CN210056225U - Novel vascular intervention surgical robot catheter guide wire cooperative operation implementation device - Google Patents
Novel vascular intervention surgical robot catheter guide wire cooperative operation implementation device Download PDFInfo
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- CN210056225U CN210056225U CN201920287957.7U CN201920287957U CN210056225U CN 210056225 U CN210056225 U CN 210056225U CN 201920287957 U CN201920287957 U CN 201920287957U CN 210056225 U CN210056225 U CN 210056225U
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Abstract
A novel device for realizing the cooperative operation of a catheter and a guide wire of a robot for vascular intervention surgery comprises a main terminal system and a slave terminal system, and can simultaneously control the catheter and the guide wire to perform the cooperative operation; the main operator detects the operation information of a doctor; the axial movement information and the rotation distance information of the catheter and the guide wire are transmitted; performing an intervention from an operator; force detection from the operator; collecting operation information; a force feedback process of the main operator; accords with the operation habit of doctors, and has the advantages of easy realization of the operation method, high precision and simple and stable structure.
Description
The technical field is as follows:
the utility model belongs to the technical field of the operation robot is intervene to principal and subordinate's minimal access surgery robot, is a brand-new principal and subordinate operating system, can realize from the realization of end in pipe seal wire control technique and main end force feedback, especially a novel operation robot is intervene to blood vessel pipe seal wire interoperation realizes device.
(II) background technology:
at present, China gradually enters an aging society, and simultaneously, with the development of urbanization in China, the risk of cardiovascular and cerebrovascular diseases is increased more and more. In the total number of human diseases and deaths each year, the cardiovascular and cerebrovascular diseases account for up to 42 percent, and seriously threaten the health of residents. Along with the increase of the incidence rate of cardiovascular and cerebrovascular diseases, the demand of vascular intervention operation which is a therapeutic means is increased, and related researches are also increased year by year.
The vascular interventional operation means that a doctor deeply inserts a catheter/guide wire into a lesion of a human body through a blood vessel by means of angiography and X-ray image navigation, and then diagnoses and treats the lesion in the blood vessel. Compared with the traditional operation, the operation has the advantages of small operation wound, quick recovery, less related complications, high safety factor and the like. However, at the same time, this procedure also has significant drawbacks: in the operation work, doctors are in the radiation environment, and even though the doctors wear the lead clothes, the doctors still cause great harm to the bodies after long-term operation. In addition, the complicated operation and the long operation time can cause the fatigue of doctors and the unstable operation of hands, which directly affects the quality of the operation. These disadvantages result in a situation of more patients and less doctors in the hospital to some extent.
In recent years, with the rapid development of robotics. Surgical robots for assisting the operation of doctors have been developed by a plurality of organizations at home and abroad, and have great application prospects in clinic. The vascular intervention surgical robot generally comprises a master hand and a slave hand, so that a doctor can complete the operation without being irradiated by X-rays, and the self-control stability of the robot avoids potential safety hazards caused by hand shaking during the operation.
In many researches, most of the researches only realize the pushing of a catheter in terms of interventional operation robots, doctors need to control the catheter and a guide wire simultaneously in the actual operation process, and the pushing of the guide wire based on a friction roller mode is easy to generate a pushing error. Therefore, the acquisition of stress information of the catheter and the guide wire at the end in the operation process is one of the research focuses, and the feedback of the stress information of the catheter or the guide wire is neglected in many researches, so that the immediacy of a doctor in the operation process is limited to a great extent. In the aspect of the main end of the interventional surgical robot, many researches adopt the existing force feedback devices on the market, but the devices do not conform to the operation habit of a doctor in the surgical process. In view of the above, it is necessary to design an interventional surgical robot that meets the operation habit of a doctor and can realize the cooperative operation of a catheter and a guide wire.
(III) contents of the utility model:
an object of the utility model is to provide a novel blood vessel intervenes operation robot pipe seal wire collaborative operation and realizes device, it can overcome the not enough of prior art, simple structure easily realizes, and convenient operation, it accords with doctor's operation custom and can realize the pipe, seal wire collaborative operation's principal and subordinate wicresoft blood vessel intervenes operation robot, it can realize the pipe, the motion is intervened in coordination to the seal wire, and make the doctor can go the operation like carrying out traditional operation, accord with doctor's operation custom, can also give the doctor with the audio-visual feedback of real-time force sense information and visual information, increase the sense of presence of doctor in the operation, improve the security and the maneuverability of interveneeing the operation, and simple structure easily realizes.
The technical scheme of the utility model: a novel device for realizing the cooperative operation of a catheter and a guide wire of a robot for vascular intervention surgery is characterized by comprising a main terminal system and a slave terminal system, and the device can simultaneously control the catheter and the guide wire to perform the cooperative operation; wherein, the main terminal system is composed of a main operator, a main controller and a PC (Personal Computer) display screen; the main manipulator is composed of a catheter operating device and a guide wire operating device and is used for realizing the operation of the catheter and the guide wire; the catheter operation device and the guide wire operation device are respectively controlled and operated by the left hand and the right hand of a doctor, the input ends of the catheter operation device and the guide wire operation device receive operation signals of the two hands of the doctor and control signals of the main controller, and the output ends of the catheter operation device and the guide wire operation device are connected with the main controller and send operation information to the main controller; the main controller is in bidirectional data connection with the main operator, and is used for realizing the operation control of the main controller on the catheter and the guide wire and transmitting force feedback control information to a doctor in real time; the PC display screen is used for displaying focus information in the vascular intervention operation and the operation state of the robot;
the slave terminal system consists of an IP (Internet Protocol, Protocol for interconnection between networks) camera, a slave manipulator, a slave controller, a catheter and a guide wire; the slave controller and the master controller are in bidirectional data connection; the slave manipulator is used for controlling the movement of the catheter and the guide wire; the slave manipulator is in bidirectional data connection with the slave controller, and the master controller can receive stress information of the catheter and the guide wire fed back from the manipulator through the slave controller; the slave controller can receive the operation information of the master operator through the master controller; the IP camera is used for collecting real-time action image information of the on-site slave manipulator, the output end of the IP camera is connected with the PC display screen of the master terminal system, and the PC display screen is used for presenting the image information collected by the IP camera and providing real-time visual feedback signals for an operating doctor.
The master controller and the slave controller are STM32F103ZE controllers, and each controller has 144 pins.
The IP camera is connected with the PC display screen through the Internet, and the master controller is in communication connection with the slave controller through a CAN bus.
The main manipulator comprises a catheter operating device and a guide wire operating device, and the catheter operating device and the guide wire operating device adopt the same structure; catheter operation device and seal wire operation device front and back level are put on the main aspects base, wherein, catheter operation device places in the first half, seal wire operation device places in the latter half, and the purpose of putting like this accords with doctor's operation custom, and the doctor can both hands operate equipment simultaneously.
The catheter operation device is composed of a force feedback damper unit I, an operation information acquisition unit I, a simulation catheter and a main end linear guide rail I; the force feedback damper unit I consists of a magnetic bar I, a magnetic bar supporting unit I, a coil I and a coil mounting rack I; the force feedback damper unit I is arranged on the magnetic bar supporting seat I, the input end of the force feedback damper unit I is connected with the main controller through a coil I, the input signal is a conduit stress signal fed back from the main controller, resistance is generated between the coil I and the magnetic bar I according to the electromagnetic induction principle, and a doctor can feel the force when operating the simulation conduit; the tail end of the simulation conduit is connected with a magnetic rod I in the force feedback damper unit I through threads, and the simulation conduit and the magnetic rod I move synchronously;
the magnetic bar supporting seat I is arranged on the main end base 1; the operation information acquisition unit I is used for acquiring rotation distance information and axial displacement information of the simulation catheter, and the output end of the operation information acquisition unit I is connected with the main controller; the length of the main end linear guide rail I is 200mm, and the main end linear guide rail I is arranged on a main end base; a main end slide block I is arranged on the main end linear guide rail I; the magnetic bar supporting unit I is arranged on the main end base and used for supporting the magnetic bar I so that the magnetic bar I, the simulation catheter and the coil I are coaxial; the coil mounting rack I is arranged on the magnetic bar supporting seat; the magnetic bar I penetrates through the coil mounting rack I; the coil I is mounted on a coil mount I and is energized by a current output from a main controller to generate force feedback.
Coil I is hollow induction coil, and its internal diameter 20mm, external diameter 24mm, thickness 10mm, 480 circles of turns, and it installs on coil mounting bracket I, and main control unit is connected to its input.
The coil mounting rack I and the simulation catheter are both formed by 3D printing of resin materials; the simulated catheter diameter was 4 mm.
The magnetic rod I is a magnetic rod with good magnetic conductivity, the length of the magnetic rod I is 200mm, and the diameter of the magnetic rod I is 16 mm.
The magnetic rod supporting unit I is composed of a magnetic rod support I19-1, a nylon bearing I, a pulley I and a nylon bearing II, wherein the magnetic rod support I and the pulley I are formed by 3D printing of resin materials and cannot be influenced by magnetism of the magnetic rod I; the pulley I is used for supporting the magnetic rod I, so that the magnetic rod I is kept at a certain height and the mobility of the magnetic rod I is kept, and the pulley I is smooth due to the fact that resin materials are used, and excessive friction force cannot be generated; the nylon bearing I and the nylon bearing II are made of nylon materials, do not have magnetic conductivity and cannot be influenced by the magnetism of the magnetic rod I; the nylon bearing I and the nylon bearing II are respectively arranged in circular clamping grooves at two sides of the magnetic bar bracket I; the pulley I is arranged between the nylon bearings I and II.
The operation information acquisition unit I is composed of a sensor support leg I, a linear displacement sensor I, a connecting frame I, a movable magnetic block I, an encoder support seat I and a hollow shaft photoelectric encoder I; the linear displacement sensor I is arranged on the main end base 1 through a sensor support leg I, and the output end of the linear displacement sensor I is connected with the main controller and used for measuring the axial displacement information when a doctor operates the simulation catheter; the connecting frame I is used for connecting the movable magnetic block I and the encoder supporting seat I to keep the movable magnetic block I and the encoder supporting seat I in synchronous motion; the movable magnetic block I is a passive movable magnetic block and is arranged on the connecting frame I, and can move in a suspension manner and also move along the guide rail; the linear displacement sensor I measures the displacement of the simulation guide pipe by detecting the movement of the movable magnetic block I; the encoder supporting seat I is arranged on the main end sliding block I and can move axially; the hollow shaft photoelectric encoder I is arranged on the encoder supporting seat I, the simulation catheter penetrates through the encoder supporting seat I and is used for measuring the rotation distance information of the simulation catheter during operation of a doctor, and the output end of the simulation catheter is connected with the main controller.
The stroke of the linear guide rail I is equal to the measuring ranges of the linear displacement sensor I and the force feedback damping unit I correspondingly, and the measuring ranges are 200 mm.
The guide wire operating device is composed of a force feedback damper unit II, an operation information acquisition unit II, a simulation guide wire and a main end linear guide rail II; the force feedback damper unit II consists of a magnetic bar II, a magnetic bar supporting unit II, a coil II and a coil mounting rack II; the force feedback damper unit II is arranged on the magnetic bar supporting seat II7, the input end of the force feedback damper unit II is connected with the main controller through a coil II, the input signal is a guide wire stress signal fed back from the main controller, resistance is generated between the coil II and the magnetic bar II according to the electromagnetic induction principle, a doctor can feel the force when operating the simulation guide wire, and the simulation guide wire and the magnetic bar II in the force feedback damper unit II are connected through threads and move synchronously; the magnetic bar supporting seat II is arranged on the main end base; the operation information acquisition unit II is used for acquiring displacement information of the rotation angle of the simulated guide wire and displacement information of the axial movement, and the output end of the operation information acquisition unit II is connected with the main controller; the simulation guide wire penetrates through a hollow shaft photoelectric encoder II; the length of the main end linear guide rail II is 200mm, and the main end linear guide rail II is arranged on the main end base; the hollow shaft photoelectric encoder II is arranged on the encoder supporting seat II; the main end linear guide rail II is provided with a main end sliding block II, and the encoder supporting seat II is arranged on the main end sliding block II so as to axially move; the magnetic rod supporting unit II is arranged on the main end base and used for supporting the magnetic rod II so that the magnetic rod II, the simulation guide wire and the coil II are coaxial; the coil mounting rack II is arranged on the magnetic bar supporting seat; the magnetic rod II penetrates through the coil mounting rack II; the coil II is mounted on a coil mounting bracket II and is energized by a current output by the main controller, thereby generating force feedback.
Coil II is hollow induction coil, and its internal diameter 20mm, external diameter 24mm, thickness 10mm, 480 rings of turns, it installs on coil mounting bracket II, and main control unit is connected to its input.
The coil mounting rack II and the simulation guide wire are both formed by 3D printing of resin materials; the diameter of the simulated guide wire is 3 mm.
The magnetic rod II is a magnetic rod with good magnetic conductivity, the length of the magnetic rod II is 200mm, and the diameter of the magnetic rod II is 16 mm.
The magnetic rod supporting unit II is composed of a support II, a nylon bearing II, a pulley II and a nylon bearing II, wherein the support II and the pulley II are formed by 3D printing of resin materials and cannot be influenced by magnetism of the magnetic rod II; the pulley II is used for supporting the magnetic rod II to keep the magnetic rod II at a certain height, and the resin material is smooth, so that excessive friction force cannot be generated; the nylon bearing II and the nylon bearing II are made of nylon materials, have no magnetic conductivity and cannot be influenced by the magnetism of the magnetic rod II; the nylon bearing II and the nylon bearing II are respectively arranged in the circular clamping grooves on the two sides of the bracket II; and the pulley II is arranged between the nylon bearings II and II.
The operation information acquisition unit II is composed of a sensor support leg II, a linear displacement sensor II, a connecting frame II, a movable magnetic block II, an encoder support seat II and a hollow shaft photoelectric encoder II; the linear displacement sensor II is arranged on the main end base through a sensor support leg II, and the output end of the linear displacement sensor II is connected with the main controller and used for measuring the axial movement displacement information when a doctor operates the simulated guide wire; the connecting frame II is used for connecting the movable magnetic block II and the encoder supporting seat II to keep the movable magnetic block II and the encoder supporting seat II to move synchronously; the movable magnetic block II is a passive movable magnetic block, is arranged on the connecting frame II, and can move in a suspension manner and also move along the guide rail; the linear displacement sensor II measures the displacement of the simulated guide wire by detecting the movement of the movable magnetic block II; the encoder supporting seat II is arranged on the main end sliding block II; the hollow shaft photoelectric encoder II is installed on the encoder supporting seat II, the simulation guide wire penetrates through the encoder supporting seat II and is used for measuring the rotating distance information of the simulation guide wire during operation of a doctor, and the output end of the simulation guide wire is connected with the main controller.
The stroke of the linear guide rail II is equal to the measuring ranges of the linear displacement sensor II and the force feedback damping unit II correspondingly, and the measuring ranges are 200 mm.
The slave manipulator comprises an axial pushing unit, a rotating unit, a clamping unit, a stress detection unit and an operation information acquisition unit; the axial pushing unit is arranged on the slave end base, and the output of the axial pushing unit drives the rotating unit, the clamping unit, the stress detection unit and the motion information acquisition unit to move in the axial direction; the rotating unit consists of a catheter rotating unit and a guide wire rotating unit and is respectively arranged on the bearing plate I and the bearing plate II; the clamping unit consists of a catheter clamping unit and a guide wire clamping unit and is respectively used for clamping or loosening the catheter and the guide wire; the stress detection unit is used for detecting stress information of a catheter and a guide wire in an interventional operation process; the motion information acquisition unit is used for acquiring axial displacement information and radial rotation distance information of the catheter and the guide wire.
The axial pushing unit consists of a slave end base, a driving unit, a slave end linear guide rail I, a slave end linear guide rail II, a support platform unit, a proximity switch I, a proximity switch II and a gear rack unit;
the length of the slave end base is 1120mm, the width of the slave end base is 128mm, and the total thickness of the slave end base is 25 mm; the slave end base is a nylon plate, a middle protruding part of the slave end base is a rack support, and the thickness of the rack support is 13 mm.
The driving unit consists of a high-precision stepping motor I, a high-precision stepping motor II, a high-precision stepping motor III, a connecting shaft I, a connecting shaft II and a connecting shaft III; the supporting table unit consists of a supporting table I, a supporting table II, a supporting table III, a supporting table IV, a supporting table V, a supporting table VI, a deep groove ball bearing I, a deep groove ball bearing II and a deep groove ball bearing III; the high-precision stepping motor I, the high-precision stepping motor II and the high-precision stepping motor III are respectively fixed on the support table I, the support table II and the support table III, and motor shafts of the high-precision stepping motor I, the high-precision stepping motor II and the high-precision stepping motor III are respectively connected with the connecting shaft I, the connecting shaft II and the connecting shaft III; the connecting shaft I, the connecting shaft II and the connecting shaft III respectively penetrate through the deep groove ball bearing I, the deep groove ball bearing II and the deep groove ball bearing III, the input ends of the high-precision stepping motor I, the high-precision stepping motor II and the high-precision stepping motor III are respectively connected with the slave controller, and the output ends of the high-precision stepping motor I, the high-precision stepping motor II and the high-precision stepping motor III are connected with the gear rack unit, so that the supporting table unit is driven to move axially; the flat key is embedded in the groove of the connecting shaft I and is used for radial fixation; the deep groove ball bearing I, the deep groove ball bearing II88 and the deep groove ball bearing III are respectively embedded in the support platform IV, the support platform VI and the support platform V.
The length of the slave end linear guide rail I is 1000mm, and a slave end sliding block I, a slave end sliding block II and a slave end sliding block III are arranged on the slave end linear guide rail I; the slave end sliding block I is used for fixing a support table IV, the slave end sliding block II is used for fixing a support table VI, and the slave end sliding block III is used for fixing a support table V;
the length of the slave end linear guide rail II is 1000mm, and a slave end slide block IV, a slave end slide block V and a slave end slide block VI are arranged on the slave end linear guide rail II; the slave end sliding block IV is used for fixing the support table I, the slave end sliding block V is used for fixing the support table II, and the slave end sliding block VI is fixed with the support table III;
the support table I and the support table IV are connected through a connecting shaft I80; the supporting table II and the supporting table VI are connected together through a connecting shaft II; the support table III and the support table V are connected together through a connecting shaft III; one end of the connecting shaft I, one end of the connecting shaft II and one end of the connecting shaft III are respectively and fixedly connected with the connecting shaft I, the connecting shaft II and the connecting shaft III of the three high-precision stepping motors through flat head screws, the other ends of the connecting shaft I, the connecting shaft II and the connecting shaft III respectively penetrate through deep groove ball bearings embedded in the supporting table, when the driving is carried out, the supporting table I and the supporting table IV synchronously move, the supporting table III and the supporting table V synchronously move, and the supporting table II and the supporting table VI synchronously.
The gear rack unit consists of a helical rack, a helical gear I, a helical gear II and a helical gear III; the helical rack, the helical gear I, the helical gear II and the helical gear III are all national standard 7-grade high-precision components, wherein the length of the helical rack is 1000mm, and the helical rack is fixedly arranged on the rack bracket; the bevel gear I, the bevel gear II and the bevel gear III are respectively fixed with the middle parts of a connecting shaft I, a connecting shaft II and a connecting shaft III of the three high-precision stepping motors and are respectively driven to rotate by the three high-precision stepping motors through the connecting shafts;
a flat key is embedded in each of the connecting shaft I, the connecting shaft II and the connecting shaft III and is used for keeping the helical gear and the connecting shaft fixed in the radial direction; proximity switch I, proximity switch II's output are connected from the controller, and one side of propping up supporting bench I and supporting bench III is arranged respectively in its input for guarantee when propping up supporting bench I and supporting bench III and be close to proximity switch I and proximity switch II respectively and apart from less than or equal to 4mm, proximity switch I and proximity switch II will send a signal, and drive unit stops the drive.
The clamping unit consists of 4 clamps, namely a catheter electric clamp I, a manual clamp wire electric clamp and a wire fixing electric clamp II;
the rotating unit consists of a catheter rotating unit and a guide wire rotating unit; the catheter rotating unit comprises a catheter driving rotating unit and a catheter driven rotating unit; the catheter driving rotation unit is composed of a rotating motor I, a rotating motor mounting bracket I, a coupler II, a synchronizing wheel I, a synchronizing wheel II and a synchronous belt; the rotating motor I is a high-precision stepping motor and is arranged on a rotating motor mounting bracket I, the input end of the rotating motor I is connected with a slave controller, and the output end of the rotating motor I is connected with a synchronizing wheel II through a coupler I and a coupler II; the rotating motor mounting bracket I is fixed on the mounting bearing plate I; the synchronous wheel I and the synchronous wheel II are connected through a synchronous belt, and are fixed between a synchronous wheel bracket and the catheter electric clamp I and synchronously rotate under the driving of a rotating motor I; the pipe electric clamp I is used for clamping and loosening a pipe, is fixedly installed with the synchronizing wheel I and the synchronizing wheel II, and can drive the pipe electric clamp I to rotate when the synchronizing wheel I rotates, so that the pipe is driven to rotate;
the guide wire electric clamp is used for clamping or loosening a guide wire, the front end of the guide wire electric clamp is provided with a gear structure, the guide wire penetrates through the guide wire electric clamp, and when the guide wire is clamped, the guide wire and the gear structure rotate together under the rotation of the gear;
the conduit passive rotating unit consists of a bearing and a manual clamp; the manual clamp bracket is provided with a groove, and the bearing is fixed in the groove of the manual clamp bracket; the manual clamp bracket is fixed on the bearing plate III and used for keeping the tail end of the guide pipe and the front end of the guide pipe on the same horizontal plane; the manual clamp is provided with two hand-screwed screws for fixing the tail end of the catheter; the manual clamp is fixed with the inner ring of the bearing, and when the front end of the guide pipe rotates, the tail end of the guide pipe rotates along with the manual clamp.
The guide wire rotating unit consists of a rotating motor II, a rotating motor mounting bracket II, a gear, a linear bearing I and a linear bearing II; the linear bearing I and the linear bearing II are respectively arranged in circular through holes of the linear bearing support I and the linear bearing support II; the rotating motor II is a direct-current brushless motor with an encoder and a reduction box, is fixedly arranged on a rotating motor mounting bracket II, and has an input end connected with a slave controller and an output end connected with a gear, so that the gear is driven to rotate; the linear bearing I and the linear bearing II are used for supporting the guide wire electric clamp and enabling the guide wire electric clamp to move axially and radially; and the rotating motor mounting plate II is fixed on the rotating motor supporting plate.
The electric guide pipe clamp I is composed of a micro stepping motor I, a mounting plate I, a clamp I, a spring mounting plate I, a clamp fixing plate I and a rotor I, the electric guide pipe clamp I is fixedly mounted with a synchronizing wheel I and a synchronizing wheel II, and the rear end of the electric guide pipe clamp I is connected with an annular disc through a hollow connecting pipe, wherein the annular disc is used for transferring the stress of a guide pipe to a load sensor; a spring is fixed in the spring mounting plate I; when the rotor I is in a vertical state, the clamp I clamps the conduit under the action of the spring, and when the micro stepping motor I drives the rotor I to rotate by 90 degrees to a horizontal state, the clamp I releases the conduit; the manual clamp fixes the tail end of the catheter, so that the tail end of the catheter and the front end of the catheter are kept on the same horizontal line, the tail end of the catheter can be kept stable when a guide wire is inserted, and the catheter and the guide wire can be inserted conveniently.
The guide wire electric clamp comprises a shell, a shell cover, a hollow shaft micro stepping motor, a push block, a spring I, a spring II, a clamp block I and a clamp block II; the guide wire electric clamp is supported by the linear bearing I and the linear bearing II and is used for realizing the axial and radial movement of the guide wire electric clamp; the guide wire penetrates through the middle of the guide wire electric clamp and sequentially penetrates through the front end of the guide wire electric clamp, the hollow shaft micro stepping motor, the push block, the clamp block I, the clamp block II and the tail end of the guide wire electric clamp; the clamp block I and the clamp block II are respectively arranged in an upper frame and a lower frame of the shell cover, so that the clamp blocks can only do loosening or clamping actions; the spring I and the spring II are arranged between the clamp block I and the clamp block II; the miniature step motor of hollow shaft epaxial has the external screw thread, a hexagon nut imbeds on the ejector pad, with the miniature step motor of hollow shaft epaxial have external screw thread connection, be used for when the miniature step motor of hollow shaft is rotatory, the ejector pad carries out axial motion under the drive of nut, when the ejector pad moves forward, anchor clamps piece I and anchor clamps piece II are extrudeed, the seal wire passes wherein, thereby make anchor clamps piece I and anchor clamps piece II press from both sides tight seal wire, and when the ejector pad moves backward, anchor clamps piece I and anchor clamps piece II keep away from each other under spring I, spring II's effect respectively, thereby make anchor clamps piece I and anchor clamps piece II loosen the seal wire.
The guide wire fixing electric clamp II is composed of a micro stepping motor II, a mounting plate II, a clamp II, a spring mounting plate II, a fixing plate II and a rotor II; when the rotor II is in a vertical state, the clamp II clamps the guide wire under the action of the spring, and when the micro stepping motor II drives the rotor II to rotate by 90 degrees to a horizontal state, the clamp II releases the guide wire; and the guide wire fixing clamp II is embedded in the circular hole of the tail end support through a circular disc.
The stress detection unit consists of a catheter stress detection unit and a guide wire stress detection unit, wherein the catheter stress detection unit consists of an annular disc, an annular sleeve and a load sensor; the load sensor is arranged on the load sensor bracket, the repeatability of the load sensor is 0.01 percent RO, and the output end of the load sensor is connected with the slave controller; the annular disc is arranged between the load sensor bracket and the electric catheter clamp I, and the left tail end of the annular disc is fixed with the electric catheter clamp I; the annular sleeve is arranged on the load sensor and is in contact connection with the annular disc, when the catheter is subjected to resistance in the interventional operation process, the force is transmitted to the catheter electric clamp I, then to the annular disc and then to the annular sleeve, and finally the load sensor can measure a resistance signal; the guide wire stress detection unit comprises a touch force sensor; the repeatability of the touch force sensor is 0.2%, the sensitivity of the touch force sensor is 7.2mV/V/N, the touch force sensor is fixedly arranged on a touch force sensor mounting plate, the guide wire electric clamp is infinitely close to the touch force sensor, and when the guide wire is subjected to resistance in the interventional operation process, the guide wire electric clamp can transmit the force to the touch force sensor; the output end of the touch force sensor is connected with the slave controller.
The motion information acquisition unit is used for measuring the axial displacement of the catheter, the axial displacement of the guide wire and the rotating distance of the guide wire, and consists of a hollow shaft photoelectric encoder III, a hollow shaft photoelectric encoder IV, a hollow shaft photoelectric encoder V, an encoder bracket I, an encoder bracket II and a resin connecting piece;
the hollow shaft photoelectric encoder III is used for measuring the axial displacement distance of the guide pipe and is fixedly connected in the support table IV; the connecting shaft I penetrates through the deep groove ball bearing I, one end of the connecting shaft I is fixed on a motor shaft of the high-precision stepping motor I, and the other end of the connecting shaft I is fixed in a hollow shaft of the hollow shaft photoelectric encoder III; the hollow shaft photoelectric encoder IV is used for measuring the axial displacement distance of the guide wire, and is fixedly connected in the support table V and connected with the connecting shaft III; one end of the connecting shaft III passes through the deep groove ball bearing III, is fixed on a motor shaft of the high-precision stepping motor III, and the other end of the connecting shaft III is fixed on a hollow shaft of the hollow shaft photoelectric encoder IV; the hollow shaft photoelectric encoder V is used for measuring the rotating distance of the guide wire and is fixedly arranged on the encoder bracket I and the encoder bracket II; the resin connecting piece is fixed in a hollow shaft of the hollow shaft photoelectric encoder V, and the guide wire electric clamp needs to keep the characteristic of axial movement, so that the hollow shaft photoelectric encoder V cannot be directly fixed with the tail end of the guide wire electric clamp, radial synchronization needs to be kept by means of connection of the resin connecting piece, and the guide wire can penetrate through the hollow shaft photoelectric encoder V.
The utility model discloses a working method:
(1) the main manipulator detects the operation information of the doctor:
during the minimally invasive vascular interventional operation, a doctor needs to intervene in a catheter and a guide wire in a patient; the doctor directly operates the simulated catheter and the simulated guide wire which are arranged on the main operator according to the visual feedback provided by the PC display screen of the main terminal system and the force feedback provided by the main operator to both hands;
when a doctor moves the simulation catheter, the main end sliding block I is driven to do axial motion on the main end linear guide rail I, and when the doctor needs to rotate, the doctor can directly rotate the simulation catheter; the simulation guide wire, the encoder supporting seat II and the hollow shaft photoelectric encoder II are fixed together, the encoder supporting seat II is fixed on the main end sliding block II, when a doctor moves the simulation guide wire, the main end sliding block II is driven to axially move on the main end linear guide rail II, and when the doctor needs to rotate, the doctor can directly rotate the simulation guide wire;
I. for the acquisition of axial motion information:
the encoder supporting seat I and the movable magnetic block I are connected together by a connecting frame I and move synchronously; when a doctor moves the simulation catheter, the moving magnetic block I moves synchronously, and the linear displacement sensor I detects displacement information of the moving magnetic block I, so that the axial displacement of the simulation catheter is obtained; the encoder supporting seat II and the movable magnetic block II are connected together according to the connecting frame II and move synchronously; when a doctor moves the simulation guide wire, the moving magnetic block II moves synchronously, and the linear displacement sensor II detects displacement information of the moving magnetic block II, so that the axial displacement of the simulation guide wire is obtained;
II. For acquisition of rotation distance information:
the inner rings of the hollow shaft photoelectric encoder I of the simulation catheter are fixed together, and when a doctor rotates the simulation catheter, the hollow shaft photoelectric encoder I can measure the rotation distance of the simulation catheter; the simulation guide wire and the inner ring of the hollow shaft photoelectric encoder II are fixed together, and when a doctor rotates the simulation guide wire, the hollow shaft photoelectric encoder II can measure the rotation distance of the simulation guide wire;
(2) and (3) transmitting axial movement information and rotation distance information of the catheter and the guide wire:
considering the durability, the design of the simulation catheter and the simulation guide wire is slightly thicker than that of the real catheter and the real guide wire, the simulation catheter and the simulation guide wire are both formed by 3D printing of resin materials, the diameter of the simulation catheter is 4mm, and the diameter of the simulation guide wire is 3 mm;
the main manipulator transmits the detected axial displacement information and rotation distance information of the simulation catheter and the simulation guide wire to the main controller, the main controller is an STM32F103ZE controller, and then the main controller transmits data to the slave controllers in a CAN bus communication mode;
(3) performing an interventional procedure from an operator:
the manipulator can be seen as being composed of four modules, two hands of doctors in the traditional operation are simulated, wherein 3 modules are movable modules which are respectively a catheter front end module, a catheter tail end module and a guide wire pushing module and can respectively clamp or release the front half part of a catheter, the tail end of the catheter and a guide wire, and 1 module is a fixed module which is a guide wire tail end module and is used for clamping or releasing the guide wire; the front end module of the guide pipe comprises a support table IV and all parts on a support table I; the catheter tip module includes all parts on support tables II and VI; the guide wire pushing module comprises a support table III and all parts on a support table V; the guide wire tail end module comprises a tail end bracket and a guide wire fixing electric clamp II;
I. guidewire-only interventional procedure:
the independent intervention action of the guide wire is completed by a guide wire pushing module, and at the moment, the electric catheter clamp I and the manual clamp are used for clamping the catheter, so that the catheter is prevented from displacing in the guide wire pushing process, and meanwhile, the electric guide wire fixing clamp II is in a guide wire loosening state;
the axial pushing action of the guide wire is completed by rotating a helical gear III by a high-precision stepping motor III to perform axial motion on a helical rack, and the whole guide wire front end module clamps the guide wire and performs linear motion on the helical rack;
when the slave controller receives the rotation action information sent by the main terminal system, the slave controller controls the rotating motor II to rotate the gear, so that the rotation action is realized;
when the guide wire pushing module moves to the stroke limit, the guide wire is loosened by the guide wire electric clamp, the guide wire is clamped by the guide wire fixing electric clamp II, the guide wire is prevented from being displaced, then the guide wire pushing module is withdrawn backwards, and a new round of pushing is carried out;
II. Catheter-only interventional procedure:
the independent intervention action of the catheter is completed by the front end module and the tail end module of the catheter together, and the front end module and the tail end module of the catheter need to carry out synchronous movement; in the process of independent intervention of the catheter, the guide wire electric clamp needs to clamp the guide wire, so that the guide wire is prevented from displacing; the electric clamp I of the conduit clamps the conduit, and the manual clamp clamps the tail end of the conduit; the catheter front-end module and the guide wire tail-end module move synchronously under the control of the slave controller, so that the axial pushing process of the catheter is realized;
when the slave controller receives the rotation action information sent by the main terminal system, the rotary motor I is controlled to rotate the synchronous wheel I and the synchronous wheel II, and the rotation action of the guide pipe is realized through the synchronous belt;
when the front end module of the guide pipe moves to the stroke limit, the electric clamp I of the guide pipe loosens the guide pipe, the manual clamp always keeps a state of clamping the tail end of the guide pipe in the process, then the front end module of the guide pipe is withdrawn backwards, the tail end module of the guide pipe keeps unchanged, and a new round of pushing is carried out;
III, synchronous interventional process of the catheter and the guide wire:
the synchronous intervention action of the catheter and the guide wire is completed by synchronous motion of the catheter front end module, the catheter tail end module and the guide wire pushing module, the catheter electric clamp I is in a state of clamping the catheter at the moment, the manual clamp clamps the tail end of the catheter, the guide wire electric clamp clamps the guide wire, and the guide wire fixing electric clamp II is in a state of sending the guide wire away.
(4) Force detection from the operator:
the force detection from the manipulator includes force detection of the catheter and force detection of the guidewire:
I. the stress detection process of the catheter comprises the following steps:
the stress detection of the conduit is realized by a load sensor; the guide pipe stress detection unit consists of an annular disc, an annular sleeve and a load sensor; the load sensor is arranged on the load sensor bracket, and the output end of the load sensor is connected with the slave controller; the annular sleeve is arranged on the load sensor and is in contact connection with the annular disc, when the catheter is subjected to resistance in the interventional operation process, the force is transmitted to the catheter electric clamp I, then to the annular disc and then to the annular sleeve, and finally the load sensor can measure a resistance signal;
II. And (3) a stress detection process of the guide wire:
the stress detection of the guide wire is realized by a touch force sensor which is fixed on a touch force sensor mounting plate; the guide wire electric clamp is supported by the linear bearings I and II, can move axially and radially, is infinitely close to the touch force sensor, and can transmit the force to the touch force sensor when the guide wire is subjected to resistance in the intervention process, and the touch force sensor can measure and output a force signal;
the repeatability of the touch force sensor is 0.2%, the sensitivity of the touch force sensor is 7.2mV/V/N, and the touch force sensor is fixedly arranged on the touch force sensor mounting plate; when the guide wire electric clamp moves axially and radially, the guide wire electric clamp can be infinitely close to the touch force sensor, when the guide wire is subjected to resistance in the interventional operation process, the guide wire electric clamp can transmit the force to the touch force sensor, and the touch force sensor can measure and output a force signal; the output end of the touch force sensor is connected with the slave controller; the slave controller and the master controller can obtain stress information of the guide wire;
(5) the collection process of the operation information comprises the following steps:
the motion information of the slave manipulator can be collected by a motion information collecting unit and transmitted to a master controller of a master end subsystem, wherein the axial displacement of the catheter is collected by a hollow shaft photoelectric encoder III, the axial displacement of the guide wire is collected by a hollow shaft photoelectric encoder IV, and the radial rotation displacement of the guide wire is collected by a hollow shaft photoelectric encoder V;
(6) force feedback process of the main operator:
force information of the surgical catheter and force information of the guide wire transmitted back from the end are transmitted to the main operator after passing through the conventional amplifier module and the voltage conversion current module; the catheter operating device and the guide wire operating device of the main operator feed the stress of the catheter and the guide wire to the doctor really through the force feedback damping unit I, II respectively; the force feedback damper unit I consists of a magnetic bar I, a magnetic bar supporting seat I, a coil I and a coil mounting frame I; the magnetic rod I penetrates through the coil mounting rack I, the tail end of the magnetic rod I is provided with an external thread which is connected with the tail end of the simulation catheter by virtue of a thread, and the magnetic rod I and the simulation catheter synchronously move; the force feedback damper unit II consists of a magnetic bar II, a magnetic bar supporting seat II, a coil II and a coil mounting rack II; the magnetic rod II penetrates through the coil mounting rack II, the tail end of the magnetic rod II is provided with an external thread which is connected with the tail end of the simulation guide wire by virtue of a thread, and the magnetic rod II and the simulation guide wire move synchronously. When the doctor pushes or rotates the simulation catheter and the simulation guide wire, the magnetic rods I and II can be driven to do synchronous motion. The current output by the main controller enables the coils I and II to be electrified, and according to the law of electromagnetic induction, the coils I and II generate resistance with the magnetic rods I and II respectively, and the resistance changes according to the change of the current, so that a doctor can feel real force feedback during operation, the telepresence of the doctor in the operation process can be increased, and the operation safety is improved.
The utility model has the advantages as follows:
1. the utility model discloses main operation ware adopts the ergonomic design that accords with doctor's operation custom. The catheter operation device and the guide wire operation device in the main manipulator are placed in front and back, and the placing mode completely accords with the actual operation mode of doctors. When a doctor operates the platform, two hands contact the simulation catheter 22 and the simulation guide wire 13, so that the operation is more real, and the operation requirement in the actual operation is met. The simulated catheter 22 and the simulated guidewire 13 are designed slightly thicker than the real catheter and guidewire, both of which are 3D printed using a resin material, in view of durability, with the simulated catheter 22 having a diameter of 4mm and the simulated guidewire 13 having a diameter of 3 mm.
2. The real-time and accurate force feedback transmitted when the doctor operates the main operator enables the doctor to have the feeling of being in operation on site, the doctor executes operation decision according to the force feedback and the visual feedback, and the safety of the operation can be effectively improved.
3. The controller detects abnormal operation and system fault in real time, filters the abnormal operation, and immediately locks the intervention operation mechanism when the system fault is found, thereby effectively ensuring the safety of the system.
4. The manipulator design simulates the grabbing and conveying mode of a doctor, meets the requirements of bionics, and can effectively reduce the propulsion error.
5. The utility model discloses main operation ware force feedback form improves on the basis in the past, adopts novel electromagnetic induction force feedback unit. Force signals transmitted from the end are directly fed back to the hands of a doctor in an electromagnetic induction mode, and the feedback is visual and accords with the safety of the operation.
6. The utility model discloses a can accomplish the cooperative operation of pipe, seal wire from the operation ware, can accomplish that the pipe intervenes alone, the seal wire intervenes alone, pipe and seal wire intervene the action simultaneously, accord with the various demands of operation.
7. The utility model discloses axial propelling movement unit from the operation ware adopts guide rail and helical rack cooperation mode, and simple structure and stability can the propelling movement distance be long, mutually independent between each module moreover, mutually noninterfere can move alone, also can cooperate the motion under the controller control, accords with the operation demand in the actual operation.
8. The utility model discloses from the seal wire electric fixture of manipulator, adopt hollow shaft motor drive's mode to press from both sides tight seal wire, the clamping-force is stable. Most parts of the device are formed by 3D printing of resin materials, the structure is light and simple, and clamping is reliable.
9. The utility model discloses can improve the operation security from the dynamometry unit of operation ware, adopt force transducer to carry out real-time feedback. The force measuring assembly is compact in structure, adopts a mode of being directly connected with the clamp, has few intermediate connecting pieces and is high in force measuring accuracy.
(IV) description of the drawings:
fig. 1 is the overall structure schematic diagram of the novel vascular intervention surgical robot catheter and guide wire cooperative operation implementation device of the utility model.
Fig. 2 is the structural schematic diagram of the main operator of the novel vascular intervention surgical robot catheter and guide wire cooperative operation implementation device of the present invention.
Fig. 3 is the structural schematic diagram of the force feedback damping unit I in the main operator of the novel vascular intervention surgical robot catheter guidewire interoperation implementation device.
Fig. 4 is the structural schematic diagram of the catheter operation device I in the main operator of the novel vascular intervention surgical robot catheter and guide wire cooperative operation implementation device of the present invention.
Fig. 5 is the structural schematic diagram of the bar magnet support unit I in the main operator of the novel vascular intervention surgical robot catheter guidewire interoperation implementation device.
Fig. 6 is the utility model relates to a novel blood vessel intervenes surgical robot pipe seal wire interoperation and realizes device's main operation ware in bar magnet support unit I's concrete inner structure sketch map.
Fig. 7 is the utility model discloses a novel seal wire operating means II's among blood vessel intervention surgical robot pipe seal wire interoperation realization device's the main operation ware structure sketch map.
Fig. 8 is a schematic structural view of a slave manipulator of the novel vessel intervention surgical robot catheter and guide wire cooperative operation implementation device of the present invention.
Fig. 9 is a schematic structural view of an axial pushing unit in a slave manipulator of the novel vascular intervention surgical robot catheter and guide wire cooperative operation implementation device of the present invention.
Fig. 10 is an exploded schematic view of the axial pushing unit in the slave manipulator of the novel vascular intervention surgical robot catheter and guide wire cooperative operation implementation device of the present invention.
Fig. 11 is a schematic view of the structure of the slave end base, the guide rail and the rack of the device for realizing the cooperative operation of the catheter and the guide wire of the novel vascular intervention surgical robot.
Fig. 12 is a schematic structural view of a catheter front end module in a slave manipulator of a novel catheter guide wire cooperative operation implementation device of a vascular intervention surgical robot of the present invention.
Fig. 13 is the utility model relates to a novel vascular intervention surgical robot pipe seal wire interoperation realizes device from the structure sketch of terminal module of pipe and seal wire propelling movement module in the operation ware.
Fig. 14 is a schematic structural diagram of a catheter electric clamp I in a slave manipulator of a novel vascular intervention surgical robot catheter and guide wire cooperative operation implementation device of the present invention.
Fig. 15 is the structure diagram of the electric clamp for guiding the blood vessel from the manipulator of the novel device for realizing the cooperative operation of the catheter and the guiding wire of the robot for vascular intervention surgery of the utility model.
Fig. 16 is a schematic view of the specific internal structure of the guide wire electric clamp in the slave manipulator of the novel vascular intervention surgical robot catheter guide wire cooperative operation implementation device of the present invention.
Fig. 17 is a cross-sectional view of the guide wire electric clamp in the slave manipulator of the novel vascular intervention surgical robot catheter guide wire cooperative operation implementation device of the present invention.
Fig. 18 is the utility model discloses a novel blood vessel intervenes surgical robot pipe seal wire interoperation and realizes device's the structure sketch of seal wire stationary electric fixture II in the slave operation ware.
Fig. 19 is a side view of the structure of the guide wire stress detecting unit in the slave manipulator of the novel vessel intervention surgical robot catheter guide wire cooperative operation realizing device of the utility model.
Fig. 20 is the schematic structural diagram of the guide wire stress detection unit in the slave manipulator of the novel vascular intervention surgical robot catheter guide wire cooperative operation implementation device of the present invention.
Wherein, 1 is a main end base, 2 is a linear displacement sensor I, 3 is a connecting frame I, 4 is a movable magnetic block I, 5 is a sensor support leg I, 6 is a magnetic rod II, 7 is a magnetic rod support base II, 8 is a coil II, 9 is a coil mounting frame II, 10 is a magnetic rod supporting unit II, 10-1 is a magnetic rod support base II, 10-2 is a nylon bearing III, 10-3 is a pulley II, 10-4 is a nylon bearing IV, 11 is a hollow shaft photoelectric encoder II, 12 is an encoder support base II, 13 is a simulation guide wire, 14 is a main end linear guide rail II, 14-1 is a main end sliding block, 15 is a magnetic rod I, 16 is a magnetic rod support base I, 17 is a coil I, 18 is a coil mounting frame I, 19 is a magnetic rod supporting unit I, 19-1 is a magnetic rod support base I, 19-2 is a nylon bearing I, 19-3 is a pulley I, 19-4 is a nylon bearing II, 20 is an encoder supporting seat I, 21 is a hollow shaft photoelectric encoder I, 22 is an analog guide pipe, 23 is a main end linear guide rail I, 23-1 is a main end sliding block I, 24 is a linear displacement sensor II, 25 is a movable magnetic block II, 26 is a connecting frame II, 27 is a sensor supporting leg II, 28 is a synchronous wheel bracket, 29 is a synchronous belt, 30 is a guide pipe electric clamp I, 30-1 is a micro stepping motor I, 30-2 is an electric clamp mounting plate I, 30-3 is a clamp I, 30-4 is a spring mounting plate I, 30-5 is a rotor I, 30-6 is a clamp fixing plate I, 31 is a hollow connecting pipe, 32 is an annular disc, 33 is an annular sleeve, 34 is a load sensor, 35 is a load sensor bracket, 36 is a guide pipe, 36-1 is a guide pipe tail end, 37 is a bearing, 38 is a manual clamp bracket, 39 is a manual clamp, 40 is a linear bearing I, 41 is a linear bearing bracket I, 42 is a guide wire electric clamp, 42-1 is a shell, 42-2 is a shell cover, 42-3 is the front end of a guide wire electric clamp II, 42-4 is the tail end of the guide wire electric clamp, 42-5 is a hollow shaft micro stepping motor, 42-6 is a push block, 42-7 is a spring I, 42-8 is a spring II, 42-9 is a clamp block I, 42-10 is a clamp block II, 43 is a touch force sensor, 44 is a hollow shaft photoelectric encoder V, 45 is a guide wire fixing electric clamp II, 45-1 is a micro stepping motor II, 45-2 is an electric clamp mounting plate II, 45-3 is a spring mounting plate II, 45-4 is a disc, 45-5 is a clamp fixing plate II, 45-6 is a clamp II, 45-7 is a rotor II, 46 is a terminal bracket, 47 is a guide wire, 48 is a rotary motor II, 49 is a bearing plate II, 50 is a proximity switch II, 51 is a support V, 52 is a driven end slider III, 53 is a gear, 54 is a rotary motor mounting bracket II, 55 is a support III, 56 is a driven end slider II, 57 is a support VI, 58 is a support II, 59 is a rotary motor I, 60 is a helical rack, 61 is a support IV, 62 is a driven end linear guide I, 63 is a linear bearing bracket II, 64 is a support I, 65 is a proximity switch I, 66 is a bearing plate I, 67 is a coupling II, 68 is a bearing plate III, 69 is a rotary motor mounting bracket I, 70 is a coupling I, 71 is a driven end base, 71-1 is a rack bracket, 72 is a high-precision stepper motor I, 73 is a helical gear I, 74 is a driven end linear guide II, 75 is a high-precision stepper motor II, 76 is a high-precision stepper motor III, 77 is helical gear II, 78 is helical gear III, 79 is a flat key, 80 is a connecting shaft I, 81 is a slave end slide block I, 82 is a deep groove ball bearing I, 83 is a hollow shaft photoelectric encoder III, 84 is a slave end block VI, 85 is a slave end slide block IV, 86 is a connecting shaft II, 87 is a slave end slide block V, 88 is a deep groove ball bearing II, 89 is a deep groove ball bearing III, 90 is a hollow shaft photoelectric encoder IV, 91 is a connecting shaft III, 92 is a synchronizing wheel I, 93 is a synchronizing wheel II, 94 is a linear bearing II, 95 is a rotating motor support plate, 96 is a touch force sensor mounting plate, 97 is an encoder support I, 98 is an encoder support II and 99 is a resin connecting piece.
(V) specific embodiment:
example (b): a novel device for realizing the cooperative operation of a catheter and a guide wire of a robot for vascular intervention surgery is shown in figure 1 and is characterized by comprising a main terminal system and a slave terminal system, wherein the main terminal system and the slave terminal system can simultaneously control the catheter and the guide wire to perform the cooperative operation; the main terminal system consists of a main operator, a main controller and a PC display screen; the main manipulator is composed of a catheter operating device and a guide wire operating device and is used for realizing the operation of the catheter and the guide wire; the catheter operation device and the guide wire operation device are respectively controlled and operated by the left hand and the right hand of a doctor, the input ends of the catheter operation device and the guide wire operation device receive operation signals of the two hands of the doctor and control signals of the main controller, and the output ends of the catheter operation device and the guide wire operation device are connected with the main controller and send operation information to the main controller; the main controller is in bidirectional data connection with the main operator, and is used for realizing the operation control of the main controller on the catheter and the guide wire and transmitting force feedback control information to a doctor in real time; the PC display screen is used for displaying focus information in the vascular intervention operation and the operation state of the robot;
as shown in fig. 1, the slave terminal system is composed of an IP camera, a slave manipulator, a slave controller, a catheter and a guide wire; the slave controller and the master controller are in bidirectional data connection; the slave manipulator is used for controlling the movement of the catheter and the guide wire; the slave manipulator is in bidirectional data connection with the slave controller, and the master controller can receive stress information of the catheter and the guide wire fed back from the manipulator through the slave controller; the slave controller can receive the operation information of the master operator through the master controller; the IP camera is used for collecting real-time action image information of the on-site slave manipulator, the output end of the IP camera is connected with the PC display screen of the master terminal system, and the PC display screen is used for presenting the image information collected by the IP camera and providing real-time visual feedback signals for an operating doctor.
The master controller and the slave controller are STM32F103ZE controllers, and each controller has 144 pins.
The IP camera is connected with the PC display screen through the Internet, and the master controller is in communication connection with the slave controller through a CAN bus, as shown in figure 1.
The main manipulator comprises a catheter operating device and a guide wire operating device, and the catheter operating device and the guide wire operating device adopt the same structure, as shown in figure 2; catheter operation device and seal wire operation device front and back level are put on main end base 1, wherein, catheter operation device places in the first half, seal wire operation device places in the latter half, and the purpose of putting like this accords with doctor's operation custom, and the doctor can both hands operate equipment simultaneously.
As shown in fig. 2, the catheter operation device is composed of a force feedback damper unit I, an operation information acquisition unit I, a simulation catheter 22 and a main end linear guide rail I23; as shown in fig. 3, the force feedback damper unit I is composed of a magnetic rod I15, a magnetic rod support unit I19, a coil I17 and a coil mount I18; the force feedback damper unit I is arranged on the magnetic bar supporting seat I16, the input end of the force feedback damper unit I is connected with the main controller through a coil I17, the input signal is a catheter stress signal fed back from the main controller, resistance is generated between the coil I17 and the magnetic bar I15 according to the electromagnetic induction principle, and a doctor can feel the force when operating the simulation catheter 22; the tail end 22-1 of the simulation conduit is connected with a magnetic rod I15 in the force feedback damper unit I through threads, and the simulation conduit and the magnetic rod I15 move synchronously;
the magnetic bar supporting seat I16 is arranged on the main end base 1; the operation information acquisition unit I is used for acquiring the rotation distance information and the axial displacement information of the simulation catheter 22, and the output end of the operation information acquisition unit I is connected with the main controller; the length of the main end linear guide rail I23 is 200mm, and the main end linear guide rail I23 is arranged on the main end base 1; the main end linear guide rail I23 is provided with a main end slider I23-1, as shown in FIG. 4; the magnetic rod supporting unit I19 is arranged on the main end base 1 and is used for supporting the magnetic rod I15, so that the magnetic rod I15 is coaxial with the analog conduit 22 and the coil I17; the coil mounting rack I18 is mounted on the magnetic bar supporting seat 16; the magnetic bar I15 passes through a coil mounting rack I18; the coil I17 is mounted on a coil mount I18 and the current output by the master controller energizes the coil I17, thereby creating force feedback.
As shown in fig. 3, the coil I17 is an air-core induction coil with an inner diameter of 20mm, an outer diameter of 24mm, a thickness of 10mm, and 480 turns, and is mounted on the coil mounting bracket I18, and the input end of the coil I17 is connected with a main controller.
The coil mounting frame I18 and the simulation catheter 22 are both formed by 3D printing of resin materials; the simulated catheter 22 was 4mm in diameter.
The magnetic rod I15 is a magnetic rod with good magnetic conductivity, the length of the magnetic rod I15 is 200mm, and the diameter of the magnetic rod I15 is 16 mm.
The magnetic rod supporting unit I19 is composed of a magnetic rod bracket I19-1, a nylon bearing I19-2, a pulley I19-3 and a nylon bearing II19-4 as shown in FIGS. 5 and 6, wherein the magnetic rod bracket I19-1 and the pulley I19-3 are formed by 3D printing of a resin material and cannot be influenced by magnetism of the magnetic rod I15; the pulley I19-3 is used for supporting the magnetic rod I15, keeping the magnetic rod I15 at a certain height and keeping the mobility of the magnetic rod I15, and because the resin material is smooth, excessive friction force cannot be generated; the nylon bearing I19-2 and the nylon bearing II19-4 are made of nylon materials, have no magnetic permeability and cannot be influenced by the magnetism of the magnetic bar I15; the nylon bearing I19-2 and the nylon bearing II19-4 are respectively arranged in circular clamping grooves at two sides of the magnetic bar bracket I19-1; the pulley I19-3 is installed between the nylon bearings I19-2 and II 19-4.
The operation information acquisition unit I is, as shown in fig. 4, composed of a sensor leg I5, a linear displacement sensor I2, a connecting frame I3, a moving magnetic block I4, an encoder supporting seat I20 and a hollow shaft photoelectric encoder I21; the linear displacement sensor I2 is arranged on the main end base 1 through a sensor support leg I5, and the output end of the linear displacement sensor I2 is connected with the main controller and is used for measuring the axial displacement information when a doctor operates the simulation catheter 22; the connecting frame I3 is used for connecting the movable magnetic block I4 and the encoder supporting seat I20 to keep the two moving synchronously; the movable magnetic block I4 is a passive movable magnetic block and is arranged on the connecting frame I3, so that the movable magnetic block I4 can move in a suspension manner and can also move along a guide rail; the linear displacement sensor I2 measures the displacement of the analog guide pipe 22 by detecting the movement of the movable magnetic block I4; the encoder supporting seat I20 is mounted on the main end slide block I23-1 so as to be capable of axially moving, as shown in FIG. 4; the hollow shaft photoelectric encoder I21 is arranged on the encoder supporting seat I20, the simulation catheter 22 penetrates through the hollow shaft photoelectric encoder I21 and is used for measuring the rotation distance information of the simulation catheter 22 when a doctor operates, and the output end of the hollow shaft photoelectric encoder I21 is connected with the main controller.
The stroke of the linear guide rail I23 is equal to the measuring ranges of the linear displacement sensor I2 and the force feedback damping unit I correspondingly, and the measuring ranges are 200 mm.
The guide wire operating device is composed of a force feedback damper unit II, an operation information acquisition unit II, a simulation guide wire 13 and a main end linear guide rail II14, as shown in FIG. 7; the force feedback damper unit II consists of a magnetic rod II6, a magnetic rod supporting unit II10, a coil II8 and a coil mounting rack II 9; the force feedback damper unit II is arranged on the magnetic rod supporting seat II7, the input end of the force feedback damper unit II is connected with the main controller through a coil II8, the input signal is a guide wire stress signal fed back from the main controller, resistance is generated between the coil II8 and the magnetic rod II6 according to the electromagnetic induction principle, a doctor can feel the force when operating the simulation guide wire 13, and the simulation guide wire 13 is connected with the magnetic rod II6 in the force feedback damper unit II through threads and moves synchronously; the magnetic bar supporting seat II7 is arranged on the main end base 1; the operation information acquisition unit II is used for acquiring displacement information of the rotation angle and the axial movement of the simulated guide wire 13, and the output end of the operation information acquisition unit II is connected with the main controller; the simulated guide wire 13 passes through a hollow shaft photoelectric encoder II 11; the length of the main end linear guide rail II14 is 200mm, and the main end linear guide rail II14 is arranged on the main end base 1; the hollow shaft photoelectric encoder II11 is arranged on the encoder supporting seat II 12; the main end linear guide rail II14 is provided with a main end slide block II14-1, and the encoder support seat II12 is arranged on the main end slide block II14-1 and can axially move; the magnetic rod supporting unit II10 is arranged on the main end base 1 and is used for supporting the magnetic rod II6, so that the magnetic rod II6, the simulation guide wire 13 and the coil II8 are coaxial; the coil mounting rack II9 is mounted on the magnetic bar supporting seat 16; the magnetic rod II6 penetrates through the coil mounting rack II 9; coil II8 is mounted on coil mount II9 and current output by the master controller energizes coil II8, thereby creating force feedback.
Coil II8 is hollow induction coil, and its internal diameter 20mm, external diameter 24mm, thickness 10mm, the 480 circles of turns, it is installed on coil mounting bracket II9, and main control unit is connected to its input.
The coil mounting rack II9 and the simulation guide wire 13 are both formed by 3D printing of resin materials; the diameter of the simulated guide wire 13 is 3 mm.
The magnetic rod II6 is a magnetic rod with good magnetic conductivity, the length of the magnetic rod II6 is 200mm, and the diameter of the magnetic rod II6 is 16 mm.
As shown in fig. 7, the magnetic rod supporting unit II10 is composed of a bracket II10-1, a nylon bearing II10-2, a pulley II10-3 and a nylon bearing II10-4, wherein the bracket II10-1 and the pulley II10-3 are 3D printed from a resin material and are not affected by magnetism of the magnetic rod II 6; the pulley II10-3 is used for supporting the magnetic rod II6, so that the magnetic rod II6 is kept at a certain height, and excessive friction force cannot be generated because the resin material is smooth; the nylon bearing II10-2 and the nylon bearing II10-4 are made of nylon materials, have no magnetic permeability and cannot be influenced by the magnetism of the magnetic rod II 6; the nylon bearing II10-2 and the nylon bearing II10-4 are respectively arranged in circular clamping grooves at two sides of the bracket II 10-1; the pulley II10-3 is arranged between a nylon bearing II10-2 and a nylon bearing II 10-4.
As shown in fig. 7, the operation information acquisition unit II is composed of a sensor leg II27, a linear displacement sensor II24, a connecting frame II26, a moving magnetic block II25, an encoder supporting seat II12 and a hollow shaft photoelectric encoder II 11; the linear displacement sensor II24 is arranged on the main end base 1 through a sensor support leg II27, and the output end of the linear displacement sensor II24 is connected with the main controller and is used for measuring the axial movement displacement information when a doctor operates the simulated guide wire 13; the connecting frame II26 is used for connecting the movable magnetic block II25 and the encoder supporting seat II12 to keep the two moving synchronously; the movable magnetic block II25 is a passive movable magnetic block and is arranged on the connecting frame II26, so that the movable magnetic block II25 can move in a suspension manner and can also move along a guide rail; the linear displacement sensor II24 measures the displacement of the simulated guide wire 13 by detecting the movement of the movable magnetic block II 25; the encoder supporting seat II12 is arranged on the main end sliding block II 14-1; the hollow shaft photoelectric encoder II11 is installed on the encoder supporting seat II12, the simulation guide wire 13 penetrates through the hollow shaft photoelectric encoder II11 and is used for measuring the rotation distance information of the simulation guide wire 13 during the operation of a doctor, and the output end of the simulation guide wire is connected with the main controller.
The stroke of the linear guide rail II14 is equal to the measuring ranges of the linear displacement sensor II24 and the force feedback damping unit II correspondingly, and the measuring ranges are 200 mm.
The slave manipulator, as shown in fig. 8, includes an axial pushing unit, a rotating unit, a gripping unit, a stress detection unit, and an operation information acquisition unit; the axial pushing unit is mounted on the slave end base 71, and the output of the axial pushing unit drives the rotating unit, the clamping unit, the stress detection unit and the motion information acquisition unit to move in the axial direction; the rotating unit consists of a catheter rotating unit and a guide wire rotating unit and is respectively arranged on a bearing plate I66 and a bearing plate II 49; the clamping unit is composed of a catheter clamping unit and a guide wire clamping unit and is respectively used for clamping or loosening the catheter 36 and the guide wire 47; the stress detection unit is used for detecting stress information of the catheter 36 and the guide wire 47 in the interventional operation process; the motion information acquisition unit is used for acquiring axial displacement information and radial rotation distance information of the catheter 36 and the guide wire 47.
The axial pushing unit is composed of a slave end base 71, a driving unit, a slave end linear guide rail I62, a slave end linear guide rail II74, a support table unit, a proximity switch I65, a proximity switch II50 and a gear rack unit, as shown in FIG. 9 and FIG. 10;
the slave end base 71, as shown in fig. 11, has a length of 1120mm, a width of 128mm, and a total thickness of 25 mm; the slave end base 71 is a nylon plate, a middle protruding part of the slave end base is a rack support 71-1, and the thickness of the rack support 71-1 is 13 mm.
As shown in fig. 9 and 10, the driving unit is composed of a high-precision stepping motor I72, a high-precision stepping motor II75, a high-precision stepping motor III76, a connecting shaft I80, a connecting shaft II86 and a connecting shaft III 91; the supporting table unit is composed of a supporting table I64, a supporting table II58, a supporting table III55, a supporting table IV61, a supporting table V51, a supporting table VI57, a deep groove ball bearing I82, a deep groove ball bearing II88 and a deep groove ball bearing III 89; the high-precision stepping motor I72, the high-precision stepping motor II75 and the high-precision stepping motor III76 are respectively fixed on the support table I64, the support table II58 and the support table III55, and a motor shaft is respectively connected with the connecting shaft I80, the connecting shaft II86 and the connecting shaft III 91; the connecting shaft I80, the connecting shaft II86 and the connecting shaft III91 respectively penetrate through a deep groove ball bearing I82, a deep groove ball bearing II88 and a deep groove ball bearing III89, the input ends of the high-precision stepping motor I72, the high-precision stepping motor II75 and the high-precision stepping motor III76 are respectively connected with a slave controller, and the output ends of the high-precision stepping motor I72, the high-precision stepping motor II75 and the high-precision stepping motor III76 are connected with a gear and rack unit so as to drive the; the flat key 79 is embedded in a groove of the connecting shaft I80 and is used for radial fixation; the deep groove ball bearing I82, the deep groove ball bearing II88 and the deep groove ball bearing III89 are respectively embedded in the support platform IV61, the support platform VI57 and the support platform V51.
As shown in fig. 11, the slave end linear guide I62 is 1000mm long and is provided with a slave end slide block I81, a slave end slide block II56 and a slave end slide block III 52; the slave end slide block I81 is used for fixing the support table IV61, the slave end slide block II56 is used for fixing the support table VI57, and the slave end slide block III52 is used for fixing the support table V51;
as shown in fig. 11, the slave end linear guide II74 has a length of 1000mm, and is provided with a slave end slide block IV85, a slave end slide block V87 and a slave end slide block VI 84; the slave end slide block IV85 is used for fixing a support table I64, the slave end slide block V87 is used for fixing a support table II58, and the slave end slide block VI84 is fixed with a support table III 55;
as shown in fig. 10, the support table I64 and the support table IV61 are connected by a connecting shaft I80; the supporting table II58 and the supporting table VI57 are connected together through a connecting shaft II 86; the support table III55 and the support table V51 are connected together through a connecting shaft III 91; one end of the connecting shaft I80, one end of the connecting shaft II86 and one end of the connecting shaft III91 are respectively and fixedly connected with a connecting shaft I80, a connecting shaft II86 and a connecting shaft III91 of three high-precision stepping motors through flat head screws, the other end of the connecting shaft III 3838 respectively penetrates through deep groove ball bearings embedded in the supporting tables, when the supporting tables I64 and the supporting tables IV61 move synchronously, the supporting tables III55 and the supporting tables V51 move synchronously, and the supporting tables II58 and the supporting tables VI57 move synchronously.
As shown in fig. 10, the rack and pinion unit is composed of a helical rack 60, a helical gear I73, a helical gear II77 and a helical gear III 78; the helical rack 60, the helical gear I73, the helical gear II77 and the helical gear III78 are all national standard 7-grade high-precision components, wherein the length of the helical rack 60 is 1000mm, and the helical rack is fixedly arranged on the rack bracket 71-1; the bevel gear I73, the bevel gear II77 and the bevel gear III78 are respectively fixed with the middle parts of a connecting shaft I80, a connecting shaft II86 and a connecting shaft III91 of the three high-precision stepping motors, and the three high-precision stepping motors are respectively driven to rotate through the connecting shafts;
as shown in fig. 10, a flat key is embedded in each of the connecting shaft I80, the connecting shaft II86 and the connecting shaft III91 for keeping the helical gear and the connecting shaft radially fixed; the output ends of the proximity switch I65 and the proximity switch II50 are connected with the slave controller, and the input ends of the proximity switch I65 and the proximity switch II50 are respectively arranged at one side of the support table I64 and one side of the support table III55, so that when the support table I64 and the support table III55 are respectively close to the proximity switch I65 and the proximity switch II50 and the distance is less than or equal to 4mm, the proximity switch I65 and the proximity switch II50 send signals, and the driving unit stops driving.
The gripping unit is composed of 4 clamps as shown in fig. 13, 14, 15, 16, 17 and 18, namely a catheter electric clamp I30 (see fig. 14), a manual clamp 39 (see fig. 13), a guide wire electric clamp 42 (see fig. 15, 16 and 17) and a guide wire fixing electric clamp II45 (see fig. 18);
the rotating unit is composed of a catheter rotating unit and a guide wire rotating unit as shown in fig. 12 and 13; the catheter rotating unit comprises a catheter driving rotating unit and a catheter driven rotating unit; the catheter driving rotation unit is composed of a rotating motor I59, a rotating motor mounting bracket I69, a coupler I70, a coupler II67, a synchronizing wheel I92, a synchronizing wheel II93 and a synchronous belt 29; the rotating motor I59 is a high-precision stepping motor and is arranged on a rotating motor mounting bracket I69, the input end of the rotating motor I59 is connected with a slave controller, and the output end of the rotating motor I59 is connected with a synchronizing wheel II93 through a coupler I70 and a coupler II 67; the rotating motor mounting bracket I69 is fixed on a mounting bearing plate I66; the synchronizing wheel I92 and the synchronizing wheel II93 are connected through a synchronous belt 29, and the synchronizing wheel I92 and the synchronizing wheel II93 are fixed between a synchronizing wheel bracket 28 and a catheter electric clamp I30 and synchronously rotate under the driving of a rotating motor I59; the catheter electric clamp I30 is used for clamping and loosening the catheter 36 and is fixedly arranged with the synchronizing wheel I92 and the synchronizing wheel II93, and when the synchronizing wheel I92 rotates, the catheter electric clamp I30 is driven to rotate, so that the catheter 36 is driven to rotate;
the guide wire electric clamp 42 is used for clamping or loosening a guide wire 47, the front end of the guide wire electric clamp is provided with a gear structure, the guide wire 47 penetrates through the guide wire electric clamp 42, and when the guide wire 47 is clamped, the guide wire 47 rotates together under the rotation of the gear, as shown in fig. 13;
the conduit passive rotating unit, as shown in fig. 13, is composed of a bearing 37 and a manual clamp 39; wherein, the manual clamp bracket 38 is provided with a groove, and the bearing 37 is fixed in the groove of the manual clamp bracket 38; the manual clamp bracket 38 is fixed on a bearing plate III68 and is used for keeping the tail end 36-1 of the guide pipe and the front end of the guide pipe 36 on the same horizontal plane; the manual clamp 39 is provided with two hand screws for fixing the tail end 36-1 of the catheter; the manual clamp 39 is fixed to the inner race of the bearing 37 and the catheter tip 36-1 will follow when the forward end of the catheter 36 is rotated.
As shown in fig. 13, the guide wire rotating unit is composed of a rotating motor II48, a rotating motor mounting bracket II54, a gear 53, a linear bearing I40 and a linear bearing II 94; the linear bearing I40 and the linear bearing II94 are respectively installed in circular through holes of a linear bearing support I41 and a linear bearing support II 63; the rotating motor II48 is a direct-current brushless motor with an encoder and a reduction box, is fixedly arranged on a rotating motor mounting bracket II54, and has an input end connected with a slave controller and an output end connected with the gear 53, so that the gear 53 is driven to rotate; the linear bearing I40 and the linear bearing II94 are used for supporting the guide wire electric clamp 42 and enabling the guide wire electric clamp 42 to move axially and radially; the rotating electric machine mounting plate II54 is fixed to the rotating electric machine support plate 95.
As shown in fig. 14, the electric clamp I30 for the guide tube is composed of a micro stepping motor I30-1, a mounting plate I30-2, a clip I30-3, a spring mounting plate I30-4, a clip fixing plate I30-6 and a rotor I30-5, the electric clamp I30 for the guide tube is fixedly mounted with a synchronizing wheel I92 and a synchronizing wheel II93, the rear end of the electric clamp is connected with a ring disc 32 through a hollow connecting pipe 31, and the ring disc 32 is used for transmitting the force of the guide tube 36 to a load sensor 34; a spring is fixed in the spring mounting plate I30-4; when the rotor I30-5 is in a vertical state, the clamp I30-3 clamps the conduit 36 under the action of a spring, and when the micro stepping motor I30-1 drives the rotor I30-5 to rotate 90 degrees to a horizontal state, the clamp I30-3 releases the conduit 36; the manual jig 39 fixes the catheter tip so that the catheter tip and the catheter tip are kept on the same horizontal line, and can stabilize the catheter tip during the insertion of the guide wire 47, thereby facilitating the insertion of the catheter 36 and the guide wire 47.
The guide wire electric clamp 42 is composed of a shell 42-1, a shell cover 42-2, a hollow shaft micro stepping motor 42-5, a push block 42-6, a spring I42-7, a spring II42-8, a clamp block I42-9 and a clamp block II42-10, as shown in FIG. 15, FIG. 16 and FIG. 17; the guide wire electric clamp 42 is supported by a linear bearing I40 and a linear bearing II94, and is used for realizing the axial and radial movement of the guide wire electric clamp 42, as shown in figures 15, 16 and 17; the guide wire 47 penetrates through the middle of the guide wire electric clamp 42 and sequentially penetrates through the front end 42-3 of the guide wire electric clamp 42, the hollow shaft micro stepping motor 42-5, the push block 42-6, the clamp block I42-9, the clamp block II42-10 and the tail end 42-4 of the guide wire electric clamp 42; the clamp block I42-9 and the clamp block II42-10 are respectively arranged in an upper frame and a lower frame of the shell cover 42-2, so that the clamp blocks can only do loosening or clamping actions; the spring I42-7 and the spring II42-8 are arranged between the clamp block I42-9 and the clamp block II 42-10; the shaft of the hollow shaft micro stepping motor 42-5 is provided with an external thread, the push block 42-6 is embedded with a hexagon nut and is connected with the external thread on the shaft of the hollow shaft micro stepping motor 42-5, is used for the axial movement of the push block 42-6 driven by the nut when the hollow shaft micro stepping motor 42-5 rotates, when pusher block 42-6 is moved forward, clamp block I42-9 and clamp block II42-10 are squeezed, guide wire 47 is passed therethrough, so that the clamp block I42-9 and the clamp block II42-10 clamp the guide wire, when the pushing block 42-6 moves backwards, the clamp block I42-9 and the clamp block II42-10 move away from each other under the action of the spring I42-7 and the spring II42-8 respectively, thereby causing clamp block I42-9 and clamp block II42-10 to release guidewire 47.
As shown in fig. 18, the guide wire fixing electric clamp II45 is composed of a micro stepping motor II45-1, a mounting plate II45-2, a clamp II45-6, a spring mounting plate II45-3, a fixing plate II45-5 and a rotor II 45-7; when the rotor II45-7 is in a vertical state, the clamp II30-3 clamps the guide wire 47 under the action of a spring, and when the micro stepping motor II30-1 drives the rotor II45-7 to rotate by 90 degrees to a horizontal state, the clamp II30-3 releases the guide wire 47; the guide wire fixing clamp II45 is embedded in a round hole in the end bracket 46 through a disc 45-4.
The stress detection unit is composed of a catheter stress detection unit and a guide wire stress detection unit as shown in fig. 12 and 19, wherein the catheter stress detection unit is composed of an annular disc 32, an annular sleeve 33 and a load sensor 34 as shown in fig. 12; the load sensor 34 is arranged on a load sensor bracket 35, the repeatability of the load sensor is 0.01% RO, and the output end of the load sensor is connected with a slave controller; the annular disc 32 is arranged between the load sensor bracket 35 and the catheter electric clamp I30, and the left end of the annular disc is fixed with the catheter electric clamp I30; the annular sleeve 33 is arranged on the load sensor 34 and is in contact connection with the annular disc 32, when the catheter 36 is subjected to resistance in the interventional operation, the force is transmitted to the catheter electric clamp I30, then to the annular disc 32 and then to the annular sleeve 33, and finally the load sensor 34 can measure a resistance signal; the guide wire force detection unit, as shown in fig. 19, includes a touch force sensor 43; the repeatability of the touch force sensor 43 is 0.2%, the sensitivity of the touch force sensor is 7.2mV/V/N, the touch force sensor is fixedly arranged on the touch force sensor mounting plate 96, the guide wire electric clamp 42 is infinitely close to the touch force sensor 43, and when the guide wire 47 is subjected to resistance in the interventional operation process, the guide wire electric clamp 42 can transmit the force to the touch force sensor 43; the output end of the touch force sensor 43 is connected with a slave controller.
The motion information acquisition unit, as shown in fig. 10 and 19, is used for measuring the axial displacement of the catheter 36, the axial displacement of the guide wire 47 and the rotation distance of the guide wire 47, and is composed of a hollow shaft photoelectric encoder III83, a hollow shaft photoelectric encoder IV90, a hollow shaft photoelectric encoder V44, an encoder support I97, an encoder support II98 and a resin connector 99;
the hollow shaft photoelectric encoder III83 is used for measuring the axial displacement distance of the catheter 36, and the hollow shaft photoelectric encoder III83 is fixedly connected in the support table IV 61; the connecting shaft I80 penetrates through a deep groove ball bearing I82, one end of the connecting shaft I80 is fixed on a motor shaft of a high-precision stepping motor I72, and the other end of the connecting shaft I80 is fixed in a hollow shaft of a hollow shaft photoelectric encoder III 83; the hollow shaft photoelectric encoder IV90 is used for measuring the axial displacement distance of the guide wire 47, and the hollow shaft photoelectric encoder IV90 is fixedly connected in the support table V51 and connected with the connecting shaft III 91; the connecting shaft III91 penetrates through a deep groove ball bearing III89, one end of the connecting shaft III91 is fixed on a motor shaft of a high-precision stepping motor III76, and the other end of the connecting shaft III91 is fixed on a hollow shaft of a hollow shaft photoelectric encoder IV 90; the hollow shaft photoelectric encoder V44 is used for measuring the rotation distance of the guide wire 47 and is fixedly arranged on an encoder bracket I97 and an encoder bracket II98, as shown in FIG. 20; the resin connector 99 is fixed in the hollow shaft of the hollow shaft photoelectric encoder V44, and the guide wire electric clamp 42 needs to keep the characteristic of axial movement, so the hollow shaft photoelectric encoder V44 can not be directly fixed with the tail end of the guide wire electric clamp 42, and radial synchronization needs to be kept by means of the resin connector 99 connection, and the guide wire 47 can pass through the hollow shaft photoelectric encoder V44, as shown in figures 17 and 20.
The simulated catheter 22 is 4mm in diameter and the simulated guidewire 13 is 3mm in diameter.
The stroke of the linear guide rail I23 is equal to the measuring ranges of the linear displacement sensor I2 and the force feedback damping unit I correspondingly, and the measuring ranges are 200 mm.
The stroke of the linear guide rail II14 is equal to the measuring ranges of the linear displacement sensor II24 and the force feedback damping unit II correspondingly, and the measuring ranges are 200 mm.
And the coil I17 and the coil II8 are both hollow induction coils, the inner diameter of each coil is 20mm, the outer diameter of each coil is 24mm, the thickness of each coil is 10mm, and the number of turns of each coil is 480.
The magnetic rod I15 and the magnetic rod II6 are magnetic rods with good magnetic conductivity, the length of the magnetic rods is 200mm, and the diameter of the magnetic rods is 16 mm.
The repeatability of the load cell 34 was 0.01% RO and the repeatability of the touch sensor 43 was 0.2% with a sensitivity of 7.2 mV/V/N.
The slave end base 71 has a length of 1120mm, a width of 128mm and a total thickness of 25 mm.
The lengths of the slave end linear guide rail I62, the slave end linear guide rail II74 and the helical rack 60 are all 1000 mm.
Claims (10)
1. A novel device for realizing the cooperative operation of a catheter and a guide wire of a robot for vascular intervention surgery is characterized by comprising a main terminal system and a slave terminal system, and the device can simultaneously control the catheter and the guide wire to perform the cooperative operation; the main terminal system consists of a main operator, a main controller and a PC display screen; the main manipulator is composed of a catheter operating device and a guide wire operating device and is used for realizing the operation of the catheter and the guide wire; the catheter operation device and the guide wire operation device are respectively controlled and operated by the left hand and the right hand of a doctor, the input ends of the catheter operation device and the guide wire operation device receive operation signals of the two hands of the doctor and control signals of the main controller, and the output ends of the catheter operation device and the guide wire operation device are connected with the main controller and send operation information to the main controller; the main controller is in bidirectional data connection with the main operator, and is used for realizing the operation control of the main controller on the catheter and the guide wire and transmitting force feedback control information to a doctor in real time; the PC display screen is used for displaying focus information in the vascular intervention operation and the operation state of the robot;
the slave terminal system consists of an IP camera, a slave manipulator, a slave controller, a catheter and a guide wire; the slave controller and the master controller are in bidirectional data connection; the slave manipulator is used for controlling the movement of the catheter and the guide wire; the slave manipulator is in bidirectional data connection with the slave controller, and the master controller can receive stress information of the catheter and the guide wire fed back from the manipulator through the slave controller; the slave controller can receive the operation information of the master operator through the master controller; the IP camera is used for collecting real-time action image information of the on-site slave manipulator, the output end of the IP camera is connected with the PC display screen of the master terminal system, and the PC display screen is used for presenting the image information collected by the IP camera and providing real-time visual feedback signals for an operating doctor.
2. The novel vascular intervention surgical robot catheter and guide wire cooperative operation achieving device is characterized in that the main controller and the slave controller are STM32F103ZE controllers, and each controller is provided with 144 pins; the IP camera is connected with the PC display screen through the Internet, and the master controller is in communication connection with the slave controller through a CAN bus.
3. The novel vessel intervention surgical robot catheter and guide wire cooperative operation realization device is characterized in that the main manipulator comprises a catheter operation device and a guide wire operation device, and the catheter operation device and the guide wire operation device adopt the same structure; the catheter operation device and the guide wire operation device are horizontally placed on the main end base in a front-back mode, the catheter operation device is placed on the front half portion, the guide wire operation device is placed on the rear half portion, the placing purpose is in accordance with the operation habits of doctors, and the doctors can operate the equipment with two hands simultaneously;
the catheter operation device is composed of a force feedback damper unit I, an operation information acquisition unit I, a simulation catheter and a main end linear guide rail I; the force feedback damper unit I consists of a magnetic bar I, a magnetic bar supporting unit I, a coil I and a coil mounting rack I; the force feedback damper unit I is arranged on the magnetic bar supporting seat I, the input end of the force feedback damper unit I is connected with the main controller through a coil I, the input signal is a conduit stress signal fed back from the main controller, resistance is generated between the coil I and the magnetic bar I according to the electromagnetic induction principle, and a doctor can feel the force when operating the simulation conduit; the tail end of the simulation conduit is connected with a magnetic rod I in the force feedback damper unit I through threads, and the simulation conduit and the magnetic rod I move synchronously;
the magnetic bar supporting seat I is arranged on the main end base; the operation information acquisition unit I is used for acquiring rotation distance information and axial displacement information of the simulation catheter, and the output end of the operation information acquisition unit I is connected with the main controller; the length of the main end linear guide rail I is 200mm, and the main end linear guide rail I is arranged on a main end base; a main end slide block I is arranged on the main end linear guide rail I; the magnetic bar supporting unit I is arranged on the main end base and used for supporting the magnetic bar I so that the magnetic bar I, the simulation catheter and the coil I are coaxial; the coil mounting rack I is arranged on the magnetic bar supporting seat; the magnetic bar I penetrates through the coil mounting rack I; the coil I is arranged on the coil mounting frame I, and is electrified by the current output by the main controller, so that force feedback is generated;
the magnetic rod supporting unit I is composed of a magnetic rod support I19-1, a nylon bearing I, a pulley I and a nylon bearing II, wherein the magnetic rod support I and the pulley I are formed by 3D printing of resin materials and cannot be influenced by magnetism of the magnetic rod I; the pulley I is used for supporting the magnetic rod I, so that the magnetic rod I is kept at a certain height and the mobility of the magnetic rod I is kept, and the pulley I is smooth due to the fact that resin materials are used, and excessive friction force cannot be generated; the nylon bearing I and the nylon bearing II are made of nylon materials, do not have magnetic conductivity and cannot be influenced by the magnetism of the magnetic rod I; the nylon bearing I and the nylon bearing II are respectively arranged in circular clamping grooves at two sides of the magnetic bar bracket I; the pulley I is arranged between the nylon bearings I and II;
the operation information acquisition unit I is composed of a sensor support leg I, a linear displacement sensor I, a connecting frame I, a movable magnetic block I, an encoder support seat I and a hollow shaft photoelectric encoder I; the linear displacement sensor I is arranged on the main end base 1 through a sensor support leg I, and the output end of the linear displacement sensor I is connected with the main controller and used for measuring the axial displacement information when a doctor operates the simulation catheter; the connecting frame I is used for connecting the movable magnetic block I and the encoder supporting seat I to keep the movable magnetic block I and the encoder supporting seat I in synchronous motion; the movable magnetic block I is a passive movable magnetic block and is arranged on the connecting frame I, and can move in a suspension manner and also move along the guide rail; the linear displacement sensor I measures the displacement of the simulation guide pipe by detecting the movement of the movable magnetic block I; the encoder supporting seat I is arranged on the main end sliding block I and can move axially; the hollow shaft photoelectric encoder I is arranged on the encoder supporting seat I, the simulation catheter penetrates through the encoder supporting seat I and is used for measuring the rotation distance information of the simulation catheter during operation of a doctor, and the output end of the simulation catheter is connected with the main controller.
4. The novel vessel intervention surgical robot catheter guide wire cooperative operation achieving device is characterized in that the guide wire operating device is composed of a force feedback damper unit II, an operation information acquisition unit II, a simulation guide wire and a main end linear guide rail II; the force feedback damper unit II consists of a magnetic bar II, a magnetic bar supporting unit II, a coil II and a coil mounting rack II; the force feedback damper unit II is arranged on the magnetic bar supporting seat II, the input end of the force feedback damper unit II is connected with the main controller through a coil II, the input signal is a guide wire stress signal fed back from the main controller, resistance is generated between the coil II and the magnetic bar II according to the electromagnetic induction principle, a doctor can feel the force when operating the simulation guide wire, and the simulation guide wire and the magnetic bar II in the force feedback damper unit II are connected through threads and move synchronously; the magnetic bar supporting seat II is arranged on the main end base; the operation information acquisition unit II is used for acquiring rotation distance information and axial displacement information of the simulated guide wire, and the output end of the operation information acquisition unit II is connected with the main controller; the simulation guide wire penetrates through a hollow shaft photoelectric encoder II; the length of the main end linear guide rail II is 200mm, and the main end linear guide rail II is arranged on the main end base; the hollow shaft photoelectric encoder II is arranged on the encoder supporting seat II; the main end linear guide rail II is provided with a main end sliding block II, and the encoder supporting seat II is arranged on the main end sliding block II so as to axially move; the magnetic rod supporting unit II is arranged on the main end base and used for supporting the magnetic rod II so that the magnetic rod II, the simulation guide wire and the coil II are coaxial; the coil mounting rack II is arranged on the magnetic bar supporting seat II; the magnetic rod II penetrates through the coil mounting rack II; the coil II is arranged on the coil mounting rack II, and the coil II is electrified by the current output by the main controller, so that force feedback is generated;
the magnetic rod supporting unit II is composed of a support II, a nylon bearing II, a pulley II and a nylon bearing II, wherein the support II and the pulley II are formed by 3D printing of resin materials and cannot be influenced by magnetism of the magnetic rod II; the pulley II is used for supporting the magnetic rod II to keep the magnetic rod II at a certain height, and the resin material is smooth, so that excessive friction force cannot be generated; the nylon bearing II and the nylon bearing II are made of nylon materials, have no magnetic conductivity and cannot be influenced by the magnetism of the magnetic rod II; the nylon bearing II and the nylon bearing II are respectively arranged in the circular clamping grooves on the two sides of the bracket II; the pulley II is arranged between the nylon bearings II and II;
the operation information acquisition unit II is composed of a sensor support leg II, a linear displacement sensor II, a connecting frame II, a movable magnetic block II, an encoder support seat II and a hollow shaft photoelectric encoder II; the linear displacement sensor II is arranged on the main end base through a sensor support leg II, and the output end of the linear displacement sensor II is connected with the main controller and used for measuring the axial movement displacement information when a doctor operates the simulated guide wire; the connecting frame II is used for connecting the movable magnetic block II and the encoder supporting seat II to keep the movable magnetic block II and the encoder supporting seat II to move synchronously; the movable magnetic block II is a passive movable magnetic block, is arranged on the connecting frame II, and can move in a suspension manner and also move along the guide rail; the linear displacement sensor II measures the displacement of the simulated guide wire by detecting the movement of the movable magnetic block II; the encoder supporting seat II is arranged on the main end sliding block II; the hollow shaft photoelectric encoder II is installed on the encoder supporting seat II, the simulation guide wire penetrates through the encoder supporting seat II and is used for measuring the rotating distance information of the simulation guide wire during operation of a doctor, and the output end of the simulation guide wire is connected with the main controller.
5. The novel device for realizing the cooperative operation of the catheter and the guide wire of the robot for vascular intervention surgery as claimed in claim 4, wherein the coil I is a hollow induction coil with an inner diameter of 20mm, an outer diameter of 24mm, a thickness of 10mm and 480 turns, and is mounted on the coil mounting frame I, and the input end of the coil mounting frame I is connected with the main controller;
the coil mounting rack I and the simulation catheter are both formed by 3D printing of resin materials; the diameter of the simulation conduit is 4 mm;
the magnetic rod I is a magnetic rod with good magnetic conductivity, the length of the magnetic rod I is 200mm, and the diameter of the magnetic rod I is 16 mm;
the stroke of the linear guide rail I is correspondingly equal to the measuring ranges of the linear displacement sensor I and the force feedback damping unit I, and the measuring ranges are 200 mm;
the coil II is a hollow induction coil, the inner diameter of the coil II is 20mm, the outer diameter of the coil II is 24mm, the thickness of the coil II is 10mm, the number of turns of the coil II is 480, the coil II is arranged on the coil mounting rack II, and the input end of the coil II is connected with the main controller;
the coil mounting rack II and the simulation guide wire are both formed by 3D printing of resin materials; the diameter of the simulated guide wire is 3 mm;
the magnetic rod II is a magnetic rod with good magnetic conductivity, the length of the magnetic rod II is 200mm, and the diameter of the magnetic rod II is 16 mm;
the stroke of the linear guide rail II is equal to the measuring ranges of the linear displacement sensor II and the force feedback damping unit II correspondingly, and the measuring ranges are 200 mm.
6. The novel device for realizing the catheter and guide wire cooperative operation of the vascular interventional surgery robot according to the claim 1, is characterized in that the slave manipulator comprises an axial pushing unit, a rotating unit, a clamping unit, a stress detection unit and an operation information acquisition unit; the axial pushing unit is arranged on the slave end base, and the output of the axial pushing unit drives the rotating unit, the clamping unit, the stress detection unit and the motion information acquisition unit to move in the axial direction; the rotating unit consists of a catheter rotating unit and a guide wire rotating unit and is respectively arranged on the bearing plate I and the bearing plate II; the clamping unit consists of a catheter clamping unit and a guide wire clamping unit and is respectively used for clamping or loosening the catheter and the guide wire; the stress detection unit is used for detecting stress information of a catheter and a guide wire in an interventional operation process; the motion information acquisition unit is used for acquiring axial displacement information and rotation distance information of the catheter and the guide wire.
7. The novel device for realizing the cooperative operation of the catheter guide wire of the vascular interventional surgery robot as recited in claim 6, wherein the axial pushing unit is composed of a slave end base, a driving unit, a slave end linear guide rail I, a slave end linear guide rail II, a supporting table unit, a proximity switch I, a proximity switch II and a gear rack unit;
the length of the slave end base is 1120mm, the width of the slave end base is 128mm, and the total thickness of the slave end base is 25 mm; the slave end base is a nylon plate, a middle convex part of the slave end base is a rack support, and the thickness of the rack support is 13 mm;
the driving unit consists of a high-precision stepping motor I, a high-precision stepping motor II, a high-precision stepping motor III, a connecting shaft I, a connecting shaft II and a connecting shaft III; the supporting table unit consists of a supporting table I, a supporting table II, a supporting table III, a supporting table IV, a supporting table V, a supporting table VI, a deep groove ball bearing I, a deep groove ball bearing II and a deep groove ball bearing III; the high-precision stepping motor I, the high-precision stepping motor II and the high-precision stepping motor III are respectively fixed on the support table I, the support table II and the support table III, and motor shafts of the high-precision stepping motor I, the high-precision stepping motor II and the high-precision stepping motor III are respectively connected with the connecting shaft I, the connecting shaft II and the connecting shaft III; the connecting shaft I, the connecting shaft II and the connecting shaft III respectively penetrate through the deep groove ball bearing I, the deep groove ball bearing II and the deep groove ball bearing III, the input ends of the high-precision stepping motor I, the high-precision stepping motor II and the high-precision stepping motor III are respectively connected with the slave controller, and the output ends of the high-precision stepping motor I, the high-precision stepping motor II and the high-precision stepping motor III are connected with the gear rack unit, so that the supporting table unit is driven to move axially; the flat key is embedded in the groove of the connecting shaft I and is used for radial fixation; the deep groove ball bearing I, the deep groove ball bearing II88 and the deep groove ball bearing III are respectively embedded in the support table IV, the support table VI and the support table V;
the length of the slave end linear guide rail I is 1000mm, and a slave end sliding block I, a slave end sliding block II and a slave end sliding block III are arranged on the slave end linear guide rail I; the slave end sliding block I is used for fixing a support table IV, the slave end sliding block II is used for fixing a support table VI, and the slave end sliding block III is used for fixing a support table V;
the length of the slave end linear guide rail II is 1000mm, and a slave end slide block IV, a slave end slide block V and a slave end slide block VI are arranged on the slave end linear guide rail II; the slave end sliding block IV is used for fixing the support table I, the slave end sliding block V is used for fixing the support table II, and the slave end sliding block VI is fixed with the support table III;
the support table I and the support table IV are connected through a connecting shaft I; the supporting table II and the supporting table VI are connected together through a connecting shaft II; the support table III and the support table V are connected together through a connecting shaft III; one end of the connecting shaft I, one end of the connecting shaft II and one end of the connecting shaft III are respectively and fixedly connected with the connecting shaft I, the connecting shaft II and the connecting shaft III of the three high-precision stepping motors through flat head screws, the other ends of the connecting shaft III respectively penetrate through deep groove ball bearings embedded in the supporting tables, when the supporting tables are driven, the supporting tables I and the supporting tables IV synchronously move, the supporting tables III and the supporting tables V synchronously move, and the supporting tables II and the supporting tables VI synchronously move;
the gear rack unit consists of a helical rack, a helical gear I, a helical gear II and a helical gear III; the helical rack, the helical gear I, the helical gear II and the helical gear III are all national standard 7-grade high-precision components, wherein the length of the helical rack is 1000mm, and the helical rack is fixedly arranged on the rack bracket; the bevel gear I, the bevel gear II and the bevel gear III are respectively fixed with the middle parts of a connecting shaft I, a connecting shaft II and a connecting shaft III of the three high-precision stepping motors and are respectively driven to rotate by the three high-precision stepping motors through the connecting shafts;
a flat key is embedded in each of the connecting shaft I, the connecting shaft II and the connecting shaft III and is used for keeping the helical gear and the connecting shaft fixed in the radial direction; proximity switch I, proximity switch II's output are connected from the controller, and one side of propping up supporting bench I and supporting bench III is arranged respectively in its input for guarantee when propping up supporting bench I and supporting bench III and be close to proximity switch I and proximity switch II respectively and apart from less than or equal to 4mm, proximity switch I and proximity switch II will send a signal, and drive unit stops the drive.
8. The device for realizing the catheter and guide wire cooperative operation of the novel vascular interventional surgery robot as claimed in claim 6, wherein the clamping unit is composed of 4 clamps, namely a catheter electric clamp I, a manual clamp, a guide wire electric clamp and a guide wire fixing electric clamp II;
the rotating unit consists of a catheter rotating unit and a guide wire rotating unit; the catheter rotating unit comprises a catheter driving rotating unit and a catheter driven rotating unit; the catheter driving rotation unit is composed of a rotating motor I, a rotating motor mounting bracket I, a coupler II, a synchronizing wheel I, a synchronizing wheel II and a synchronous belt; the rotating motor I is a high-precision stepping motor and is arranged on a rotating motor mounting bracket I, the input end of the rotating motor I is connected with a slave controller, and the output end of the rotating motor I is connected with a synchronizing wheel II through a coupler I and a coupler II; the rotating motor mounting bracket I is fixed on the mounting bearing plate I; the synchronous wheel I and the synchronous wheel II are connected through a synchronous belt, and are fixed between a synchronous wheel bracket and the catheter electric clamp I and synchronously rotate under the driving of a rotating motor I; the pipe electric clamp I is used for clamping and loosening a pipe, is fixedly installed with the synchronizing wheel I and the synchronizing wheel II, and can drive the pipe electric clamp I to rotate when the synchronizing wheel I rotates, so that the pipe is driven to rotate;
the guide wire electric clamp is used for clamping or loosening the guide wire, the front end of the guide wire electric clamp is provided with a gear structure, the guide wire penetrates through the guide wire electric clamp, and when the guide wire is clamped, the guide wire electric clamp and the guide wire rotate together under the rotation of the gear.
9. The novel vessel intervention surgical robot catheter and guide wire cooperative operation achieving device is characterized in that the catheter passive rotating unit is composed of a bearing and a manual clamp; the manual clamp bracket is provided with a groove, and the bearing is fixed in the groove of the manual clamp bracket; the manual clamp bracket is fixed on the bearing plate III and used for keeping the tail end of the guide pipe and the front end of the guide pipe on the same horizontal plane; the manual clamp is provided with two hand-screwed screws for fixing the tail end of the catheter; the manual clamp is fixed with the inner ring of the bearing, and when the front end of the guide pipe rotates, the tail end of the guide pipe rotates along with the guide pipe;
the guide wire rotating unit consists of a rotating motor II, a rotating motor mounting bracket II, a gear, a linear bearing I and a linear bearing II; the linear bearing I and the linear bearing II are respectively arranged in circular through holes of the linear bearing support I and the linear bearing support II; the rotating motor II is a direct-current brushless motor with an encoder and a reduction box, is fixedly arranged on a rotating motor mounting bracket II, and has an input end connected with a slave controller and an output end connected with a gear, so that the gear is driven to rotate; the linear bearing I and the linear bearing II are used for supporting the guide wire electric clamp and enabling the guide wire electric clamp to move axially and radially; the rotating motor mounting plate II is fixed on the rotating motor supporting plate;
the electric guide pipe clamp I is composed of a micro stepping motor I, a mounting plate I, a clamp I, a spring mounting plate I, a clamp fixing plate I and a rotor I, the electric guide pipe clamp I is fixedly mounted with a synchronizing wheel I and a synchronizing wheel II, and the rear end of the electric guide pipe clamp I is connected with an annular disc through a hollow connecting pipe, wherein the annular disc is used for transferring the stress of a guide pipe to a load sensor; a spring is fixed in the spring mounting plate I; when the rotor I is in a vertical state, the clamp I clamps the conduit under the action of the spring, and when the micro stepping motor I drives the rotor I to rotate by 90 degrees to a horizontal state, the clamp I releases the conduit; the manual clamp fixes the tail end of the catheter, so that the tail end of the catheter and the front end of the catheter are kept on the same horizontal line, and the tail end of the catheter can be kept stable during guide wire intervention, thereby being beneficial to the intervention of the catheter and the guide wire;
the guide wire electric clamp comprises a shell, a shell cover, a hollow shaft micro stepping motor, a push block, a spring I, a spring II, a clamp block I and a clamp block II; the guide wire electric clamp is supported by the linear bearing I and the linear bearing II and is used for realizing the axial and radial movement of the guide wire electric clamp; the guide wire penetrates through the middle of the guide wire electric clamp and sequentially penetrates through the front end of the guide wire electric clamp, the hollow shaft micro stepping motor, the push block, the clamp block I, the clamp block II and the tail end of the guide wire electric clamp; the clamp block I and the clamp block II are respectively arranged in an upper frame and a lower frame of the shell cover, so that the clamp blocks can only do loosening or clamping actions; the spring I and the spring II are arranged between the clamp block I and the clamp block II; the hollow shaft micro stepping motor is characterized in that an external thread is arranged on a shaft of the hollow shaft micro stepping motor, a hexagonal nut is embedded in the push block, the push block is connected with the external thread arranged on the shaft of the hollow shaft micro stepping motor and used for axially moving under the driving of the nut when the hollow shaft micro stepping motor rotates, when the push block moves forwards, the clamp block I and the clamp block II are extruded, and a guide wire penetrates through the clamp block I and the clamp block II, so that the clamp block I and the clamp block II clamp the guide wire, and when the push block moves backwards, the clamp block I and the clamp block II are respectively away from each other under the action of the spring I and the spring II, so that the clamp block I and the clamp block II loosen the guide wire;
the guide wire fixing electric clamp II is composed of a micro stepping motor II, a mounting plate II, a clamp II, a spring mounting plate II, a fixing plate II and a rotor II; when the rotor II is in a vertical state, the clamp II clamps the guide wire under the action of the spring, and when the micro stepping motor II drives the rotor II to rotate by 90 degrees to a horizontal state, the clamp II releases the guide wire; and the guide wire fixing clamp II is embedded in the circular hole of the tail end support through a circular disc.
10. The novel device for realizing the catheter and guide wire cooperative operation of the vascular interventional surgery robot according to claim 6, is characterized in that the stress detection unit consists of a catheter stress detection unit and a guide wire stress detection unit, wherein the catheter stress detection unit consists of an annular disc, an annular sleeve and a load sensor; the load sensor is arranged on the load sensor bracket, the repeatability of the load sensor is 0.01 percent RO, and the output end of the load sensor is connected with the slave controller; the annular disc is arranged between the load sensor bracket and the electric catheter clamp I, and the left tail end of the annular disc is fixed with the electric catheter clamp I; the annular sleeve is arranged on the load sensor and is in contact connection with the annular disc, when the catheter is subjected to resistance in the interventional operation process, the force is transmitted to the catheter electric clamp I, then to the annular disc and then to the annular sleeve, and finally the load sensor can measure a resistance signal; the guide wire stress detection unit comprises a touch force sensor; the repeatability of the touch force sensor is 0.2%, the sensitivity of the touch force sensor is 7.2mV/V/N, the touch force sensor is fixedly arranged on a touch force sensor mounting plate, the guide wire electric clamp is infinitely close to the touch force sensor, and when the guide wire is subjected to resistance in the interventional operation process, the guide wire electric clamp can transmit the force to the touch force sensor; the output end of the touch force sensor is connected with the slave controller;
the motion information acquisition unit is used for measuring the axial displacement of the catheter, the axial displacement of the guide wire and the rotating distance of the guide wire, and consists of a hollow shaft photoelectric encoder III, a hollow shaft photoelectric encoder IV, a hollow shaft photoelectric encoder V, an encoder bracket I, an encoder bracket II and a resin connecting piece;
the hollow shaft photoelectric encoder III is used for measuring the axial displacement distance of the guide pipe and is fixedly connected in the support table IV; the connecting shaft I penetrates through the deep groove ball bearing I, one end of the connecting shaft I is fixed on a motor shaft of the high-precision stepping motor I, and the other end of the connecting shaft I is fixed in a hollow shaft of a hollow shaft photoelectric encoder III; the hollow shaft photoelectric encoder IV is used for measuring the axial displacement distance of the guide wire, and is fixedly connected in the support table V and connected with the connecting shaft III; one end of the connecting shaft III passes through the deep groove ball bearing III, is fixed on a motor shaft of the high-precision stepping motor III, and the other end of the connecting shaft III is fixed on a hollow shaft of the hollow shaft photoelectric encoder IV; the hollow shaft photoelectric encoder V is used for measuring the rotating distance of the guide wire and is fixedly arranged on the encoder bracket I and the encoder bracket II; the resin connecting piece is fixed in a hollow shaft of the hollow shaft photoelectric encoder V, and the guide wire electric clamp needs to keep the characteristic of axial movement, so that the hollow shaft photoelectric encoder V cannot be directly fixed with the tail end of the guide wire electric clamp, radial synchronization needs to be kept by means of connection of the resin connecting piece, and the guide wire can penetrate through the hollow shaft photoelectric encoder V.
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| CN109730779A (en) * | 2019-03-07 | 2019-05-10 | 天津理工大学 | A kind of blood vessel intervention operation robotic catheter seal wire cooperative control system and method |
| CN112017516A (en) * | 2020-08-26 | 2020-12-01 | 北京理工大学 | Remote vascular intervention operation training system |
| CN112120791A (en) * | 2020-09-30 | 2020-12-25 | 中国科学院深圳先进技术研究院 | Main end control device of vascular intervention surgical robot |
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| CN109730779A (en) * | 2019-03-07 | 2019-05-10 | 天津理工大学 | A kind of blood vessel intervention operation robotic catheter seal wire cooperative control system and method |
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| CN112017516A (en) * | 2020-08-26 | 2020-12-01 | 北京理工大学 | Remote vascular intervention operation training system |
| CN112120791A (en) * | 2020-09-30 | 2020-12-25 | 中国科学院深圳先进技术研究院 | Main end control device of vascular intervention surgical robot |
| CN112587241A (en) * | 2020-12-14 | 2021-04-02 | 北京理工大学 | Main end guide wire/catheter operating device of vascular intervention surgical robot |
| CN112587241B (en) * | 2020-12-14 | 2021-11-26 | 北京理工大学 | Main end guide wire/catheter operating device of vascular intervention surgical robot |
| WO2022247504A1 (en) * | 2021-05-26 | 2022-12-01 | Precision Robotics (Hong Kong) Limited | Robotic surgery device and feeding system |
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| CN114159156B (en) * | 2021-12-13 | 2023-09-29 | 成都信息工程大学 | Main end touch interaction device of vascular intervention operation robot |
| CN114159156A (en) * | 2021-12-13 | 2022-03-11 | 成都信息工程大学 | Main end touch interaction device of vascular intervention surgical robot |
| CN115192208A (en) * | 2022-09-14 | 2022-10-18 | 深圳市爱博医疗机器人有限公司 | Force feedback mechanism, main end control device and interventional operation robot |
| CN115192208B (en) * | 2022-09-14 | 2022-12-27 | 深圳市爱博医疗机器人有限公司 | Force feedback mechanism, main end control device and interventional operation robot |
| CN116115351B (en) * | 2022-09-26 | 2023-09-26 | 上海睿触科技有限公司 | Master-slave force feedback system of vascular intervention robot |
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