CN209137698U - A kind of catheter controller - Google Patents
A kind of catheter controller Download PDFInfo
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- CN209137698U CN209137698U CN201721103239.7U CN201721103239U CN209137698U CN 209137698 U CN209137698 U CN 209137698U CN 201721103239 U CN201721103239 U CN 201721103239U CN 209137698 U CN209137698 U CN 209137698U
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- seal wire
- catheter controller
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Abstract
The utility model discloses a kind of catheter controllers for intervening operation or radiography or intervening surgery training, belong to interventional surgery technical field.Catheter controller includes catheter main body part, conduit gripping device, seal wire auxiliary retention mechanism, force snesor and tilt adjustable pedestal, catheter controller structure designs disinfection simple, easy to assemble, catheter guide wire coordinated can be made to move, and contrast agent can be injected from conduit top, solve the problems, such as that existing robot is difficult to complete to conduit and seal wire cooperating, six-axis force sensor is installed on device, doctor's hand is set remotely to perceive the resistance generated in moving process, realization more accurately operates.
Description
Technical field
The utility model belongs to interventional surgery technical field, is related to a kind of catheter controller and its user
Method.The catheter controller combines installation with guidewire controller on the operational platform, Collaborative Control conduit and seal wire, completes to conduit
Clamping, push, torsion, dynamometry and force feedback, it is practical to can be used for radiography, intervention operation virtual reality surgery training and operation
In operation.
Background technique
Disease of cardiovascular system is the most commonly seen a kind of disease of the mankind, is a big cause of the death of current world population, seriously
Threaten human health.Cardiovascular and cerebrovascular disease has become one of the three big reasons of human diseases death, and the whole world has 16,700,000 every year
People dies of cardiovascular and cerebrovascular disease, and the 29.2% of Zhan Suoyou mortality, in annual 9000000 Patients with Cardiovascular/Cerebrovascular Diseases of China just
There are 2,500,000 people dead.
The minimally invasive interventional therapy of cardiovascular and cerebrovascular is the essential therapeutic arsenals for cardiovascular and cerebrovascular disease, is set in medical image
Under standby guidance, the lumen by means of interposing catheter along blood vessel reaches farther away diseased region, such as coronary artery, brain, liver
It is intravascular with kidney, a kind of emerging medical operating of minimally-invasive treatment is then carried out diseased region.In vascular interventional treatment mistake
Cheng Zhong, doctor need to complete to perform the operation by based on the guiding of the Digital subtraction angiograph (DSA) of X-ray, although doctor matches
Standby leaded protective garment, but the upper limb that still can not protect doctor and head be not by X-ray radiation；And due to vascular interventional treatment
Complexity, generally require to be exposed in X-ray environment and operate for a long time, the accumulative amount of radiation of doctor is big；And it wears for a long time
Heavy leaded protective garment, increase the pressure load of backbone, have it is more report display blood vessel intervention doctor thyroid gland
The incidence of cancer, radioactivity lens damage, lumbar vertebra disease etc. is apparently higher than the doctor of other subject.It is engaged in Endovascular and controls in the whole nation
About 700,000 people of medical staff of operation is treated, the annual Endovascular Therapy that carries out in the whole nation is more than 1,000 Wan Taici, relevant to X-ray
Occupational injury has become a unavoidable problem, seriously threatens the health status of doctor and the length of vascular interventional treatment
Remote development.Conduit is carried out by robot technology, the operation method of seal wire remote operating can successfully manage this problem, Ke Yi great
Width improves the precision and stability of surgical procedure, while injury of the radioactive ray to operating doctor can be effectively reduced, and reduces thing in art
Therefore occurrence probability.Therefore, cardiovascular and cerebrovascular intervention operation auxiliary robot is more and more of interest by people, is increasingly becoming each
Emphasis of the state in medical robot field researches and develops object.
Blood vessel intervention operation robot mainly uses principal and subordinate end to operate structure at present, doctor is isolated with radioactive ray, such as
Institutes Of Technology Of Tianjin's application application No. is 201410206956.7 patent of invention, disclose a kind of principal and subordinate minimally-invasive vascular and be situated between
Enter surgical assistant system from operator device, it includes axial push unit, rotary unit, catching unit, surgical catheters, operation
Power detection unit and tilt adjustable pedestal, working method include signal detection, transmitting, processing, movement.It is advantageous in that: can
To imitate the interventional procedure movement of doctor, operation precision is high, effectively improves operation safety；It can guarantee different receiving treatments
Person or different intervention positions can be adjusted to the desired angle of operator.For another example, BJ University of Aeronautics & Astronautics applies
Application No. is: 201210510169.2 patent of invention discloses a kind of Master-slave teleoperation vascular intervention surgical robot, packet
Include main side operating-controlling mechanism, from end propulsive mechanism, PMAC controller；Operating side of the main side operating-controlling mechanism as doctor；It is promoted from end
Executing agency of the mechanism as robot replaces doctor to hold conduit, completes the motor function of conduit in operating room；PMAC control
Case processed be used to realize main side operating-controlling mechanism and from end propulsive mechanism between information transmit, thus make from end conduit propulsive mechanism according to
The motion information of main side operating-controlling mechanism is moved, and uses principal and subordinate's remote operating mode that doctor is assisted to implement operation, is promoted from end
Mechanism realizes the axial feed of conduit and the movement that rotates in a circumferential direction.For another example, Harbin Institute of Technology is in a kind of entitled use of application
In the patent of the catheter robot system of intravascular minimally invasive intervention operation, steerable catheter is used, can get steerable catheter bending
The posture information of controllable segment guarantees the flexibility of steerable catheter front end and the navigability of intubation operation, while passing through main hand
Handle control principal and subordinate's intervention device realize steerable catheter push away draw, rotation and flexure operation, and operating room steerable catheter can be obtained
Force information is conveyed, guarantees the accuracy and stability of intubation.As Beijing Institute of Technology apply application No. is:
201510064919.1 disclose a kind of measuring device for intervention operation robot, its pedestal has been connected by hinge
Lid；Upper cover is equipped with spill limit plate and pushing block, and when upper cover closure, spill limit plate is by stud wheel and driving wheel, idle pulley pressure
Tightly, the displacement of limitation vertical direction, pushing block promote the U-shaped baffle in left side to the right, and separately the U-shaped baffle in right side, the U-shaped baffle in left side will be led
Silk driving auxiliary member clamps；Pedestal is mounted on the sliding block of linear drives component.The program can effectively reduce push power and conduct
Loss in the process is reduced because of large error caused by the reasons such as assembling or vibrating, but it is served only for driving seal wire, is unable to complete
The cooperating of catheter guide wire also can not understand during surgery seal wire in the blood vessels, the opposite position between seal wire head end and vascular wall
It sets.
Above scheme is the domestic research relatively advanced for blood vessel intervention operation robot, but they all exist it is following several
Aspect problem: (1) can only individually push seal wire or conduit, cannot cooperate with push conduit and seal wire in the course of surgery, cannot be complete
The operational motion of full simulation doctor, and need wire catheter some while the position of advance being cooperated to be difficult to operate, Jin Erzao
, surgical inefficiency low at operation precision, low to the auxiliary degree of doctor, there are some potential safety problemss；(2) catheter controller
Structure is complicated, and not only manufacturing cost is high, but also influences operation precision；(3) conduit dismounting is inconvenient, is not easy to replace in operation and lead
Pipe, it has not been convenient to carry out disinfection processing to conduit and interface；(4) relative position of conduit in the blood vessels can not be known in operation, grasp
Make carry out body interior, what the contact force between blood vessel and conduit cannot be detected, operation risk is higher；(5) conduit is axially grasped
The acquisition feedback for making power has become an emphasis, but conduit rotation torque is often ignored.Meanwhile in the inspection of catheter proximal end stress
In survey, the detection of duct wall contact force is not almost related to or only detection either with or without contact force and its size, without
Distinguish Impact direction.
Currently, needing to provide one kind in a hurry can be realized catheter guide wire cooperating, structure is simple, easy to operate and have
Catheter controller of the operating robot of tactile data visual feedback from end device.
The utility model people and Beijing Institute of Technology cooperate research, persistently to the technology progress of intervention operation robot
Research is dedicated to improving the mode of operation of device, more meets doctor's actual demand, structure is simpler, and dynamometry more comprehensively, is easy to tear open
The device of dress.
Utility model content
In view of the drawbacks of the prior art, the utility model aim is to provide a kind of catheter controller and its application method, should
Catheter controller purpose is that solving the prior art is difficult to meet the requirement of catheter guide wire cooperating, while cannot be as traditional operation
The problem of operating the same direct feel tactile data.Seal wire auxiliary clamping device is provided in the catheter controller, so that conduit
Control can be operated simultaneously with seal wire, and six-axis force sensor is installed, solve existing robot be difficult to complete to conduit and
Seal wire cooperating and can not direct feel surgical procedure the problem of, improve intervention operation or radiography safety and can operate
Property, structure is simple and easy to implement.Catheter controller can be used in intervention operation or radiography, while the device can also be used to operation instruction
Experienced or teaching, training.
The utility model is achieved through the following technical solutions:
It is a kind of for intervening the catheter controller of operation or radiography or surgery training, which is characterized in that conduit control
Device includes catheter controller main body (1), conduit gripping device (3), seal wire auxiliary fastening device (2), six axle power dynamometry of conduit dress
The pedestal (10) of (5) and tilt adjustable section is set, conduit gripping device (3) is for clamping conduit, seal wire auxiliary fastening device (2)
For clamp or release seal wire, the coordinated of conduit and seal wire is realized, six axle power device for measuring force (5) are being transported for measuring conduit
Generated resistance and the moment of resistance when dynamic；The detachable peace of the conduit gripping device (3) and seal wire auxiliary fastening device (2)
On catheter controller main body (1), conduit is the surgical catheters with side wall contact force and front contact force snesor；Conduit
Tilt adjustable pedestal (12) are installed in controller main body (1), can be needed to adjust angle according to conduit angled conveyor, it is described
Conduit gripping device (3) includes medical three-way valve (310) and fastener (320)；The medical three-way valve (310) is for connecting
Conduit is connect, it is fixed on main part (1) by fastener (320).
Catheter controller main body 1 includes shell (110) and upper cover (120), and conduit gripping device (3) is mounted on upper cover
(120) top, seal wire auxiliary clamp mechanism (2) are fixed on the rear end of shell (110), and whole device passes through catheter controller
Main body (1) is installed on tilt adjustable section pedestal (10), and a pair of of plate (111) is arranged in the bottom of shell (110), corresponds to
Tilt adjustable connects setting jack (51) on pedestal, and plate (111) is inserted into jack (51), pin hole is arranged on plate (111), so that
Plate (111) is reliably connected with tilt adjustable section pedestal (10).
The shell (110) is the shell-like structure that top and rear end open, and upper cover (120) is mounted on the top of shell (110)
Portion, shell (110) is interior to form closed space, installation conduit torsion component (4) and six axle power device for measuring force (5) in space.
The tilt adjustable pedestal (10) is by vertical plate (24), pedestal (25), support plate (52), vertical plate connecting shaft (27), set
(26), casing connection axis (53), adjustment bar (28), connecting shaft (36) and fastening screw (35) is managed to constitute；Support plate is set on (52)
Have jack (51), the vertical plate (24) is mounted on pedestal (25)；Described sleeve pipe (26) is connect with pedestal (25), and can be around set
Pipe connecting shaft (53) rotation；Adjustment bar (28) is embedded in casing (26) according to the fastening screw (35) of adjustable embedded length
In；The support plate (52) of the tilt adjustable pedestal is connect by vertical plate connecting shaft (27) with vertical plate (24) respectively, passes through connection
Axis (36) is connect with adjustment bar (28), and vertical plate connecting shaft (27) and connecting shaft (36) are rotatable connecting shafts.
The medical three-way valve (310) includes three-way body, control valve and screw-cap, and screw-cap can be rotated relative to three-way body,
Conduit is connected on connecting utricle (324), then connecting utricle (324) is threadedly coupled with screw-cap, and conduit is made to be connected to Medical tee joint
On valve (310), it is relatively rotatable to each other.
Contrast agent is squeezed by the upper opening of triple valve.
The medical three-way valve (310) is gripped by two fasteners (320) from two sides, each fastener
It (320) include grip block (322) and the switch pedestal (321) being fixed below grip block (322), grip block (322) and switch
The switch (323) that can be stirred is set between pedestal (321), and switch (323) is for lockking or unlocking conduit connecting plate (540).
Catheter controller further includes conduit torsion component (4), and conduit torsion component (4) is for driving medical three-way valve
(310) screw-cap drives conduit rotation；Conduit torsion component (4) includes motor (401), pinion gear (402), canine tooth
Take turns (403) and torque sensor (405)；The motor (401) is mounted in main part (1), it connects pinion gear (402)；
The gear wheel A (403) drives connecting utricle (324) rotation being mounted on the screw-cap of medical three-way valve (310), connecting utricle
(324) it is used for fixed catheter；The pinion gear A (402) and gear wheel (403) engaged transmission, torque sensor (405) peace
Between the output end and pinion gear (402) of motor.
The six axle powers device for measuring force (5) includes the partition (510) being arranged in catheter controller main body (1), conduit company
Fishplate bar (540) and six-axis force sensor (550)；The conduit connecting plate (540) by line slideway auxiliary A (520) be arranged every
On plate (510), conduit connecting plate (540) is used for connecting conduit clamp system (3)；Described six-axis force sensor (550) one end with
Partition (510) connection, the other end are connect with conduit connecting plate (540).
A pair of plugboard (541) with spliced eye (542), plugboard (541) are set on conduit connecting plate (540)
Upper cover (120) are passed through in from shell (110), spliced eye (542) is made to be higher by the surface of upper cover (120)
The seal wire auxiliary clamp mechanism (2) includes supporting element (220), clamping element (230) and driving element；The folder
Tight part (230) is arranged in supporting element (220) by spring (240) support, and the upper end of clamping element (230) has compact heap
(231), driving element can driving support member (220) lower movement in the vertical direction.
Beneficial effect
Compared with the prior art, the utility model has the following beneficial effects:
(1) device of the utility model can complete the collaboration push of the front and back on the same track of conduit and seal wire, even
It is continuous, accurately promote and rotary guide pipe and seal wire, it is successive simultaneously as needed or independent conduit and seal wire are controlled respectively
System, meets actual operation operational requirements, simulates doctor's practical operation completely, effectively improves procedure efficiency, reduces medical staff and connects
Touch the time of radiation device；
(2) catheter controller of the utility model, it is small in size, it is light-weight, it is at low cost, clinical hand can be preferably applied for
Art；
(3) catheter controller of the utility model is installed six-axis force sensor, be can be realized to the information during operation
Real-time tactile data is intuitively fed back to doctor by monitoring, and doctor can remotely perceive stress condition, improve intervention operation
Safety and operability, duct wall are equipped with contact force sensor, can reflect that the stress condition of conduit can also be distinguished comprehensively
Impact direction keeps surgical procedure more acurrate.
(4) in the utility model catheter controller by by conduit gripping device and seal wire auxiliary clamp mechanism removably
Be mounted in main part, this clamp system structure is simple, overcomes the defect for being not easy to sterilize in the prior art, it is easy to disassemble more
Disinfection is changed, and cooperates guidewire controller, it can be achieved that conduit, seal wire are individually or simultaneously pushed, can copy doctor's hand
Dynamic cooperating；
(5) the creative use fastener clamp medical three-way valve of conduit gripping device in the utility model catheter controller
Structure type, dismounting combination is simple, enormously simplifies clamp structure, medical three-way valve not only can be simple and quick with conduit
Connection can be in the course of surgery to intravascular convenient for the disinfection of their junctions, and more important is medical three-way valve is passed through
Contrast agent is squeezed into, radiography, and then the relative position of observable catheter guide wire and blood vessel are carried out to internal blood vessel, convenient for leading to conduit
The further operating of silk, improves the safety of operation；In addition, cost is relatively low for medical three-way valve, and it can be disposable, it is finished i.e.
It is discardable, it does not need to sterilize as existing clamping device repeated disassembled and assembled；
(6) twist operation to conduit can be realized by reversing component by conduit in the utility model catheter controller, thus
Meet in surgical procedure and the angle of conduit head end is controlled, guarantees that conduit can be promoted smoothly to predetermined position in the blood vessels；It leads
Tubotorsion component have the effect of it is same it is simple and convenient, easily controllable operation can be reversed；
(7) in the utility model catheter controller conduit gripping device fastener can simply to medical three-way valve into
Row reliable retention, and by the switching toggle in fastener, conduit in conduit holder and dynamometry component can be rapidly completed
The dismounting of connecting plate, smart structural design；
(8) seal wire auxiliary clamp mechanism innovatively uses servo driving line wheel to drive in the utility model catheter controller
The structure type that line pulls clamping element to be clamped seal wire, the opposition of spring can make clamping element unclamp seal wire, operation
It is simple and convenient, convenient for control, conduit gripping device can be cooperated to complete to operate the coordinated of catheter guide wire；
(9) the utility model catheter controller uses Modular Structure Design, and dismounting combination is easy, compact-sized and big
Part all can be used plastics and be made, and overall weight is light, and manufacturing cost is lower.
Detailed description of the invention
Fig. 1 is the schematic perspective view of catheter controller；
Fig. 2 is the schematic view of the front view of conduit clamping device in catheter controller；
Fig. 3 is C-C cross-sectional view in Fig. 2；
Fig. 4 is B-B cross-sectional view in Fig. 3；
Fig. 5 is the explosive view of main part in catheter controller；
Fig. 6 is the schematic view of the front view of conduit clamping device in catheter controller；
Fig. 7 is C-C cross-sectional view in Fig. 6；
Fig. 8 is the schematic perspective view of seal wire auxiliary clamp mechanism in catheter controller；
Fig. 9 is the explosive view of seal wire auxiliary clamp mechanism in catheter controller；
Figure 10 is the schematic perspective view of seal wire auxiliary clamp mechanism in catheter controller；
Figure 11 is the explosive view of seal wire auxiliary clamp mechanism in catheter controller；
Figure 12 is angle adjustable schematic diagram of base structure；
Figure 13 is operating platform schematic perspective view viewed from above.
In figure: catheter controller main body 1, seal wire auxiliary clamp mechanism 2, conduit gripping device 3, conduit reverse 4 and of component
Six axle power dynamometry component 5 of conduit
1 catheter controller main body；110 shells；111 plates；120 upper covers；
2 seal wire auxiliary clamp mechanisms；210 pedestals；211 inserted blocks；220 supporting elements；221 spring cavitys；230 clamping elements；231
Compact heap；240 springs；250 steering engine A；260 line wheels；
3 conduit gripping devices；310 medical three-way valves；320 fasteners；321 switch pedestals；322 grip blocks；323 switch A；
324 connecting utricles；
4 conduits reverse component；401 motors；402 pinion gears；403 gear wheels；
5 six axle power device for measuring force；510 partitions；520 line slideway auxiliary A；530 supporting plates；540 conduit connecting plates；541 insert
Fishplate bar；542 spliced eyes；550 six-axis force sensors；560 sensor fixation plates；
10 tilt adjustable pedestals；24 vertical plates；25 pedestals；52 support plates；51 jacks；27 vertical plate connecting shafts；26 casings； 53
Casing connection axis；28 adjustment bars；36 connecting shafts；35 fastening screws；
1110 support platforms；1120 line slideway auxiliary D；1130 platform link blocks；1140 driving mechanisms；1141 ropes；
1142 driving motors；1143 rope sheaves；1150 strainers；1151 guiding fixing sleeves；1152 Adjusting bolt Adjusting screws；1153 guide rods；
1154 tensioning brackets；1155 directive wheels；1156 screw rods；1170 displacement acquisition units；1180IP camera.
Specific embodiment
The utility model is further described below with attached drawing combined with specific embodiments below.
Embodiment
The present embodiment provides a kind of catheter controllers, for intervening surgical procedure device, intervening operation exercise device or making
In image device, on the operating platform for being equipped with support platform 1110, platform link block 1130 and driving mechanism 1140, two platforms
Catheter controller and guidewire controller are installed respectively in link block 1030.Catheter controller is used to clamp conduit and carries out to conduit
Rotate and push power detection etc., guidewire controller is used to clamp seal wire and is rotated to seal wire and push power detection etc..
Platform link block 1130 is arranged in support platform 1110 by line slideway auxiliary 1020, each platform link block
1130 are all operated alone by driving mechanism 1140, each drive consistent, described with platform connection number of blocks of driving mechanism quantity
Motivation structure 1140 includes driving motor 1142, rope 1141 and strainer 1150；
The device is by devising support platform 1110, platform link block 1130, driving mechanism 1140 and strainer
1150 mutual cooperation, using the form of a track multi-slide, to complete to catheter controller and guidewire controller simultaneously, same
On one rectilinear orbit, linear movement control is carried out；Force sensor is installed simultaneously, doctor's operation by human hand active force can be fed back.
Convenient with installation and adjustment, control precision is high, and conduit and seal wire can cooperate with push simultaneously, and the intervention such as feedback wire catheter is mechanical
Power feel sense, the true advantage of feel.
The structure of catheter controller is described in detail.
The structure of catheter controller
As shown in Figure 1, catheter controller mainly includes six parts, respectively catheter controller main body 1, seal wire additional lock
Tight mechanism 2, conduit gripping device 3, conduit torsion component 4, six axle power device for measuring force 5 and tilt adjustable section pedestal 10；Wherein, it leads
Tube controller main body 1 is the installation foundation of other parts, and conduit gripping device 3 and seal wire auxiliary clamp mechanism 2 are removably
On the body 1, seal wire auxiliary clamp mechanism 2 is used to carry out auxiliary clamp to seal wire or loosen, and conduit gripping device 3 is used for installation
In clamping conduit, conduit torsion component 4 is used to complete the twist operation to conduit, and six axle power device for measuring force 5 are then led for detecting
The push power of pipe.Conduit is the surgical catheters with side wall contact force and front contact force snesor.The device passes through each section
Mutual cooperation, it is achievable to the clamping of conduit, push, torsion and dynamometry, and to the auxiliary clamp of seal wire or loosen, thus
The coordinated that conduit and seal wire can be achieved completes the demand of operation.
In conjunction with shown in Fig. 2 to Fig. 5, main part 1 includes shell 110 and upper cover 120, in the present embodiment, shell 110
For the shell-like structure that top and rear end open, upper cover 120 is mounted on the top of shell 110, so that being formed relatively in shell 110
For closed space, the creation space of component 4 and six axle power device for measuring force 5 is reversed for installation conduit.Conduit gripping device 3 is pacified
Mounted in the top of upper cover 120, and seal wire auxiliary clamp mechanism 2 is fixed on the rear end of shell 110, installation site reasonable distribution.?
A pair of of plate 111 is arranged in the bottom of shell 110, and jack is arranged in the support plate 52 of tilt adjustable pedestal 10 in correspondence, plate
111 insertion jacks, are arranged pin hole on plate 111, so that plate 111 is reliably connected with support plate 52, and easy to disassemble.
The tilt adjustable pedestal is by vertical plate 24, pedestal 25, support plate 52, vertical plate connecting shaft 27, casing 26, casing connection
Axis 53, adjustment bar 28, connecting shaft 36 and fastening screw 35 are constituted；The vertical plate 24 is mounted on pedestal 25；Described sleeve pipe 26 with
Pedestal 25 connects, and can rotate around casing connection axis 53；The bar 28 that adjusts is according to the fastening screw 35 of adjustable embedded length
It is embedded in casing 26；The support plate 52 of the tilt adjustable pedestal is connect by vertical plate connecting shaft 27 with vertical plate 24 respectively, is led to
It crosses connecting shaft 36 to connect with adjustment bar 28, vertical plate connecting shaft 27 and connecting shaft 36 are rotatable connecting shafts.
For different curers or operation intervention position, 0-45 ° is obtained by adjustable inclination adjustable base
Any intervention angle；The length that adjustment bar gos deep into casing determines the size of intervention angle, when adjustment bar gos deep into the length of casing
When reaching the desired intervention angle of doctor, it is fixed by fastening screw；
As shown in Figures 2 to 5, six axle power device for measuring force 5 are mounted in shell 110, it mainly includes partition 510, conduit
Connecting plate 540 and six-axis force sensor 550；Wherein, partition 510 is fixed on the centre of shell 110, by space master in shell 110
It is divide into upper part and lower part, the opposite sides side of partition A510 flips up to form side plate, and one is respectively installed on two side plates directly
Line guideway 520,520 connecting conduit connecting plate 540 of line slideway auxiliary, so that conduit connecting plate 540 can the shifting of opposed separators 510
Dynamic, this is also the subsequent premise that push power detection can be carried out to conduit.In the present embodiment, line slideway auxiliary 520 is preferably used
Ball line slideway auxiliary, friction is small can almost ignore, so that the resistance of motion of conduit connecting plate 540 is negligible, guarantee
The high-precision of catheter propelling power detection.Line slideway auxiliary 520 includes guide rail and sliding block, and guide rail is fixed on the side plate of partition 510,
Sliding block is attached by supporting plate 530 with conduit connecting plate 540, and conduit connecting plate 540 is used for connecting conduit clamping device 3.
One L-shaped sensor fixation plate 560, one end of six-axis force sensor 550 and conduit connecting plate are also installed on partition 510
540 connections, the other end are connect with sensor fixation plate 560, are led in this way, the thrust of conduit is transmitted to by conduit gripping device 3
On pipe connecting plate 540,540 opposed separators 510 of conduit connecting plate are mobile, are able to detect conduit by six axle power device for measuring force 5 and exist
Push power during push reaches the accurate control of conduit, improves operation safety；It is real-time using six-axis force sensor 550
Measure the resistance and the moment of resistance between conduit and vascular wall, doctor can direct feel to stress size；The six axle powers device for measuring force 5
It is mounted in shell 110, compact-sized, structure relative closure, can be good at protecting six-axis force sensor 550, and power senses
The dynamometry form of device 550 is simple and convenient, and intermediate connector is relatively fewer, and dynamometry accuracy is high.
The duct wall contact force sensor by copper electrode, pressure sensitive elastomer, copper conductor, the sensor element being strobed,
DC voltage source and constant resistance are constituted；.
The catheter proximal end collision force snesor is a kind of collision detection sensor based on optical fiber, is exported demodulated
After pass to from controller.
In order to facilitate the connection between conduit connecting plate 540 and conduit gripping device 3, the present embodiment, in conduit connecting plate
A pair of plugboard 541 with spliced eye 542 is set on 540, and plugboard 541 passes through upper cover 120 out of shell 110, makes grafting
Hole 542 is higher by the surface of upper cover 120, by it enable conduit connecting plate 540 quickly connect with conduit gripping device 3 or
It removes.At the same time, it is the structure type for adapting to conduit connecting plate 540, also has specifically to the structure of conduit gripping device 3
It is required that.
Conduit gripping device 3 includes medical three-way valve 310 and fastener 320；Wherein, medical three-way valve 310 is for connecting
Conduit, it is existing clinically common medical instruments, but is never used for minimally-invasive vascular intervention hand in the prior art
Art field is innovatively used in herein in the clamping control of conduit, it mainly includes three-way body, control valve and screw-cap,
Screw-cap can be rotated relative to three-way body.When in use, conduit is first coupled on connecting utricle 324, then again by connecting utricle 324 and spiral shell
Turncap is threadedly coupled, to connect the conduit on medical three-way valve 310, and is relatively rotatable to each other.Fastener 320 is for right
Medical three-way valve 310 is gripped, and fixed is the three-way body of medical three-way valve 310, and there are two its tools, from Medical tee joint
The two sides of valve 310 are gripped, it includes grip block 322, and the one side of grip block 322 has and medical three-way valve 310
Three-way body half the card slot that fastens of shape, the card slot of two grip blocks 322, which is combined, is combined into a card chamber,
The three-way body of medical three-way valve 310 can reliably be clamped, while not influence the rotation of screw-cap.Certainly, it is led for adaptation is above-mentioned
The connection structure of pipe connecting plate 540 has open slot in the downside of grip block 322, is equipped with switch in open slot herein
Pedestal 321, and the switch 323 that can stir is set between grip block 322 and switch pedestal 321, switch 323 for latching or
Unlock conduit connecting plate 540.Switch 323 is made of horizontal snap-gauge and vertical swinging plate, and snap-gauge is slidably arranged in switch bottom
In sliding slot on seat 321, after swinging plate passes through the hole on grip block 322, for stirring.It is installed to by conduit gripping device 3
When the top of lid 120, plugboard 541 is inserted into the vertical jack formed between grip block 322 and switch pedestal 321, by dialling
Dynamic switch 323, may make the spliced eye 542 of snap-gauge insertion plugboard 541, to realize that conduit connecting plate 540 and conduit clamp
Device 3 is detachably connected.
From the foregoing, it will be observed that conduit gripping device 3 clamps the structure type of medical three-way valve 310, dismounting group using fastener 320
It closes simply, enormously simplifies clamp structure.Novelty uses 310 connecting conduit of medical three-way valve, it not only can be with conduit letter
Single quickly connection can perform the operation convenient for the disinfection of their junctions, and more important is by medical three-way valve 310
Contrast agent is squeezed into intravascular in journey, radiography, and then observable catheter guide wire and blood are carried out to the internal blood vessel at conduit head end
The safety of operation is improved convenient for the further operating to catheter guide wire in the relative position of pipe；In addition, medical three-way valve 310
Cost is relatively low, can be disposable, and being finished can drop, and does not have to also repeated disassembled and assembled be needed to sterilize as existing clamping device.
It includes motor 401, pinion gear 402 and gear wheel 403 that conduit, which reverses component 4,；Wherein, motor 401 is fixed on shell
In 110, there is good protective effect, the output axis connection pinion gear 402 of motor 401, the company of gear wheel 403 and fixed catheter
Connect the connection of sheath 324,403 engaged transmission of pinion gear 402 and gear wheel；In use, 401 driving pinion 402 of motor rotates, pass through
403 engaged transmission of pinion gear 402 and gear wheel, gear wheel 403 drives connecting utricle 324 to rotate, so that conduit is driven to reverse, it is adjustable
The angle of whole conduit head end guarantees that conduit can be promoted smoothly in the blood vessels.Center setting and the connecting utricle 324 of gear wheel 403
The hole that shape matches, connecting utricle 324 are inserted into the hole and can connect connecting utricle 324 with gear wheel 403.
The twist operation to conduit can be realized by reversing component 4 by conduit, to meet in surgical procedure to conduit head end
Angle control, guarantee conduit in the blood vessels can smoothly to predetermined position promote；Conduit is reversed component 4 and is driven using motor 401
The velocity of rotation of conduit, and gear wheel A403 and doctor can be adjusted by adjusting the transmission ratio of big pinion gear in the form of moving gear
It is realized with the connection of triple valve by connecting utricle 324, the torsion driving of conduit can be completed and simply and easily pacifies conduit
It is attached to 310 on medical three-way valve.Torque sensor is mounted between the output end of motor and pinion gear；When torque sensor detects
To after the output torque of rotary drive motor, real-time output torque subtracts output torque when zero load, can be obtained to operation
Real-time torque when catheter manipulation.
Seal wire auxiliary clamp mechanism 2 includes pedestal 210, supporting element 220, clamping element 230 and driving element；Wherein, pedestal
210 for being installed to shell A110 for seal wire auxiliary clamp mechanism 2, and supporting element 220 and driving element are all mounted on pedestal 210
On, clamping element 230 is arranged in supporting element 220 by the support of spring 240, it can be in the vertical direction by driving element driving
Lower movement, is clamped seal wire or unclamps.There is accommodating chamber, spring 240 is located in accommodating chamber on supporting element 220；Clamping element
230 be rod-like structure, and the upper end has a compact heap 231, and lower end has an aperture, and lower end is from the top for passing through supporting element 220
It is inserted into accommodating chamber, after passing through spring 240, the lower section through supporting element 220 is stretched out, and connects driving element.As long as driving element energy
Enough driving clamping elements 230 move up and down, but the present embodiment driving element uses steering engine 250, and steering engine 250 connects line wheel 260,
Wind wired in line wheel 260, one end of line penetrates the aperture of 230 lower end of clamping element to connect clamping element 230.In use, rudder
Machine 250 drives line wheel 260 to rotate, and drives clamping element 230 to move down compressed spring 240, the compression of 230 upper end of clamping element by line
Block 231 moves down the upper surface that seal wire is pressed on to supporting element 220, to realize the clamping to seal wire.
In addition, pedestal 210 is equipped with for being pacified for convenience of seal wire auxiliary clamp mechanism 2 to be installed on shell A110
A pair of of the inserted block 211 being attached on shell A110, the rear side of shell A110 is inserted by this to inserted block 211, and blending bolt carries out tight
Gu.
In summary illustrate, catheter controller device has the advantage that
1. overall structure is simple, designed using modular structure, it is comparatively independent between each section, by simple
Assembling can be completed in combination, and dismounting is all convenient, and compact-sized small in size；Most of modular construction is simple, and plastics can be used
Product is made, light-weight, and substantially reduces manufacturing cost；
2. it can be achieved at the same time the auxiliary clamp of the clamping of conduit, push, torsion and dynamometry and seal wire or loosen, from
And guidewire controller can be cooperated to complete to control the cooperating of catheter guide wire, meet the various operational requirements of operation；
3. more closed structure type all has preferable protection to sensor and motor；
Radiography is carried out to blood vessel at conduit head end 4. in the course of surgery, can conveniently realize, is led to understand
Pipe seal wire has the relative positional relationship of blood vessel, improves operation safety.
Conduit and seal wire are controlled using above-mentioned catheter controller, the main clamping, push, torsion completed to conduit
And dynamometry and seal wire clamping and loosen, the cooperation of catheter guide wire is controlled, the operational requirements of intervention operation are met, below
Corresponding operation step is described in detail.
Firstly, main part 1 is installed in the jack of platform link block 1130 by plate 111, and fixed by pin.
Then, conduit gripping device 3 clamps conduit and installation, specifically: the tail end of conduit is first connected to connection
On sheath 324, gear wheel 403 and connecting utricle 324 are coupled simultaneously when this step, reverse component 4 for further conduit and be driven and do
Prepare；Connecting utricle 324 is screwed onto again on the screw-cap of medical three-way valve 310；Then pass through the grip block 322 of fastener 320
Medical three-way valve 310 is fixedly clamped from two sides；Finally, the fastener 320 clamped after medical three-way valve 310 is plugged into upper cover
On the conduit connecting plate 540 of 120 tops, lockked in the spliced eye 542 of toggle switch A323 insertion conduit connecting plate 540, so that
Conduit gripping device 3 is connected and fixed with conduit connecting plate 540, at this point, pinion gear 402 and gear wheel 403 are also connected by meshing transmission；
Clamping of the conduit gripping device 3 to conduit is completed, and is installed in main part 1.
Then, after guidewire controller clamps seal wire, the head end of seal wire is penetrated in conduit through medical three-way valve 310, is protected
The seal wire for demonstrate,proving 310 rear of medical three-way valve passes through the compact heap of supporting element 220 and clamping element 230 in seal wire auxiliary clamp mechanism 2
Between 231, so that seal wire is installed in place.
After above preparation, catheter controller can control accordingly conduit and seal wire, specific as follows:
(1) when being separately controlled conduit
Seal wire auxiliary clamp mechanism 2 unclamps seal wire, i.e. 250 power loss of steering engine, clamping element 230 under the active force of spring 240,
Its surface of compact heap 231 far from supporting element 220, so that compact heap 231 will not compress seal wire；Platform link block 1130 is mobile,
It drives main part 1 mobile, and then drives conduit gripping device 3 mobile, control conduit is individually moved, and completes push.
(2) when needing while controlling conduit and seal wire
2 auxiliary clamp seal wire of seal wire auxiliary clamp mechanism, i.e. steering engine 250 obtain electric, the driving rotation of line wheel 260, and line wheel 260 is logical
It crosses line to pull down clamping element 230, clamping element 230 overcomes 240 resistance of spring to move downward, until compact heap 231 is by seal wire pressure
Tightly on the surface of supporting element 220, the clamping to seal wire is completed；Platform link block 1130 drives main part 1 mobile, and then conduit
Clamping device 3 drives conduit mobile, meanwhile, seal wire auxiliary clamp mechanism 2 drives seal wire synchronization action, realizes conduit and seal wire
Synchronized push.
(3) when being separately controlled seal wire
Operating platform stopping movement, conduit gripping device 3 is motionless, and seal wire auxiliary clamp mechanism 2 unclamps seal wire, seal wire control
Device drive seal wire can carry out the independent push of seal wire.
(4) torsion of conduit is controlled
Motor A401 movement drives connecting utricle 324 and medical three by the engaged transmission of pinion gear 402 and gear wheel 403
The screw-cap of port valve 310 rotates together, and then drives conduit torsion, completes the twist operation to conduit, realizes conduit head end
Angular adjustment.Torque sensor measures output torque.
Pass through the achievable additional lock to the clamping of conduit, push, torsion and the detection of push power and seal wire of above step
Tightly and loosen, orderly work between each step, and cooperates guidewire controller that the cooperating to catheter guide wire can be completed, from
And the various operational requirements in surgical procedure can be met.
For complete machine, controlling party of the above-mentioned intervention operation robot catheter controller to conduit, seal wire cooperating
Method is the relative position of catheter controller and guidewire controller in the direction of movement to be controlled by operating platform, and cooperate conduit
The control action of controller and guidewire controller to conduit and seal wire, orderly completion；The folder of conduit and seal wire can be controlled simultaneously
Tightly, loosen, push, reversing or dynamometry, completing complicated surgical action；Wherein it should be strongly noted that in guidewire controller
It when pushing seal wire close to catheter controller, needs to move back guidewire controller at this time, then catheter controller passes through seal wire additional lock
Tight mechanism 2 clamps seal wire, and after guidewire controller unclamps seal wire and is pushed back into required position, seal wire clamper is clamped again and is led
Silk, seal wire auxiliary clamp mechanism 2 can unclamp seal wire at this time, realize that the switching action during seal wire push, such form guarantee
Seal wire position will not change in handoff procedure.
Example described in the utility model is only that preferred embodiments of the present invention are described, not to this reality
It is defined with novel conception and scope, under the premise of not departing from the design concept of the utility model, this field engineering technology people
The various changes and improvements that member makes the technical solution of the utility model, should all fall into the protection scope of the utility model.
Claims (10)
1. a kind of catheter controller, which is characterized in that catheter controller includes catheter controller main body (1), conduit gripping device
(3), the pedestal (10) of seal wire auxiliary clamp mechanism (2), conduit six axle power device for measuring force (5) and tilt adjustable section, conduit clamping
Device (3) is used for clamp or release seal wire for clamping conduit, seal wire auxiliary clamp mechanism (2), realizes the association of conduit and seal wire
With cooperation, six axle power device for measuring force (5) are for measuring conduit generated resistance and the moment of resistance during exercise；The vessel clamp
It holds device (3) and seal wire auxiliary clamp mechanism (2) is removably mounted on catheter controller main body (1), conduit is with side
The surgical catheters of wall contact force and front contact force snesor；Catheter controller main body is equipped with tilt adjustable pedestal on (1)
(10), it can be needed to adjust angle according to conduit angled conveyor, the conduit gripping device (3) includes medical three-way valve
(310) and fastener (320)；The medical three-way valve (310) is used for connecting conduit, it is fixed on by fastener (320)
In main body (1)；Wherein, the tilt adjustable pedestal (10) is by vertical plate (24), pedestal (25), support plate (52), vertical plate connecting shaft
(27), casing (26), casing connection axis (53), adjustment bar (28), connecting shaft (36) and fastening screw (35) are constituted；Support plate
(52) jack (51) are equipped with, the vertical plate (24) is mounted on pedestal (25)；Described sleeve pipe (26) is connect with pedestal (25), and
It can be rotated around casing connection axis (53)；Adjustment bar (28) is embedded in set according to the fastening screw (35) of adjustable embedded length
It manages in (26)；The support plate (52) of the tilt adjustable pedestal is connect by vertical plate connecting shaft (27) with vertical plate (24) respectively, is led to
It crosses connecting shaft (36) to connect with adjustment bar (28), vertical plate connecting shaft (27) and connecting shaft (36) are rotatable connecting shafts.
2. catheter controller according to claim 1, it is characterised in that: catheter controller main body (1) includes shell (110)
With upper cover (120), conduit gripping device (3) is mounted on the top of upper cover (120), and seal wire auxiliary clamp mechanism (2) is fixed on shell
The rear end of body (110), whole device is installed on tilt adjustable section pedestal (10) by catheter controller main body (1), in shell
(110) a pair of of plate (111) is arranged in bottom, and jack is arranged in corresponding connect in tilt adjustable on pedestal, plate (111) insertion is inserted
Pin hole is arranged on plate (111) in hole, so that plate (111) is reliably connected with tilt adjustable section pedestal (10).
3. catheter controller according to claim 2, it is characterised in that: the shell (110) is that top and rear end are open
Shell-like structure, upper cover (120) is mounted on the top of shell (110), forms closed space, peace in space in shell (110)
Fill conduit torsion component (4) and six axle power device for measuring force (5).
4. catheter controller according to claim 1, it is characterised in that: the medical three-way valve (310) include three-way body,
Control valve and screw-cap, screw-cap can be rotated relative to three-way body, and conduit is connected on connecting utricle (324), then by connecting utricle
(324) it is threadedly coupled with screw-cap, is connected to conduit on medical three-way valve (310), is relatively rotatable to each other.
5. catheter controller according to claim 1, it is characterised in that: squeeze into contrast agent by the upper opening of triple valve.
6. catheter controller according to claim 3, it is characterised in that: the medical three-way valve (310) passes through two
Fastener (320) is gripped from two sides, and each fastener (320) includes grip block (322) and is fixed on grip block
(322) switch that can be stirred is arranged in the switch pedestal (321) below between grip block (322) and switch pedestal (321)
(323), switch (323) is for lockking or unlocking conduit connecting plate (540).
7. catheter controller according to claim 1, it is characterised in that: catheter controller further includes conduit torsion component
(4), conduit torsion component (4) is used to drive the screw-cap of medical three-way valve (310) to drive conduit rotation；The conduit torsion group
Part (4) includes motor (401), pinion gear (402), gear wheel (403) and torque sensor (405)；Motor (401) installation
In main body (1), it connects pinion gear (402)；The gear wheel (403) drives the spiral for being mounted on medical three-way valve (310)
Connecting utricle (324) rotation on cap, connecting utricle (324) are used for fixed catheter；The pinion gear (402) and gear wheel (403)
Engaged transmission, torque sensor (405) are mounted between the output end of motor and pinion gear (402).
8. catheter controller according to claim 1, it is characterised in that: the six axle powers device for measuring force (5) includes setting
Partition (510), conduit connecting plate (540) and six-axis force sensor (550) in catheter controller main body (1)；The conduit
Connecting plate (540) is arranged on partition (510) by line slideway auxiliary A (520), and conduit connecting plate (540) is used for connecting conduit
Clamping device (3)；Described six-axis force sensor (550) one end is connect with partition (510), the other end and conduit connecting plate (540)
Connection.
9. catheter controller according to claim 8, it is characterised in that: a pair of of tool is arranged on conduit connecting plate (540)
There is the plugboard (541) of spliced eye (542), plugboard (541) passes through upper cover (120) out of shell (110), makes spliced eye
(542) it is higher by the surface of upper cover (120).
10. catheter controller according to claim 1, it is characterised in that: the seal wire auxiliary clamp mechanism (2) includes
Supporting element (220), clamping element (230) and driving element；The clamping element (230) is being supported by spring (240) support setting
In part (220), the upper end of clamping element (230) has compact heap (231), driving element can driving support member (220) in vertical side
It moves up and down.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721103239.7U CN209137698U (en) | 2017-08-31 | 2017-08-31 | A kind of catheter controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721103239.7U CN209137698U (en) | 2017-08-31 | 2017-08-31 | A kind of catheter controller |
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| Publication Number | Publication Date |
|---|---|
| CN209137698U true CN209137698U (en) | 2019-07-23 |
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ID=67263146
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721103239.7U Active CN209137698U (en) | 2017-08-31 | 2017-08-31 | A kind of catheter controller |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107744616A (en) * | 2017-08-31 | 2018-03-02 | 首都医科大学附属北京天坛医院 | A kind of catheter controller and its application method |
| CN113350662A (en) * | 2021-06-29 | 2021-09-07 | 杭州德诺脑神经医疗科技有限公司 | Conduit controller |
| WO2022082377A1 (en) * | 2020-10-19 | 2022-04-28 | 诺创智能医疗科技(杭州)有限公司 | Surgical instrument force measurement mechanism and surgical instrument force measurement device |
| CN114522324A (en) * | 2022-02-24 | 2022-05-24 | 上海神玑医疗科技有限公司 | Catheter rotation and support device and motion control device for guide wire |
| CN115253028A (en) * | 2022-08-22 | 2022-11-01 | 东南大学 | A aseptic transmission of quick change clamping jaw external member for robot is intervene to blood vessel |
-
2017
- 2017-08-31 CN CN201721103239.7U patent/CN209137698U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107744616A (en) * | 2017-08-31 | 2018-03-02 | 首都医科大学附属北京天坛医院 | A kind of catheter controller and its application method |
| WO2022082377A1 (en) * | 2020-10-19 | 2022-04-28 | 诺创智能医疗科技(杭州)有限公司 | Surgical instrument force measurement mechanism and surgical instrument force measurement device |
| CN113350662A (en) * | 2021-06-29 | 2021-09-07 | 杭州德诺脑神经医疗科技有限公司 | Conduit controller |
| WO2023274260A1 (en) * | 2021-06-29 | 2023-01-05 | 杭州德诺脑神经医疗科技有限公司 | Catheter controller and delivery device |
| CN114522324A (en) * | 2022-02-24 | 2022-05-24 | 上海神玑医疗科技有限公司 | Catheter rotation and support device and motion control device for guide wire |
| CN115253028A (en) * | 2022-08-22 | 2022-11-01 | 东南大学 | A aseptic transmission of quick change clamping jaw external member for robot is intervene to blood vessel |
| CN115253028B (en) * | 2022-08-22 | 2024-03-29 | 东南大学 | A aseptic transmission of quick change clamping jaw external member for vascular intervention robot |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210812 Address after: 100160 119 South 4th Ring Road West, Fengtai District, Beijing Patentee after: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Address before: 100050 Tiantan Xili 6, Dongcheng District, Beijing Patentee before: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Patentee before: Li Youxiang Patentee before: Jiang Yuhua |
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| TR01 | Transfer of patent right | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Beijing wansi Medical Technology Co.,Ltd. Assignor: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Contract record no.: X2024980004749 Denomination of utility model: A catheter controller Granted publication date: 20190723 License type: Exclusive License Record date: 20240422 |
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| EE01 | Entry into force of recordation of patent licensing contract |