CN101612436B - Robot propulsion mechanism for blood vessel intervention operation - Google Patents
Robot propulsion mechanism for blood vessel intervention operation Download PDFInfo
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- CN101612436B CN101612436B CN2009100897618A CN200910089761A CN101612436B CN 101612436 B CN101612436 B CN 101612436B CN 2009100897618 A CN2009100897618 A CN 2009100897618A CN 200910089761 A CN200910089761 A CN 200910089761A CN 101612436 B CN101612436 B CN 101612436B
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- blood vessel
- axial feed
- intervention operation
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Abstract
The invention discloses a robot propulsion mechanism for a blood vessel intervention operation. The mechanism is used for an end effector for a robot for the blood vessel intervention operation and comprises an axial feed component which is used for propelling a conduit, a circumferential rotating component which is used for changing the advancing direction of the conduit and a detection component which is used for detecting the advancing distance of the conduit, wherein the detection component and the axial feed component are connected into a whole by a connecting rod, are maintained to be parallel with each other, and carry out synchronously feeding and rotation; the axial feed component comprises a pair of driving rolling wheels which synchronously rotate in reverse directions, and a first arm for clamping the conduit is formed; the detection component comprises a pair of driven wheels, and a second arm for clamping the conduit is formed; the circumferential rotating component comprises an inside engaged gear and a rotary gear, the inside engaged gear is fixed with the axial feed component and the detection component, the rotary gear is driven by a rotating motor, and the inside engaged gear is engaged with the rotary gear. The invention has the advantages of small volume, compact structure and convenient operation and maintenance, can realize double-arm clamp for the conduit, and can achieve the spiral propulsion and synchronous detection of the conduit.
Description
Technical field
The present invention relates to a kind of blood vessel interventional minimally-invasive surgical operation robot parts, relate in particular to a kind of robot propulsion mechanism for blood vessel intervention operation.
Background technology
In recent years, the research and development dynamics of domestic medical robot is increasing, can be more and more in the robot of clinical practice, but the blood vessel intervention operation end effector of robot does not also have comprehensive development.
In the prior art, blood vessel intervention operation is manually finished by the doctor, exists tangible drawback, as: the doctor works under ray environment, and long period of operation is very big to actual bodily harm; Existing operation method craftsmenship is strong, the risk height, and specialist's training time of performing the operation is long; Because complicated operation, operating time are long, factors such as the tired and staff fluctuation of service of doctor can directly influence the quality of performing the operation, and then influence patient's life quality etc.
Summary of the invention
The purpose of this invention is to provide a kind of spiral propelling and the synchronous robot propulsion mechanism for blood vessel intervention operation of detection that can realize conduit.
The objective of the invention is to be achieved through the following technical solutions:
Robot propulsion mechanism for blood vessel intervention operation of the present invention, the end effector that is used for the blood vessel intervention operation robot comprises the axial feed parts that are used for propulsion bulb, is used to change the parts and be used for the detection part of detected catheter forward travel distance of rotating in a circumferential direction of conduit direction of advance;
Described detection part and described axial feed parts connect into integral body by connecting rod, and keeping parallelism, the two synchro-feed, rotation synchronously;
Described axial feed parts comprise a pair of synchronous and counter-rotational active roller, form first clamping limb to conduit;
Described detection part comprises a pair of return idler, forms second clamping limb to conduit;
The described parts that rotate in a circumferential direction comprise the inside engaged gear that is fixed together with described axial feed parts and described detection part, by the swing pinion that electric rotating machine drives, described inside engaged gear meshes with described swing pinion.
As seen from the above technical solution provided by the invention, robot propulsion mechanism for blood vessel intervention operation of the present invention is owing to comprise the axial feed parts that are used for propulsion bulb, be used to change the parts and be used for the detection part of detected catheter forward travel distance of rotating in a circumferential direction of conduit direction of advance; Detection part and axial feed parts connect into integral body by connecting rod, and keeping parallelism, the two synchro-feed, rotation synchronously; The axial feed parts comprise a pair of synchronous and counter-rotational active roller, form first clamping limb to conduit; Detection part comprises a pair of return idler, forms second clamping limb to conduit, can realize the both arms clamping to conduit, reaches the spiral propelling purpose synchronous with detection of conduit.
Description of drawings
Fig. 1 a, Fig. 1 b, Fig. 1 c are the population structure sketch map of robot propulsion mechanism for blood vessel intervention operation of the present invention;
Fig. 2 a, Fig. 2 b are the structural representation of axial infeed mean among the present invention;
Fig. 3 is axial infeed mean transmission sketch map among the present invention;
Fig. 4 is detection part structural representation among the present invention.
Among the figure: 1 base, 2 big rotation disc after-poppets, 3 electric rotating machine seats, 4 electric rotating machines, 5 big rotation disc axle inner cores, 6 swing pinion shaft couplings, 7 swing pinions, 8 axle sleeves, 9 big rotation disc axles, 10 big rotation disc fore-stocks, 11 axial feed parts, 12 inside engaged gears, 13 big rotation discs, 14 connecting rods, 15 return idler fixed parts, 16 big detection dishes, 17 detection part bases, 18 return idler moving-members, 19 axial feed driver parts, 20 detect supporting seat, 21 mechanical arm interfaces, 22 left side active rollers, 23 right side active rollers, 24 Positioning Gears, 25 flexible locking mechanisms, 26 active rollers wheel skin, 27 travelling gears, 28L type connecting rod, 29 trapezoidal fixed blocks, 30 active roller stators, 31 active roller axles, 32 first gears, 33 second gears, 34 the 4th gears, 35 the 3rd gears, 36 left side return idlers, 37 encoder travelling gears, 38 return idler bearing blocks, 39 return idlers wheel skin, 40 right side return idlers, 41 return idler axles, 42 return idler supports, 43 compression springs, 44 driven pulley traversing carriages, 45 driven pulley shifting axles.
The specific embodiment
Robot propulsion mechanism for blood vessel intervention operation of the present invention, its preferable specific embodiment is, the end effector that is used for the blood vessel intervention operation robot comprises the axial feed parts that are used for propulsion bulb, is used to change the parts and be used for the detection part of detected catheter forward travel distance of rotating in a circumferential direction of conduit direction of advance;
Wherein, detection part and axial feed parts connect into integral body by connecting rod, and keeping parallelism, the two synchro-feed, rotation synchronously; The a pair of synchronous and counter-rotational active roller of axial feed parts forms first clamping limb to conduit; Detection part comprises a pair of return idler, forms second clamping limb to conduit; Realization reaches the spiral propelling purpose synchronous with detection of conduit to the both arms clamping of conduit.
The parts that rotate in a circumferential direction comprise the inside engaged gear that is fixed together with axial feed parts and detection part, by the swing pinion that electric rotating machine drives, inside engaged gear meshes with swing pinion.Concrete axial feed parts and detection part can be connected on the big rotation disc, and inside engaged gear is fixed with big rotation disc.
The axial feed parts are driven by direct current generator, by gear with transmission of power to active roller, finally the rotation of described active roller is converted into the straight-line feed motion of conduit by the mode of frictional drive.The rectilinear motion of conduit is transformed into the rotation of return idler by the mode of friction, and the angle variable quantity by photoelectric encoder record return idler, by the mathematics conversion, be transformed into the actual progressive distance value of conduit, thereby realize real-time detection the actual forward travel distance of conduit.
Concrete axial feed parts can comprise 4 travelling gears with the number of teeth, by driven by motor first gear, and pass through second gear transmission of power is arrived the left side active roller; Simultaneously, change the direction of motion by the 3rd gear, and by the 4th gear with transmission of power to the right side active roller, finally realize the synchronous counter-rotating of a pair of active roller.
The axial feed parts can also comprise Positioning Gear and flexible locking mechanism, finish clamping and locking to conduit by active roller, Positioning Gear and the combined effect of flexible locking mechanism, flexible locking mechanism also possesses the adaptation function at the different model conduit simultaneously.
Robot propulsion mechanism for blood vessel intervention operation of the present invention also can be used for the simple and easy interface that is connected with the top mechanical arm with comprising, the spatial gauge point of entire machine people is equipped with in its bottom simultaneously.Can realize conveniently dismantling, with helping the integrated of system.
Below by specific embodiment, and the present invention will be further described in conjunction with the accompanying drawings.
Shown in Fig. 1 a, Fig. 1 b, Fig. 1 c, propulsive mechanism of the present invention comprises support platform, rotary part, three parts of driver part.
Wherein, support platform comprises base 1, big rotation disc after-poppet 2, big rotation disc fore-stock 10, big rotation disc axle 9, big rotation disc axle inner core 5, axle sleeve 8, detects supporting seat 20 etc.Its rotary driving part comprises electric rotating machine seat 3, electric rotating machine 4, swing pinion shaft coupling 6, swing pinion 7, inside engaged gear 12 etc., wherein 3 of electric rotating machine seats play vertical direction to electric rotating machine 4 and support, motor is fixed on the big rotation disc fore-stock 10 by screw, is connected the transmission that realizes power by screw between inside engaged gear and rotary part.
Rotary part comprises big rotation disc 13, connecting rod 14, big detection dish 16, axial feed parts 11, detection part, axial feed driving 19 etc.Wherein axial feed parts and driving thereof are fixed on the big rotation disc, detection part and photoelectric encoder thereof are fixed on the big detection dish, both are connected into integral body by connecting rod 14, and guarantee parallel and central axis coaxial of big rotation disc and big detection dish simultaneously.Whole rotary part cooperates the location by the face of cylinder in the big rotation disc and is fixed by holding screw with the big rotation disc axle 9 of support platform simultaneously.
Rotary part of the present invention is equivalent to a cantilever beam, increased by one at cantilever end and detect 20 pairs of rotary parts of supporting seat and carried out positioning supports in order to increase its rigidity and reliability, since frame for movement cross the location, detect support with base between be connected and adopt the connected mode that laterally can debug to satisfy localized matching requirements.
Shown in Fig. 2 a, Fig. 2 b, axial feed parts of the present invention comprise Positioning Gear 24, flexible locking mechanism 25, active roller wheel skin 26, travelling gear 27, L type connecting rod 28, trapezoidal fixed block 29, active roller stator 30, active roller axle 31 etc.Whole axial feed parts are screwed the center of circle that should guarantee arc-shaped slot on the active roller wheel skin in the dovetail groove of big rotation disc simultaneously on the axis of big rotation disc and big detection dish.
As shown in Figure 3, the axial feed parts have adopted one group of 4 gear drive with the number of teeth, by driven by motor first gear 32, by second gear 33 transmission of power is arrived left side active roller 22 again, change the direction of motion by the 3rd gear 35 simultaneously, again by the 4th gear 34 with transmission of power to right side active roller 23, finally realize the synchronous counter-rotating of a pair of active roller.
As shown in Figure 4, detection part of the present invention comprises left side return idler 36, encoder travelling gear 37, return idler bearing block 38, return idler wheel skin 39, right side return idler 40, return idler axle 41, return idler support 42, compression spring 43, driven pulley traversing carriage 44, driven pulley shifting axle 45 etc.Whole detection part is fixed on the big detection dish by screw, and the center of circle of the arc-shaped slot on the assurance return idler wheel skin is on the axis of big rotation disc and big detection dish.
Robot propulsion mechanism for blood vessel intervention operation among the present invention mainly is to finish intervene operation for conduit being advanced to focus region aids doctor, and the doctor too much suffers problems such as radiation in the existing operation process of solution.Its volume is little, compact conformation; Operation and maintenance is convenient; Improve by structure and material, its weight has only 2.5 kilograms, and robot end's bearing capacity is little, and these characteristics are even more important for small scale robot; In addition, this propulsive mechanism can also be realized the propelling to the different model conduit, and its flexible locking mechanism also has the adaptivity function at the conduit of different model, and its versatility is stronger; Simultaneously, the present invention has increased the man-machine handoff functionality of visual performance, fictitious force feedback function and complicated operation process, has improved the reliability and the security performance of mechanism to a great extent.
The test section is by the actual range of photoelectric encoder detected catheter axial feed, and the data of combining image navigation provide support for doctor's final decision.During operation, at first catheter proximal end is sent into sick body by vagina vasorum by the doctor, then by the present invention finish conduit in the intravital propelling of disease up to arriving the focus zone, avoid the doctor too much eat line.Be applicable to the end effector of robot of blood vessel intervention operation.
The above; only for the preferable specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.
Claims (7)
1. robot propulsion mechanism for blood vessel intervention operation, the end effector that is used for the blood vessel intervention operation robot, it is characterized in that, comprise the axial feed parts that are used for propulsion bulb, be used to change the parts and be used for the detection part of detected catheter forward travel distance of rotating in a circumferential direction of conduit direction of advance;
Described detection part and described axial feed parts connect into integral body by connecting rod, and keeping parallelism, the two synchro-feed, rotation synchronously;
Described axial feed parts comprise a pair of synchronous and counter-rotational active roller, form first clamping limb to conduit;
Described detection part comprises a pair of return idler, forms second clamping limb to conduit;
The described parts that rotate in a circumferential direction comprise the inside engaged gear that is fixed together with described axial feed parts and described detection part, by the swing pinion that electric rotating machine drives, described inside engaged gear meshes with described swing pinion.
2. robot propulsion mechanism for blood vessel intervention operation according to claim 1, it is characterized in that, described axial feed parts are driven by direct current generator, by gear with transmission of power to described active roller, finally the rotation of described active roller is converted into the straight-line feed motion of conduit by the mode of frictional drive.
3. robot propulsion mechanism for blood vessel intervention operation according to claim 2, it is characterized in that, described axial feed parts comprise 4 travelling gears with the number of teeth, by driven by motor first gear, and pass through second gear transmission of power is arrived the left side active roller;
Simultaneously, change the direction of motion by the 3rd gear, and by the 4th gear with transmission of power to the right side active roller, finally realize the synchronous counter-rotating of a pair of active roller.
4. robot propulsion mechanism for blood vessel intervention operation according to claim 3, it is characterized in that, described axial feed parts comprise Positioning Gear and flexible locking mechanism, finish clamping and locking to conduit by described active roller, Positioning Gear and the combined effect of flexible locking mechanism, flexible locking mechanism also possesses the adaptation function at the different model conduit simultaneously.
5. robot propulsion mechanism for blood vessel intervention operation according to claim 2, it is characterized in that, the rectilinear motion of described conduit is transformed into the rotation of described return idler by the mode of friction, and the angle variable quantity by photoelectric encoder record return idler, change by mathematics, be transformed into the actual progressive distance value of conduit, thereby realize real-time detection the actual forward travel distance of conduit.
6. robot propulsion mechanism for blood vessel intervention operation according to claim 1 is characterized in that, described axial feed parts and detection part are connected on the big rotation disc, and described inside engaged gear and described big rotation disc are fixed.
7. robot propulsion mechanism for blood vessel intervention operation according to claim 1 is characterized in that, comprises being used for the simple and easy interface that is connected with the top mechanical arm, and the spatial gauge point of entire machine people is equipped with in its bottom simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100897618A CN101612436B (en) | 2009-07-23 | 2009-07-23 | Robot propulsion mechanism for blood vessel intervention operation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100897618A CN101612436B (en) | 2009-07-23 | 2009-07-23 | Robot propulsion mechanism for blood vessel intervention operation |
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| CN101612436A CN101612436A (en) | 2009-12-30 |
| CN101612436B true CN101612436B (en) | 2011-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009100897618A Expired - Fee Related CN101612436B (en) | 2009-07-23 | 2009-07-23 | Robot propulsion mechanism for blood vessel intervention operation |
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| CN102462533B (en) * | 2010-11-11 | 2014-03-12 | 北京理工大学 | Mechanical arm for clamping propelling mechanism of minimally invasive blood vessel interventional surgery |
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| CN108553741B (en) * | 2018-05-15 | 2021-03-16 | 西南医科大学附属医院 | Cardiovascular intervention catheter device |
| CN110974125B (en) * | 2019-12-30 | 2022-02-15 | 北京双翼麒电子有限公司 | Clamping control device for endoscope |
| CN111329582B (en) * | 2020-03-17 | 2021-04-13 | 上海奥朋医疗科技有限公司 | Elastic gathering self-centering flat clamping mechanical finger for blood vessel intervention |
| CN111529065B (en) * | 2020-05-09 | 2021-08-31 | 中国科学院自动化研究所 | Vascular intervention instrument control device |
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| CN113663204B (en) * | 2021-08-03 | 2023-03-10 | 青岛大学附属医院 | Interventional operation catheter pushing device |
| CN114191079B (en) * | 2021-11-11 | 2024-03-29 | 深圳爱博合创医疗机器人有限公司 | Independent driving type interventional operation robot |
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