CN205459038U - Surgery robot from end is intervene to principal and subordinate wicresoft blood vessel - Google Patents

Abstract

The utility model discloses a surgery robot from end is intervene to principal and subordinate wicresoft blood vessel belongs to the mechanical manufacturing technology field. It includes from end control mechanism with from end moving platform, comprises centre gripping actuating mechanism I, thrust feedback mechanism II, harmless fixture III, centre gripping control mechanism IV from end control mechanism, simultaneously the utility model discloses its control method has still been provided. The utility model discloses a designed harmless fixture, centre gripping control mechanism, centre gripping actuating mechanism and thrust feedback mechanism, come to accomplish operation in -process seal wire the centre gripping, relax, rotate, operations such as propelling movement, the measurement of propelling movement power, increased the propelling movement measuring accuracy of doing all can, improved the reliability of seal wire centre gripping to install and remove the convenience.

Description

Principal and subordinate interventional surgery robot is from end

Technical field

This utility model belongs to machinery manufacturing technology field, specifically, relates to a kind of interventional surgery robot, more Specifically, principal and subordinate interventional surgery robot is related to from end.

Background technology

Cardiovascular and cerebrovascular disease has become one of big Death causes of the mankind three, serious threat human health.The situation of angiopathy is main There are the blocking of vascular tumor, thrombosis, vascular malformation, vasoconstriction, sclerosis of blood vessels etc..Intubation intervention operation is the existing treatment heart Cerebrovascular disease most efficient method, compared with " open " operation, it has, and wound is little, safety, post-operative recovery are fast, The advantages such as few intercurrent disease.But traditional blood vessel intervention operation there is also some problems, first intubation intervention and performs the operation at medical image Carrying out under the guiding of equipment, doctor is radiated by X-ray for a long time, damages the health of doctor；Next to that operation is high-risk Dangerous, the operation skill of operation doctor is required height, it is necessary to be that high-caliber specialist could perform, the difficulty therefore existed It is shortage and the time length of training of doctors, the cost height of doctor；Being that operating time is long again, doctor can be because of long-time operation Fatigue, the maloperation when physiology of doctor trembles and is tired all can be substantially reduced the safety of operation.

Remote operating principal and subordinate interventional surgery robot can effectively solve the problem that the problems referred to above, and doctor can not be subject to a safety Operation in the environment of X-ray radiation, the physiology of doctor trembles and maloperation can be filtered out by system, decreases doctor Training time.In recent years, remote operating principal and subordinate interventional surgery aid system has become a study hotspot.Tradition hands Doctor's direct operation apparatus in art, apparatus can be directly transmitted to doctor with the information that contacts of tissue, and in Minimally Invasive Surgery Tactile data in surgical hardly results in mostly due to the relation of operating theater instruments.Therefore, in Minimally Invasive Surgery, doctor due to Lack tactile data and make operation add danger, may be because of misoperation or the too quickly organ having damaged patient.Sense of touch is anti- Present and all relate in a lot of researchs, but traditional direct of feedback system differs greatly by the way of operating theater instruments, the behaviour of doctor Make mode and traditional mode is the most different, it is common that directly sending action instruction.Therefore, tradition gets involved to perform the operation and is accumulated Experiences and Skills can not get well utilizing, do not meet the requirement of ergonomics.

Mainly there are Institutes Of Technology Of Tianjin, Harbin Institute of Technology and Beijing Aviation space flight big for blood vessel intervention operation robot at present Learn.

Documents 1: application publication number is CN104042259A, filing date on May 16th, 2014, applies for artificial Tianjin Polytechnics, discloses entitled a kind of principal and subordinate's interventional surgery aid system from the patent document of operator device, it Including axial push unit, rotary unit, catching unit, surgical catheters, operating physical force detector unit and tilt adjustable base, its Method of work include signal detection, transmit, process, action.It is advantageous in that: the interventional procedure action of doctor can be imitated, Performance accuracy is high, is effectively improved operation safety；Can ensure that different curers or different intervention positions all can be adjusted Whole to the desired angle of operator；Device entirety uses aluminum alloy materials, and size is little, light weight.This invention can be well Complete the propelling movement of seal wire, and use magnetic flow liquid to realize force feedback, have that moving component inertia is little, feed back the advantages such as sensitive.

Documents 2: Authorization Notice No. is CN102028549B, the date of application is on January 17th, 2011, and application is artificial breathes out That shore polytechnical university, discloses the patent document of entitled a kind of catheter robot system getting involved operation for Ink vessel transfusing Wicresoft, In it relates to a kind of secondary vessel, Wicresoft gets involved the robot system performed the operation.For reducing operative site patient and the radiation hazradial bundle of doctor, Realize compartment strange land and get involved operation, feedback conduit carrying capacity.Main hands handle and main frame are placed in control room, switch board, Modular catheter, principal and subordinate's intervention device, magnetic field generator and steerable catheter are placed in operating room, and main hands handle pose signal is computed Machine host passes to switch board after processing, and has motion control card and driver in switch board, and motion control card receives order transmission and refers to Order is to driver, and control signal is passed to each motor of principal and subordinate's intervention device by driver, and then control intervention device realization can The control push/pull of conduit, rotation and bending operation, Position and attitude sensor collects the posture information of controllable bending tune, and pose signal is through fortune Dynamic control card is passed to main frame and is carried out signal processing.This invention have employed steerable catheter, can obtain steerable catheter bending controlled The posture information of section, it is ensured that the motility of steerable catheter front end and intubate the navigability of operation, simultaneously by main hands handle control Principal and subordinate's intervention device processed realize steerable catheter push away draw, rotate and flexure operation, and operating room steerable catheter carrying capacity letter can be obtained Breath, it is ensured that the accuracy intubated and stability.

Documents 3: Authorization Notice No. is CN103006327B, the date of application is December in 2012 3, the artificial north of application Capital Aero-Space university, discloses the patent document of entitled a kind of Master-slave teleoperation vascular intervention surgical robot, and it includes Main side operating-controlling mechanism, from end propulsive mechanism, PMAC controller；Main side operating-controlling mechanism is as the operating side of doctor；Advance from end Mechanism, as the actuator of robot, replaces doctor to hold conduit in operating room, completes the motor function of conduit；PMAC Control chamber be used for realize main side operating-controlling mechanism and from end propulsive mechanism between information transmission so that from end conduit propulsive mechanism according to The movable information of main side operating-controlling mechanism moves, and it uses principal and subordinate's remote operating mode to assist doctor to implement operation, from end pusher Structure realizes the axial feed of conduit and the motion that rotates in a circumferential direction, and replaces doctor to hold conduit in operating room, and main side actuation means realizes Remote operating to conduit propulsive mechanism, it is to avoid doctor is by x radiation x.

But current interventional surgery robot there is problems in that (1) during the propelling movement of seal wire, relative motion There is frictional force, the particularly axially existence of frictional force between parts, have impact on the mensuration of propelling movement power；(2) for the folder of seal wire Tightly, easily there is insufficient clamping force or clamping excessively in existing clamping device, in turn results in and can not clamp seal wire completely, or clamping Power is excessive and damages seal wire；(3) mounting or dismounting of seal wire are complicated, it is impossible to realize quick assembling and dismounting, in turn result in the preoperative of doctor Operation is installed excessively complicated, the problem changing seal wire inefficiency in art.

For the problems referred to above, current interventional surgery robot does not solve, or solve only subproblem, Therefore it is badly in need of solving, to improve safety and the convenience of operation technique the problems referred to above.

Summary of the invention

1. utility model to solve the technical problem that

Provide one and can overcome above-mentioned deficiency, thus the most accurate, convenient and efficient principal and subordinate's interventional surgery machine Device people is from end and control method thereof.

2. technical scheme

For solving the problems referred to above, this utility model adopts the following technical scheme that.

A kind of principal and subordinate interventional surgery robot is from end, including from end controlling organization with from end mobile platform, mobile from end Platform is made up of slide unit motor, nut screw pair, slide unit, base, and the secondary screw mandrel end of motor and nut screw is connected, slide unit and The nut end of nut screw pair is connected, and is connected with slide unit from the frame of end controlling organization, from holding controlling organization by clamp drive mechanism I, thrust feedback mechanism II, lossless clamping device III, clamping controlling organization IV form,

Described clamp drive mechanism I by motor, shaft coupling A, rolling spline axle A, rolling spline set A, torsion sleeve, Gear, circlip A, linear bearing A form, and described motor is anchored in frame by fixed mount, described shaft coupling A two ends connect machine shaft respectively and are assemblied in rolling spline set A with rolling spline axle A, described rolling spline axle A, institute The torsion sleeve left end stated is smooth shaft, and middle-end is provided with key at the shaft shoulder, and right-hand member is provided with cavity, and its middle-end is assembled by key In the axis hole of gear, and utilizing circlip A to carry out axial restraint, its left end is assemblied in linear bearing A, and described is straight Bobbin holds A and is fixed in frame, and the cavity of its right-hand member is equipped with rolling spline set A；

Described thrust feedback mechanism II by left pressing plate, left thrust bearing, centring ring, tight pinning, right thrust bearing, right pressing plate, Cornu Caprae seu Ovis nut, bolt, spring, power transmission nail, sensor form, and described centring ring is fixed on integration gear by tight pinning In left end shaft, described left thrust bearing and right thrust bearing are placed in integration gear left end shaft, and it is left to be press respectively against centring ring Right both sides, are provided with left pressing plate on the left of described left thrust bearing, be provided with right pressing plate on the right side of described right thrust bearing, described Bolt be provided with spring, and use with Cornu Caprae seu Ovis nut screw connection, left pressing plate and right pressing plate connected, and is pressed on left thrust axis Holding and right thrust bearing both sides, described right pressing plate bottom is provided with circular hole, and is connected with sensor by power transmission nail；

Described lossless clamping device III is by integration gear, linear bearing B, wedge lock block, torsion fixed block, torsional axis Composition, described integrated gear is meshed with gear, and its left end shaft is assemblied in linear bearing B, and its left end the tip of the axis sets Having screwed hole, described screwed hole coordinates stationary positioned circle with tight pinning, and described linear bearing B is fixed on frame, described Reverse fixed block to be connected with torsional axis by screw thread, reverse fixed block and be provided with wedge lock block in the fit-up gap of torsional axis, The left end reversing fixed block is fixed in integration gear right-side cavity by draw-in groove, and described torsional axis is connected with shaft coupling；

Described clamping controlling organization IV is by shaft coupling B, end cap, rolling spline axle B, steel ball, stage clip, pull-out piece spring screw, rolling Dynamic spline housing B, torque limiter inner shell, torque limiter shell, coupling sleeve, electromagnetic clutch, circlip B composition, Described rolling spline axle B one end is connected with torsional axis by shaft coupling B, and the other end is assemblied in rolling spline set B, described Steel ball, stage clip, pull-out piece spring screw, torque limiter inner shell, torque limiter shell composition torque limiter, torque limiter Shell is provided with through hole, and the through hole first half is screwed hole, and equipped with pull-out piece spring screw in screwed hole, through hole lower half is unthreaded hole, unthreaded hole In equipped with steel ball, stage clip, stage clip is between steel ball and pull-out piece spring screw, and torque limiter inner shell is provided with hemispherical aperture, institute The steel ball stated is pressed in hemispherical aperture, is equipped with rolling spline set B, on torque limiter shell inside torque limiter inner shell Be provided with key, and be assemblied on the left of coupling sleeve in cavity by key, on the right side of described coupling sleeve, be provided with axle, its axle and electromagnetism from Clutch inner ring is connected, and carries out axial restraint by circlip B, and described electromagnetic clutch outer ring is connected with frame.

Described motor is servomotor, and described sensor is pressure transducer, described left thrust bearing and right thrust bearing Being needle roller thrust bearing, described rolling spline axle A and rolling spline axle B is flanged type rolling spline axle, described electricity Magnet clutch is energising engagement type electromagnetic clutch.

A kind of principal and subordinate interventional surgery robot is from the control method of end, including following rate-determining steps:

(1) seal wire clamping controls:

Main side sends seal wire clamping control signal, and a road signal reaches electromagnetic clutch, and the Internal and external cycle of electromagnetic clutch engages, this Time reverse fixed block rotation limited；Another road signal reaches motor, and motor starts to rotate, and by the transmission of intermediate member, Band movement and motor-driven integrative pinion rotation, the angle of rotation is θ=1.1 β, when wherein β is the seal wire clamping determined according to seal wire thickness one Rotational angle needed for body gear,

When the rotational angle of integration gear is in θ ∈ [0, α₁] scope time, wedge lock block advances to the left, starts to lock seal wire, And seal wire is clamped,

When the rotational angle of integration gear is in θ ∈ [α₁,1.1α₁] scope time, wedge lock block stop advance to the left, moment of torsion limit Device inner shell processed and torque limiter shell skid, and torsion fixed block, torsional axis, shaft coupling B follow integration pinion rotation, Until seal wire is clamped completely；

(2) seal wire pushes/withdraws control:

Main side sends seal wire and pushes/withdraw control signal, reaches slide unit motor, and slide unit motor is started working, and passed through nut screw Subband moves slide unit and moves, and now seal wire is in clamped condition, can be according to the rotating signal of motor, it is achieved the propelling movement of seal wire or return Remove,

When needs realize constant speed push/withdraw time, main side gathers doctor and operates information, rotates control signal from end according to 1:1, real Now seal wire constant speed is pushed/withdraws control,

When needs realize scaling push/withdraw time, main side gathers doctor and operates information, rotates control signal from end according to 1:n, real The propelling movement now seal wire speed scaled/withdraw control；

(3) seal wire loosens control:

Main side sends seal wire clamping control signal, and a road signal reaches electromagnetic clutch, and the Internal and external cycle of electromagnetic clutch engages, this Time reverse fixed block rotation limited；Another road signal reaches motor, and motor starts reversion, and by the transmission of intermediate member, Band movement and motor-driven integrative pinion rotation, the angle of rotation is θ=β, one when wherein β is the seal wire clamping determined according to seal wire thickness Changing the rotational angle needed for gear, wedge lock block advances to the right and loosens seal wire；

(4) seal wire Spin Control:

Main side sends seal wire rotation control signal, and a road signal reaches electromagnetic clutch, and the Internal and external cycle of electromagnetic clutch separates, connection The right-hand member of female connector cylinder is in freely rotatable state, now reverses fixed block free to rotate, and another road signal reaches motor, motor Start to rotate, and by the transmission of intermediate member, band movement and motor-driven integrative pinion rotation, thus realize the rotation of seal wire,

When needs realize constant velocity rotation, main side gathers doctor and operates information, rotates control signal from end according to 1:1, it is achieved right The control of seal wire constant velocity rotation,

When needs realize scaling rotation, main side gathers doctor and operates information, rotates control signal from end according to 1:n, it is achieved right The control of seal wire velocity of rotation scaling；

(5) seal wire coordinated signals:

When seal wire rotate, push/withdraw carry out simultaneously time, main side sends corresponding control signal, and step 2 and step 4 synchronize fortune OK, to realize the coordinated signals of seal wire.

3. beneficial effect

Compared with prior art, this utility model has a following remarkable advantage:

(1) this utility model devises lossless clamping device, fixing by design rational to mechanism, wedge lock block and torsion Block with the use of, utilize conical surface fastening to complete clamping, clamping contact area is big, and clamping is reliable, and reduces leading The damage of silk clamping, utilizes motor to control simultaneously, easy to control.

(2) this utility model devises clamping controlling organization, utilizes the joint of freewheel clutch Internal and external cycle and has separated nothing The control of the torsional axis in damage clamping device, controls simple, is provided with moment of torsion in the junction of freewheel clutch and torsional axis simultaneously Limiter, it is possible in the clamping process of seal wire, prevents the excessively clamping of seal wire from causing the damage of seal wire, adds clamping protection Safety coefficient.

(3) this utility model have employed " without friction " design in the position of had an impact axial force measuration, motor and gear it Between add rolling spline pair, between gear and frame, be provided with linear bearing, integration gear and frame between be provided with Linear bearing, is provided with between torsional axis and freewheel clutch between rolling spline pair, centring ring and left pressing plate and right pressing plate and sets Put thrust bearing, to reduce the friction of the existence between movement parts and frame, movement parts, added and measure the accurate of axial force Property.

(4) this utility model uses rational Design on Plane to the mounting or dismounting of seal wire, can complete centring ring and thrust by Cornu Caprae seu Ovis nut The connection of bearing, and left pressing plate and right pressing plate use semi-circular structure, facilitates the mounting or dismounting of device, solves the preoperative peace of doctor Dress operation is excessively complicated, the problem changing seal wire inefficiency in art.

(5) Spin Control of lossless clamping device Yu seal wire is integrated to same mechanism by this utility model, is possible not only to utilize lossless The cooperation of clamping device and clamping controlling organization completes the clamping of seal wire, it is also possible to lossless clamping device and clamping controlling organization Coordinate the rotation process of seal wire, saved the use of part so that structure is compacter, reduce cost.

(6) this utility model is rational in infrastructure, processing and manufacturing is simple, easy to control.

Accompanying drawing explanation

Fig. 1 is this utility model device and master information transfer route figure；

Fig. 2 is this utility model apparatus structure block diagram；

Fig. 3 is the structure chart of this utility model device；

Fig. 4 is the A direction view of Fig. 1.

In accompanying drawing: I clamp drive mechanism, II thrust feedback mechanism, III lossless clamping device, IV clamping control machine Structure, 1 frame, 2 motors, 3 shaft coupling A, 4 rolling spline axle A, 5 rolling spline set A, 6 torsion sleeves, 7 gears, 8 circlip A, 9 linear bearing A, 10 left pressing plates, 11 left thrust bearings, 12 centring rings, 13 Tight pinning, 14 right thrust bearings, 15 right pressing plates, 16 Cornu Caprae seu Ovis nuts, 17 bolts, 18 springs, 19 power transmissions Nail, 20 sensors, 21 integration gears, 22 linear bearing B, 23 wedge lock blocks, 24 reverse fixed block, 25 torsional axiss, 26 shaft coupling B, 27 end caps, 28 rolling spline axle B, 29 steel balls, 30 stage clips, 31 pressures Spring screw, 32 rolling spline set B, 33 torque limiter inner shells, 34 torque limiter shells, 35 coupling sleeves, 36 electromagnetic clutchs, 37 circlip B, 38 seal wires.

Detailed description of the invention

Below in conjunction with Figure of description, this utility model is further described.

As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of principal and subordinate interventional surgery robot is from end, including from end control Mechanism and from end mobile platform, from end mobile platform be made up of slide unit motor, nut screw pair, slide unit, base, motor and spiral shell The screw mandrel end of master screw pair is connected, and slide unit is connected with the nut end of nut screw pair, from the frame 1 of end controlling organization with slide unit admittedly Even, from end controlling organization by clamp drive mechanism I, thrust feedback mechanism II, lossless clamping device III, clamping controlling organization IV Composition,

Described clamp drive mechanism I is by motor 2, shaft coupling A3, rolling spline axle A4, rolling spline set A5, torsion set Cylinder 6, gear 7, circlip A8, linear bearing A9 composition, described motor 2 is anchored in frame 1 by fixed mount, Described shaft coupling A3 two ends connect motor 2 rotating shaft respectively and are assemblied in rolling spline axle A4, described rolling spline axle A4 In rolling spline set A5, described torsion sleeve 6 left end is smooth shaft, and middle-end is provided with key at the shaft shoulder, and right-hand member is provided with Cavity, its middle-end is assemblied in the axis hole of gear 7 by key, and utilizes circlip A8 to carry out axial restraint, and its left end fills Being assigned in linear bearing A9, described linear bearing A9 is fixed in frame 1, and the cavity of its right-hand member is equipped with rolling spline set A5；

Described thrust feedback mechanism II is by left pressing plate 10, left thrust bearing 11, centring ring 12, tight pinning 13, right thrust axis Hold 14, right pressing plate 15, Cornu Caprae seu Ovis nut 16, bolt 17, spring 18, power transmission nail 19, sensor 20 form, and described determines Position circle 12 is fixed in integration gear 21 left end shaft by tight pinning 13, described left thrust bearing 11 and right thrust bearing 14 are placed in integration gear 21 left end shaft, and are press respectively against centring ring 12 left and right sides, and described left thrust bearing 11 is left Side is provided with left pressing plate 10, is provided with right pressing plate 15 on the right side of described right thrust bearing 14, and described bolt 17 is provided with spring 18, and with Cornu Caprae seu Ovis nut 16 with the use of, left pressing plate 10 and right pressing plate 15 are connected, and are pressed on left thrust bearing 11 With right thrust bearing 14 both sides, described right pressing plate 15 bottom is provided with circular hole, and is connected with sensor 20 by power transmission nail 19；

Described lossless clamping device III is by integration gear 21, linear bearing B22, wedge lock block 23, torsion fixed block 24, torsional axis 25 forms, and described integrated gear 21 is meshed with gear 7, and its left end shaft is assemblied in linear bearing B22 In, its left end the tip of the axis is provided with screwed hole, and described screwed hole coordinates stationary positioned circle 12 with tight pinning 13, and described is straight Bobbin holds B22 and is fixed on frame 1, and described torsion fixed block 24 is connected with torsional axis 25 by screw thread, reverses fixed block 24 With the fit-up gap of torsional axis 25 is provided with wedge lock block 23, the left end reversing fixed block 24 is fixed on integrally by draw-in groove Changing in gear 21 right-side cavity, described torsional axis 25 is connected with shaft coupling 26；

Described clamping controlling organization IV is by shaft coupling B26, end cap 27, rolling spline axle B28, steel ball 29, stage clip 30, pressure Spring screw 31, rolling spline set B32, torque limiter inner shell 33, torque limiter shell 34, coupling sleeve 35, electromagnetism Clutch 36, circlip B37 form, and shaft coupling B26 and torsional axis 25 phase are passed through in described rolling spline axle B28 one end Even, the other end is assemblied in rolling spline set B32, described steel ball 29, stage clip 30, pull-out piece spring screw 31, torque limiter Inner shell 33, torque limiter shell 34 form torque limiter, and torque limiter shell 34 is provided with through hole, the through hole first half For screwed hole, equipped with pull-out piece spring screw 31 in screwed hole, through hole lower half is unthreaded hole, equipped with steel ball 29, stage clip 30 in unthreaded hole, Stage clip 30 is between steel ball 29 and pull-out piece spring screw 31, and torque limiter inner shell 33 is provided with hemispherical aperture, described steel Pearl 29 is pressed in hemispherical aperture, is equipped with rolling spline set B32, torque limiter shell inside torque limiter inner shell 33 34 are provided with key, and are assemblied on the left of coupling sleeve 35 in cavity by key, are provided with axle on the right side of described coupling sleeve 35, its Axle is connected with electromagnetic clutch 36 inner ring, and carries out axial restraint by circlip B37, outside described electromagnetic clutch 36 Circle is connected with frame 1.

Described motor 2 is servomotor, and described sensor 20 is pressure transducer, described left thrust bearing 11 and the right side Thrust bearing 14 is needle roller thrust bearing, and described rolling spline axle A4 and rolling spline axle B28 is flanged type and rolls flower Key axle, described electromagnetic clutch 36 is energising engagement type electromagnetic clutch.

A kind of principal and subordinate interventional surgery robot is from the control method of end, including following rate-determining steps:

(1) seal wire clamping controls:

Main side sends seal wire clamping control signal, and a road signal reaches electromagnetic clutch 36, and the Internal and external cycle of electromagnetic clutch 36 connects Closing, the rotation now reversing fixed block 24 is limited；Another road signal reaches motor 2, and motor 2 starts to rotate, and passes through Between the transmission of parts, band movement and motor-driven integrative gear 21 rotates, and the angle of rotation is θ=1.1 β, and wherein β is according to seal wire thickness Determine seal wire clamping time integration gear 21 needed for rotational angle,

When the rotational angle of integration gear 21 is in θ ∈ [0, α₁] scope time, wedge lock block 23 advances to the left, start locking Seal wire, and seal wire is clamped,

When the rotational angle of integration gear 21 is in θ ∈ [α₁,1.1α₁] scope time, wedge lock block 23 stops advancing to the left, Torque limiter inner shell 33 and torque limiter shell 34 skid, and reverse fixed block 24, torsional axis 25, shaft coupling B26 Follow integration gear 21 to rotate, until seal wire is clamped completely；

(2) seal wire pushes/withdraws control:

Main side sends seal wire and pushes/withdraw control signal, reaches slide unit motor, and slide unit motor is started working, and passed through nut screw Subband moves slide unit and moves, and now seal wire is in clamped condition, can be according to the rotating signal of motor, it is achieved the propelling movement of seal wire or return Remove,

When needs realize constant speed push/withdraw time, main side gathers doctor and operates information, rotates control signal from end according to 1:1, real Now seal wire constant speed is pushed/withdraws control,

When needs realize scaling push/withdraw time, main side gathers doctor and operates information, rotates control signal from end according to 1:n, real The propelling movement now seal wire speed scaled/withdraw control；

(3) seal wire loosens control:

Main side sends seal wire clamping control signal, and a road signal reaches electromagnetic clutch 36, and the Internal and external cycle of electromagnetic clutch 36 connects Closing, the rotation now reversing fixed block 24 is limited；Another road signal reaches motor 2, and motor 2 starts reversion, and passes through Between the transmission of parts, band movement and motor-driven integrative gear 21 rotates, and the angle of rotation is θ=β, and wherein β is for determine according to seal wire thickness Seal wire clamping time integration gear 21 needed for rotational angle, wedge lock block 23 advances to the right and loosens seal wire；

(4) seal wire Spin Control:

Main side sends seal wire rotation control signal, and a road signal reaches electromagnetic clutch 36, and the Internal and external cycle of electromagnetic clutch 36 divides From, the right-hand member of coupling sleeve 35 is in freely rotatable state, now reverses fixed block 24 free to rotate, and another road signal passes To motor 2, motor 2 starts to rotate, and by the transmission of intermediate member, band movement and motor-driven integrative gear 21 rotates, thus realizes leading The rotation of silk,

When needs realize constant velocity rotation, main side gathers doctor and operates information, rotates control signal from end according to 1:1, it is achieved right The control of seal wire constant velocity rotation,

When needs realize scaling rotation, main side gathers doctor and operates information, rotates control signal from end according to 1:n, it is achieved right The control of seal wire velocity of rotation scaling；

(5) seal wire coordinated signals:

When seal wire rotate, push/withdraw carry out simultaneously time, main side sends corresponding control signal, and step 2 and step 4 synchronize fortune OK, to realize the coordinated signals of seal wire.

Specific works process prescription:

1. seal wire advances or retreats

When seal wire needs to advance or retreat, motor 2 runs, by shaft coupling 3, rolling spline axle A4, rolling spline set A5, torsion sleeve 6 driven gear 7 rotate, and gear 7 is meshed with integrated gear 21, and the torsion of lossless clamping device is solid The left end determining block 24 is connected with integrated gear 21 by draw-in groove, thus communicates rotational motion to reverse fixed block 24；Now Electromagnetic clutch 36 is in engagement state, and electromagnetic clutch 36 inner ring is by coupling sleeve 35, torque limiter shell 34, torsion Square limiter inner shell 33, rolling spline set B32, rolling spline axle B28, shaft coupling B26 are connected with torsional axis 25 so that Torsional axis 25 axial rotation stops；The most lossless clamping device is started working, and reverses relative with torsional axis 25 turn of fixed block 24 Moving makes both gaps change along with rotation, and is positioned at the shadow that wedge lock block 23 between the two is changed by gap length Ring so that it is jaw opens or closes, it is achieved to the clamping of seal wire with loosen, under the cooperation of the ball screw assembly, bottom frame, Realize advance or the retrogressing of seal wire.

2. seal wire rotates

When seal wire needs to carry out rotation process, motor 2 brings into operation, and electromagnetic clutch 36 is in released state, now motor The 2 torsion fixed blocks 24 communicating rotational motion to lossless clamping device, and by drive disk assembly and electromagnetic clutch 36 inner ring phase Torsional axis 25 axial-rotation of lossless clamping device even is in free state, and rotating of motor 2 will drive whole clamping device Rotate, thus realize the rotation process of seal wire.

Measure feedback force the most in real time

During measuring feedback force in real time, the axial force in seal wire running is taken out by lossless clamping device, and passes through Integration gear 21, tight pinning 13, centring ring 12, left thrust bearing 11, left pressing plate 10, bolt 17, right thrust bearing 14, right pressing plate 15, power transmission nail 19, be transferred to sensor 20.On guide wire motion direction, sensor 20 is connected with frame 1, Other mechanisms are all completed and the connection of frame 1 by linear bearing or rolling spline pair, the sliding friction in original mechanism are turned Turn to the rolling friction of ball, therefore the mechanism in addition to sensor 20 has all located low Frotteurism with frame 1 this side up.? Measure feedback force under low Frotteurism, reduce the impact of friction factor to greatest extent, improve certainty of measurement.

The most anti-seal wire chucking power is not enough or clamping is excessive

In seal wire clamping process, for completing the clamping to seal wire fast and accurately, the rotational angle of motor 2 sets the most in advance Put fixed value, but in real process, usually due to characteristics such as motor, axial-rotation fixed mechanisms so that lossless clamping device The relative rotation angle reversing fixed block 24 and torsional axis 25 change a lot.Now utilize what motor 2 originally set to turn Dynamic angle goes to control lossless clamping device, clamping can be caused insufficient or clamp excessive situation.

Torque controller is set in the drive disk assembly that the torsional axis 25 of lossless clamping device is connected with electromagnetic clutch 36, works as electricity Machine 2 rotate over certain angle after, the torsion fixed block 24 of the most lossless clamping device relatively rotates with torsional axis 25, makes Obtain wedge lock block 23 to clamp, before clamping force reaches the critical point of damage seal wire, the torque limiter being connected with torsional axis 25 Internal and external cycle start skid, lose the restriction to torsional axis 25 axial rotation, it is to avoid the torsion fixed block 24 of lossless clamping device Relatively rotate further with torsional axis 25 so that wedge lock block 23 no longer shrinks, thus prevent the excessive clamping of seal wire.

For the rotational angle of motor 2, its setting value is more slightly larger than rotational angle when making seal wire just clamp so that press from both sides every time Time tight, all there is situation about skidding in the Internal and external cycle of torque limiter, and then seal wire can be clamped completely.

Claims (6)

1. principal and subordinate's interventional surgery robot is from an end, including from end controlling organization with from end mobile platform, moves from end Moving platform is made up of slide unit motor, nut screw pair, slide unit, base, and motor is connected with the screw mandrel end of nut screw pair, slide unit The nut end secondary with nut screw is connected, and is connected with slide unit from the frame (1) of end controlling organization, it is characterised in that from end control Mechanism is by clamp drive mechanism (I), thrust feedback mechanism (II), lossless clamping device (III), clamping controlling organization (IV) Composition,

Described clamp drive mechanism (I) is by motor (2), shaft coupling A (3), rolling spline axle A (4), rolling spline Set A (5), torsion sleeve (6), gear (7), circlip A (8), linear bearing A (9) composition, described motor (2) be anchored in frame (1) by fixed mount, described shaft coupling A (3) two ends connect respectively motor (2) rotating shaft with Rolling spline axle A (4), described rolling spline axle A (4) is assemblied in rolling spline set A (5), described torsion set Cylinder (6) left end is smooth shaft, and middle-end is provided with key at the shaft shoulder, and right-hand member is provided with cavity, and its middle-end is assemblied in gear by key (7) in axis hole, and utilizing circlip A (8) to carry out axial restraint, its left end is assemblied in linear bearing A (9), Described linear bearing A (9) is fixed in frame (1), and the cavity of its right-hand member is equipped with rolling spline set A (5)；

Described thrust feedback mechanism (II) by left pressing plate (10), left thrust bearing (11), centring ring (12), tight pinning (13), Right thrust bearing (14), right pressing plate (15), Cornu Caprae seu Ovis nut (16), bolt (17), spring (18), power transmission nail (19), Sensor (20) forms, and described centring ring (12) is fixed on integration gear (21) left end shaft by tight pinning (13) On, described left thrust bearing (11) and right thrust bearing (14) are placed in integration gear (21) left end shaft, and respectively Being pressed in centring ring (12) left and right sides, described left thrust bearing (11) left side is provided with left pressing plate (10), and the described right side pushes away Power bearing (14) right side is provided with right pressing plate (15), and described bolt (17) is provided with spring (18), and with Cornu Caprae seu Ovis nut (16) with the use of, left pressing plate (10) and right pressing plate (15) are connected, and are pressed on left thrust bearing (11) and the right side Thrust bearing (14) both sides, described right pressing plate (15) bottom is provided with circular hole, and by power transmission nail (19) and sensor (20) It is connected；

Described lossless clamping device (III) by integration gear (21), linear bearing B (22), wedge lock block (23), Reversing fixed block (24), torsional axis (25) composition, described integrated gear (21) is meshed with gear (7), and it is left End axle is assemblied in linear bearing B (22), and its left end the tip of the axis is provided with screwed hole, described screwed hole and tight pinning (13) Coordinating stationary positioned circle (12), described linear bearing B (22) is fixed on frame (1), described torsion fixed block (24) It is connected with torsional axis (25) by screw thread, reverses fixed block (24) and be provided with wedge shape in the fit-up gap of torsional axis (25) Latch segment (23), the left end reversing fixed block (24) is fixed in integration gear (21) right-side cavity by draw-in groove, described Torsional axis (25) is connected with shaft coupling 26；

Described clamping controlling organization (IV) by shaft coupling B (26), end cap (27), rolling spline axle B (28), steel ball (29), Stage clip (30), pull-out piece spring screw (31), rolling spline set B (32), torque limiter inner shell (33), torque limiter shell (34), coupling sleeve (35), electromagnetic clutch (36), circlip B (37) composition, described rolling spline axle B (28) One end is connected with torsional axis (25) by shaft coupling B (26), and the other end is assemblied in rolling spline set B (32), described Steel ball (29), stage clip (30), pull-out piece spring screw (31), torque limiter inner shell (33), torque limiter shell (34) Composition torque limiter, torque limiter shell (34) is provided with through hole, and the through hole first half is screwed hole, in screwed hole equipped with Pull-out piece spring screw (31), through hole lower half is unthreaded hole, and equipped with steel ball (29), stage clip (30) in unthreaded hole, stage clip (30) is positioned at steel Between pearl (29) and pull-out piece spring screw (31), torque limiter inner shell (33) is provided with hemispherical aperture, described steel ball (29) Being pressed in hemispherical aperture, torque limiter inner shell (33) inner side is equipped with rolling spline set B (32), torque limiter shell (34) it is provided with key, and is assemblied in the cavity of coupling sleeve (35) left side by key, described coupling sleeve (35) right side Being provided with axle, its axle is connected with electromagnetic clutch (36) inner ring, and carries out axial restraint by circlip B (37), described Electromagnetic clutch (36) outer ring and frame (1) be connected.

Principal and subordinate the most according to claim 1 interventional surgery robot is from end, it is characterised in that described motor (2) it is servomotor.

Principal and subordinate the most according to claim 1 interventional surgery robot is from end, it is characterised in that described sensing Device (20) is pressure transducer.

Principal and subordinate the most according to claim 1 interventional surgery robot is from end, it is characterised in that a described left side pushes away Power bearing (11) and right thrust bearing (14) are needle roller thrust bearing.

Principal and subordinate the most according to claim 1 interventional surgery robot is from end, it is characterised in that described rolling Splined shaft A (4) and rolling spline axle B (28) are flanged type rolling spline axle.

Principal and subordinate the most according to claim 1 interventional surgery robot is from end, it is characterised in that described electromagnetism Clutch (36) is energising engagement type electromagnetic clutch.