsion springs can be further solved1(6x1) and S2(6x1) which are not related to each other. From S1And S2The composed Jacobian matrix J (6x2) based on the theory of momentum. According to the statics relationship, the instantaneous variation of the joint torque and the instantaneous variation of the joint force rotation satisfy the following formula:
δτ＝JTδω
but due to the jacobian matrix of the mechanismJ is irreversible and cannot be directly solved for the applied external force from the above formula. Here, a reciprocal Jacobian matrix J is usedr(6x2) as a bridge, the joint torque and the joint torque spiral quantity satisfy the following formula:
δω＝Jr[r]-1δτ (a)
wherein the content of the first and second substances,
[r]≡JTJr
reciprocal jacobian matrix Jr(two unit rotations in 6x2)
The solving method of (1):
reciprocal jacobian matrix JrThe ith unit rotation of (c) should be equal to Null (J)T) And all the quantums except the ith one in the zero space and J are reciprocal.
In this mechanism, J has two independent rotations, Null (J)T) The null space should have four independent helices. Solving a reciprocal Jacobian matrix JTShould be related to Null (J)T) The four quantums of the null space are reciprocal and simultaneously equal to the second one S of J2And (4) reciprocity. In other words, Null (J)T) Four rotations of null space and S in J2Form a five-order momentum system, the reciprocity system must be a first-order momentum system, i.e. there is only one momentum, and since the momentum is a unit momentum, the momentum can be uniquely determined. Similarly, the reciprocal Jacobian matrix JrThe second spin amount of (a) may also be uniquely determined. As shown in figure 6 of the drawings,
in the plane of the flexible planar mechanism xOy, simultaneously with S2Is vertical to the central connecting line of the two torsion springs;
also in the flexible planar mechanism xOy plane, simultaneously with S1Is vertical to the central connecting line of the two torsion springs;
the whole force rotation of the flexible mechanism is generated by external clamping force and running resistance, and is a reciprocal Jacobian matrix JrTwo of the rotations in (a) illustrate that in the six-step force rotation system of the overall flexible mechanism, there are two unconstrained force rotations that are linearly related to the force rotations of the two torsion springs. The remaining four force moments are constraining force moments that should be reciprocal to the two motion moments in J, so the four constraining force moments can be solved using the reciprocity theory.
Clamping force w by flexible mechanismtAnd a running resistance wnThe generated force momentum can be divided into non-binding force momentum w acting on the two torsion springs1And w2And four constraint spin amounts. The four constraint momentum are reciprocal to the momentum composed of two motion momentum in the Jacobian matrix J, because the two fluxes are linearly independent and reciprocal, the momentum is a co-reciprocal momentum system, therefore, two fluxes in the momentum system reciprocal to the co-reciprocal momentum system are two fluxes in the J, the other two fluxes can be coincident with the central lines of the two torsion springs, and the moments are respectively +/-1 pair of linearly independent reciprocal fluxes.
Clamping force w of flexible mechanismtAnd a running resistance wnThe instantaneous change amounts of the generated torque amounts are respectively delta wt(＝δftut) And δ wn(＝δfnun) Wherein, δ ftAnd δ fnIs the magnitude of the force; u. oftAnd unIs δ wtAnd δ wnThe unit rotation amounts can be obtained in real time according to the rotation angle of the torsion spring by a D-H method.
Let the instantaneous variation of the four constraint force rotations be delta wo1(＝δfo1uo1)，δwo2(＝δfo2uo2)，wc3(＝δfc3uc3) And δ wc4(＝δfc4uc4)，δfct(i-1, 2,3,4) is the amplitude of each convolution, uciIs each amount of rotationUnit amount of spin of (c).
Clamping force w by flexible mechanismtAnd a running resistance wnThe resulting torque can be divided into a series of unconstrained torque δ w (δ w) acting on the two torsion springs1And δ w2And four constraint force torques, the relationship being as follows:
δftut+δfnun＝δw+δfc1uc1+δfc2uc2+fc3uc3+fc4uc4i.e. by
δw＝δftut+δfnun-δfc1uc1-δfc2uc2-fc3uc3-fc4uc4Can also be written as
δw＝δfM (b)
δf＝[δft,δfn,δfc1,δfc2,δfc3,δfc4]
M＝[ut,un,-uc1,-uc2,-uc3,-uc4]
Substituting the formula (b) into the formula (a) to obtain
δf＝M-1Jr[r]-1δτ
The force amplitude delta f can be obtained by the principle that the corresponding terms of the matrixes at the two ends of the equation are equaltAnd δ fn。
The force derived from the above formula is the instantaneous change in clamping force and resistance to travel, which should be added to the previously calculated clamping force and resistance to travel, respectively.
The parts not involved in the present invention are the same as or can be implemented using the prior art.
Claims (6)
1. A robot slave hand capable of sensing the advancing resistance and the clamping force of a catheter or a guide wire comprises an L-shaped bottom plate (1), wherein a linear ultrasonic motor moving guide rail (5) and a hollow ultrasonic motor moving guide rail (6) are respectively arranged on the bottom surface of the L-shaped bottom plate (1), a friction strip (2) is attached to the vertical surface of the L-shaped bottom plate (1), the friction strip (2) is always in contact with the driving feet of a first linear ultrasonic motor (21) and a second linear ultrasonic motor (22), and when the linear ultrasonic motor is powered on and driven, as the friction strip (2) is fixed, the body of the linear ultrasonic motor linearly moves under the guidance of the linear ultrasonic motor moving guide rail (5); the bodies of the first linear ultrasonic motor (21) and the second linear ultrasonic motor (22) are respectively fixedly connected with the first hollow ultrasonic motor (19) and the second hollow ultrasonic motor (20) so as to drive the first hollow ultrasonic motor (19) and the second linear ultrasonic motor (22) to do linear movement on the hollow ultrasonic motor movement guide rail (6); the catheter clamping mechanism (24) and the guide wire clamping mechanism (26) are in the same structural form, the catheter clamping mechanism (24) is used for clamping a catheter (18), and the guide wire clamping mechanism (26) is used for clamping a guide wire (16), the catheter clamping mechanism (24) and the guide wire clamping mechanism (26) are characterized in that the catheter clamping mechanism (24) and the guide wire clamping mechanism (26) respectively comprise a screw rod (11), a nut (9), an anti-rotation block (10) and a compliant mechanism (15), the screw rod (11) is driven by a motor (13) to rotate, the nut (9) which is rotatably arranged on the screw rod (11) is limited by the anti-rotation block (10) and can only move, the nut (9) is connected with the compliant mechanism (15), and the nut (9) rotates to drive the compliant mechanism (15) to clamp the guide wire (16) or; the guide wire clamping mechanism (26) and the catheter clamping mechanism (24) are fixedly connected with a rotor of the corresponding first hollow ultrasonic motor (19) and a rotor of the corresponding second hollow ultrasonic motor (20), and the first hollow ultrasonic motor (19) and the second hollow ultrasonic motor (20) drive the flexible mechanism (15) to simulate human fingers to twist the guide wire or the catheter; the compliant mechanism (15) mainly comprises a first strain gauge (29), a first flexible hinge (30), a second strain gauge (31) and a second flexible hinge (32), wherein the first strain gauge (29) for sensing the clamping force on the catheter or the guide wire is attached to the first flexible hinge (30), and the second strain gauge (31) for sensing the advancing resistance of the catheter or the guide wire is attached to the second flexible hinge (32); the first flexible hinge (30) and the second flexible hinge (32) are integrally connected into a 9 shape, the starting point of the 9 shape is fixedly connected with the nut (9) through a pin shaft (33), and a pressure head (34) of the first flexible hinge is pressed on the guide wire or the guide pipe.
2. The robot slave hand capable of sensing the running resistance and the clamping force of the guide wire or the guide wire as claimed in claim 1, wherein the axis of the guide wire (16) or the guide tube (18) when the V-shaped positioning groove of the V-shaped block (17) is positioned coincides with the rotation center line of the rotor of the first hollow ultrasonic motor (19) or the second hollow ultrasonic motor (20).
3. The robot slave hand capable of sensing the running resistance and clamping force of the catheter or the guide wire as claimed in claim 1, wherein the catheter (18) is supported on a first sponge body (23), and the guide wire (16) is supported on a second sponge body (25) so as to prevent the catheter/the guide wire from seriously sagging; the first sponge body (23) and the second sponge body (25) have good compressibility, do not generate resistance to the driving of a motor, have good resilience, and always keep the supporting function on a catheter/a guide wire.
4. The robot slave hand capable of sensing the advancing resistance and the clamping force of the guide wire or the guide wire as claimed in claim 1, wherein the first hollow ultrasonic motor (19) is connected with a first hollow rotary encoder (27) for sensing the rotation angle of the guide wire, and the second hollow ultrasonic motor (20) is connected with a second hollow rotary encoder (28) for sensing the rotation angle of the guide wire or the guide wire.
5. The robot slave hand capable of sensing the running resistance and the clamping force of the guide wire or the guide wire as claimed in claim 1, wherein the L-shaped bottom plate (1) is further provided with a linear grating ruler (4), and a linear displacement sensor reading head (3) matched with the linear grating ruler (4) is fixedly connected to the first linear ultrasonic motor (21) and the second linear ultrasonic motor (22) so as to respectively sense the linear displacement of the guide wire or the guide wire.
6. The slave robot hand capable of sensing the resistance to catheter or guidewire travel and gripping force of claim 1, wherein the bodies of the first flexible hinge (30) and the second flexible hinge (32) are arranged in parallel.
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| CN110141365B (en) * | 2019-05-06 | 2021-01-26 | 清华大学 | Blood vessel intervention operation auxiliary device remote control system for simulating doctor operation |
| CN112120791B (en) * | 2020-09-30 | 2021-12-31 | 中国科学院深圳先进技术研究院 | Main end control device of vascular intervention surgical robot |
| CN113749781B (en) * | 2021-08-10 | 2023-05-16 | 深圳市爱博医疗机器人有限公司 | Interventional operation robot slave end guide wire catheter driving device with force detection function |
| CN113749774B (en) * | 2021-08-10 | 2023-05-16 | 深圳市爱博医疗机器人有限公司 | Interventional operation robot driving device with catheter guide wire diameter identification function |
| CN114271948B (en) * | 2021-12-07 | 2024-03-26 | 南京航空航天大学 | Compact single-hole surgical robot slave hand |
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| CN201988021U (en) * | 2011-03-08 | 2011-09-28 | 中国科学院沈阳自动化研究所 | Airbag clamping device capable of feeding back intervened operation resistance |
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