CN104042259A - Slave manipulator device for auxiliary system of main and slave minimally invasive blood vessel interventional surgery - Google Patents
Slave manipulator device for auxiliary system of main and slave minimally invasive blood vessel interventional surgery Download PDFInfo
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- CN104042259A CN104042259A CN201410206956.7A CN201410206956A CN104042259A CN 104042259 A CN104042259 A CN 104042259A CN 201410206956 A CN201410206956 A CN 201410206956A CN 104042259 A CN104042259 A CN 104042259A
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- surgical catheters
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- 238000001356 surgical procedure Methods 0.000 title abstract description 6
- 210000004204 blood vessel Anatomy 0.000 title abstract description 4
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims abstract description 3
- 230000008878 coupling Effects 0.000 claims description 29
- 238000010168 coupling process Methods 0.000 claims description 29
- 238000005859 coupling reaction Methods 0.000 claims description 29
- 230000002792 vascular Effects 0.000 claims description 26
- 230000006835 compression Effects 0.000 claims description 22
- 238000007906 compression Methods 0.000 claims description 22
- 230000001360 synchronised effect Effects 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 15
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 abstract description 5
- 229910000838 Al alloy Inorganic materials 0.000 abstract description 4
- 239000000956 alloy Substances 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 abstract description 2
- 208000026106 cerebrovascular disease Diseases 0.000 description 4
- 208000024172 Cardiovascular disease Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000002526 effect on cardiovascular system Effects 0.000 description 3
- 208000007536 Thrombosis Diseases 0.000 description 2
- 238000002583 angiography Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 208000009443 Vascular Malformations Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000024883 vasodilation Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
Abstract
A slave manipulator device for the auxiliary system of a main and slave minimally invasive blood vessel interventional surgery is characterized by comprising an axial pushing unit, a rotary unit, a clamping unit, a surgery catheter, an operation force detection unit and a dip angle adjustable base; a work method comprises the steps of signal detection, transmission, processing and operation. The slave manipulator device has the advantages that the interventional operation actions of a doctor can be simulated, the operation precision is high, and surgery safety is effectively improved; the aim that an angle expected by an operator can be adjusted for different treated patients or different interventional positions is ensured; the whole device is made of an aluminum alloy material, and is small in size and light in weight.
Description
(1) technical field:
The invention belongs to armarium technical field, especially principal and subordinate's minimally-invasive vascular intervene operation aid system is from an operator device, is specially adapted to the aspect such as excision, treatment tumor or vascular malformation, thrombus, vasodilation of angiography, thrombosis or foreign body.
(2) background technology:
The investigation statistics demonstration of World Health Organization (WHO), cardiovascular and cerebrovascular disease has become one of three large reasons of human diseases death, in the people of annual China 9,000,000 trouble cardiovascular and cerebrovascular diseases, just has 2,500,000 people's death.The whole world has 1,670 ten thousand people to die from cardiovascular and cerebrovascular disease every year, accounts for 29.2% of all mortalities.Traditional open cranium open chest surgery method and also can treat this disease, but this operation method is very large to patient's damage.At present, for cerebrovascular disease the most directly, effective method is cerebrovascular minimally invasive surgery interventional therapy.The advantage of intervene operation therapy is to reduce wound and the misery that operation brings to patient, and post-operative recovery is fast, shortens patient's hospital stays, alleviates patient's financial burden.Can also reduce the staffing of operating room, save the human resources of hospital.But cerebrovascular surgery Minimally Invasive Surgery can only be completed by hand by doctor at present, this intervene operation mode is to complete under the auxiliary and navigation of Technology of Digital Subtraction Angiography and X ray, and doctor works for a long time under X ray, can be subject to very large radiation; And the high risk of operation requires high to operation doctor's operation skill; Operating time is longer, and operation safety can reduce because of doctor's fatigue.
Principal and subordinate's minimally-invasive vascular intervene operation aid system can effectively solve doctor and complete by hand the problem that blood vessel intervention operation exists.Doctor sends control command at distant operation master according to on-the-spot feedback information, and the intervention action of conduit is realized from operating means by the conduit of operative site.In numerous research, all modes based on friction roller of conduit manipulation robot device design of operative site, this mode easily causes damage to conduit, and the conduit of damage also may damage blood vessel, and the promotion itself that simultaneously rubs exists and advances error.Catheter shaft has become an emphasis to the collection feedback of operating physical force, but conduit rotation torque is often out in the cold.
(3) summary of the invention:
The object of the present invention is to provide a kind of principal and subordinate's minimally-invasive vascular intervene operation aid system from operator device, it can overcome the deficiencies in the prior art, a kind ofly can imitate doctor in traditional intervene operation and conduit is captured to the device that pushes action, it is simple in structure, easy to operate, and the process that can imitate artificial operation.
Technical scheme of the present invention: a kind of principal and subordinate's minimally-invasive vascular intervene operation aid system, from operator device, is characterized in that it comprises axial push unit, rotary unit, gripping unit, surgical catheters, operating physical force detecting unit and inclination angle adjustable base; Wherein, described axial push unit is arranged on the adjustable base of inclination angle, and its output driven rotary unit, gripping unit and operating physical force detecting unit are in axially-movable; Described rotary unit is arranged on the sliding end keyset of axial push unit, and its outfan connects gripping unit, and gripping unit is rotated; Described surgical catheters is through gripping unit; Described gripping unit is output as clamping or unclamps surgical catheters; The input of described operating physical force detecting unit detects the propelling movement force signal of gripping unit to surgical catheters and the torque signal of rotary unit; Described inclination angle adjustable base is the mounting seat from operator device.
Described axial push unit is made up of Linear slide platform, slide unit drive motors and sliding end keyset; Described rotary unit is made up of rotary drive motor, rotary drive motor installing plate, shaft coupling I, shaft coupling II, Timing Belt wheel shaft, synchronous pulley I, synchronous pulley II and Timing Belt; Wherein, the outfan of described slide unit drive motors connects Linear slide platform, for the movement of the sliding end of Linear slide platform provides driving force; Described Linear slide platform is arranged on the adjustable base of inclination angle; Described sliding end keyset is arranged on the sliding end of Linear slide platform; Described rotary drive motor is arranged on rotary drive motor installing plate, and its outfan connects electric fixture I by shaft coupling I, torque sensor, shaft coupling II, Timing Belt wheel shaft, synchronous pulley I, Timing Belt, synchronous pulley II and fixture connecting axle II; Described rotary drive motor installing plate is arranged on sliding end keyset.
The stroke of described Linear slide platform can advance and be sized to 0-400mm according to one way.
Described gripping unit, by electric fixture I, electric fixture II, fixture connecting axle I, fixture connecting axle II, front end, riser is installed and rear end fixture installing plate forms; Wherein, described axial push unit is arranged on the adjustable base of inclination angle, and the electric fixture I of its output driven rotary unit, gripping unit and operating physical force detecting unit are in axially-movable; Described electric fixture I two ends are jockey connecting axle I and fixture connecting axle II respectively, and it is exported clamping or unclamps surgical catheters; Described fixture connecting axle I one end is connected and plays a supporting role with electric fixture I, and one end is connected in bearing mode with operating physical force detecting unit; Described fixture connecting axle II one end is connected and plays a supporting role with electric fixture I, and one end is installed riser with front end and is connected in bearing mode; Described electric fixture II is arranged on the fixture installing plate of rear end, and it is exported clamping or unclamps surgical catheters; Described front end is installed riser and is arranged on the sliding end keyset of axial push unit; Described rear end fixture installing plate is arranged on the adjustable base of inclination angle.
Described operating physical force detecting unit is made up of torque sensor, pull pressure sensor, pull pressure sensor installing plate, tension and compression annular cover and disk; Wherein, one end of the fixture connecting axle I of described gripping unit is connected in bearing mode with pull pressure sensor installing plate; Described torque sensor is connected with the outfan of the rotary drive motor of rotary unit by the shaft coupling I of axial push unit, detects its output torque; Described pull pressure sensor is arranged on pull pressure sensor installing plate, the axial operation force signal that the input collection of described pull pressure sensor comes by tension and compression annular cover and disk transmission; Described pull pressure sensor installing plate is arranged on the sliding end keyset of axial push unit; Described tension and compression annular cover is arranged on the detection axle of pull pressure sensor; Described disk is arranged on the fixture connecting axle I of gripping unit, and its edge is embedded in tension and compression annular cover; The input of described electric fixture I is connected with the outfan of rotary drive motor by shaft coupling I, torque sensor, shaft coupling II, synchronous pulley I, Timing Belt, synchronous pulley II and fixture connecting axle II.
The range of described torque sensor is 0-0.2NM, and precision is ± 0.3%F.S.
The range of described pull pressure sensor is 0-5N, and precision is 0.025%R.O.
Described pull pressure sensor installing plate is U-shaped pull pressure sensor installing plate.
Described inclination angle adjustable base is made up of base front end riser, pony sill, gripper shoe, riser connecting axle, sleeve pipe, telescopic joint axle, adjusting lever, connecting axle and holding screw; Wherein, described base front end riser is arranged on pony sill; Described sleeve pipe is connected with pony sill, and can be around telescopic joint axle rotation; Described adjusting lever is embedded in sleeve pipe according to the holding screw of capable of regulating embedded length; The gripper shoe of described inclination angle adjustable base is connected with base front end riser by riser connecting axle respectively, is connected with adjusting lever by connecting axle, and riser connecting axle and connecting axle are rotatable connecting axles; The Linear slide platform of described axial push unit is arranged in gripper shoe; The rear end fixture installing plate of described gripping unit is arranged in gripper shoe.
Described inclination angle adjustable base is manual adjustments frame; The riser connecting axle of described connection gripper shoe and base front end riser can rotate; The telescopic joint axle of described joint sleeve and pony sill can rotate; The connecting axle of described connection gripper shoe and adjusting lever can rotate;
Described electric fixture I is made up of clamp motor, clamp motor installing plate, cam, pin, clamp sheet, jig plate I, jig plate II, spring and screw; Wherein, described clamp motor is arranged on clamp motor installing plate; Described cam is connected with the outfan of clamp motor, and is stuck in the middle of clamp sheet; Described jig plate I is parallel installation with clamp motor installing plate; On described jig plate II, there is screwed hole, between described jig plate II and jig plate I, be all connected according to screw between jig plate II and clamp motor installing plate; Described clamp sheet is fixed by a pin between jig plate I and clamp motor installing plate; On described jig plate II, have screwed hole, described spring is through jig plate II upper screwed hole, and one end is pressed in clamp sheet, and the screw in one end and jig plate II upper screwed hole joins; Described electric fixture II has identical structure with electric fixture I.
Described clamp motor is micro-step motor.
Described principal and subordinate's minimally-invasive vascular intervene operation aid system adopts aluminum alloy materials from operator device.
Principal and subordinate's minimally-invasive vascular intervene operation aid system, from a method of work for operator device, is characterized in that comprising following operation part:
1. get involved the adjusting of angle:
For different curers or operation intervention position, obtain any intervention angle of 0-45 ° by adjustable inclination adjustable base.The length that adjusting lever gos deep into sleeve pipe has determined to get involved the size of angle, when the length of going deep into sleeve pipe when adjusting lever reaches the intervention angle that operator expects, is fixed by holding screw;
2. the propelling movement of conduit rotation operation:
Described electric fixture I and electric fixture II alternately clamp surgical catheters, and in the time that electric fixture I clamps surgical catheters, surgical catheters is in getting involved duty; In the time that electric fixture II clamps surgical catheters, surgical catheters keeps original state motionless, and slide unit drive motors drives Linear slide platform to make Linear slide platform sliding end move to the rear end of Linear slide platform; Wherein, electric fixture I clamps the clamping force of surgical catheters, and to be installed in the voltage sensitive sensor of clamp sheet clamped position measured, to ensure that electric fixture I can clamp surgical catheters motion and not produce relative sliding, does not cause damage to surgical catheters again simultaneously.The size of electric fixture I clamping force can be carried out by being screwed into the screw length of jig plate II upper screwed hole the degree of tightness control of regulating spring.
3. the detection of conduit operating physical force:
The described operating physical force to surgical catheters detects and comprises the detection of axial operation power and the detection of rotation torque:
The detection of I, described axial operation power is completed by pull pressure sensor, and described tension and compression annular is not enclosed within while thering is no pressure and is contacted by disk but not extruding, and disk does not affect tension and compression annular cover with the rotation of axle; When electric fixture I clamps surgical catheters while axially moving, surgical catheters can make electric fixture I axially produce micro-movement to the counteracting force of electric fixture I, this micro-combination that moves through disk and tension and compression annular cover is delivered to pull pressure sensor, and pull pressure sensor can detect the axial operation power to surgical catheters;
The detection of II, described rotation torque is completed by torque sensor, and described torque sensor is arranged between the outfan and Timing Belt wheel shaft of rotary drive motor; When torque sensor detects after the output torque of rotary drive motor, output torque when real-time output torque deducts zero load, the real-time moment of torsion can obtain surgical catheters to operate time.
The propelling movement rotation operation of the conduit of described step in 2., what doctor was imitated in the clamping of electric fixture I grabs pipe action, and send pipe, coil that doctor's hands is imitated in the propelling of Linear slide platform and the rotation of rotary drive motor move; In the time that surgical catheters is clamped by electric fixture I, from operator, the operation of surgical catheters is had to two degree of freedom, comprise rotation and axially-movable, formed by following step:
The rotation of I, rotary drive motor is by shaft coupling I, torque sensor, shaft coupling II, Timing Belt wheel shaft, Timing Belt, fixture connecting axle II, finally be delivered to electric fixture I, thereby the surgical catheters that driving electric fixture I clamps is rotated together, realizes rotatablely moving of surgical catheters;
The rotation of II, slide unit drive motors is slided Linear slide platform sliding end, promotes thereby realize the surgical catheters axially-movable that electric fixture clamps.
Superiority of the present invention is: 1, imitate the operational motion of doctor to conduit in traditional operation, meet bionic designing requirement, be beneficial to the conduit operating experience and the skill that use doctor to accumulate in traditional operation; 2, replace friction roller propelling with capturing the mode pushing, improved performance accuracy, surgical catheters 26 is not caused to damage simultaneously; 3, on operator with operating physical force detecting sensor group, operating physical force Real-time Feedback, to operator, is increased to operator's execute-in-place sense, effectively improve operation safety; 4, inclination angle adjustable base can ensure that different curers or different intervention positions all can adjust to the desired angle of operator; 5, device entirety adopts aluminum alloy materials, and size is little, quality is light.
(4) brief description of the drawings:
Fig. 1 is the structured flowchart of the related a kind of principal and subordinate's minimally-invasive vascular intervene operation aid system of the present invention from operator device.
Fig. 2 is the overall structure schematic diagram of the related a kind of principal and subordinate's minimally-invasive vascular intervene operation aid system of the present invention from operator device.
Fig. 3 is the structural principle schematic diagram of the related a kind of principal and subordinate's minimally-invasive vascular intervene operation aid system of the present invention from conduit rotation realization and axial pipe operating physical force and the detection of conduit rotation torque of operator device.
Fig. 4 is the structural representation (wherein Fig. 4-a is that exploded view, Fig. 4-b are constitutional diagram) of the related a kind of principal and subordinate's minimally-invasive vascular intervene operation aid system of the present invention electric fixture I from operator device.
Fig. 5 is the structural representation of the related a kind of principal and subordinate's minimally-invasive vascular intervene operation aid system of the present invention inclination angle adjustable base from operator device.
Wherein, 1 is base front end riser, 2 is pony sill, 3 is sleeve pipe, 4 is riser connecting axle, 5 is adjusting lever, 6 is synchronous pulley I, 7 is Timing Belt wheel shaft, 8 is disk, 9 is pull pressure sensor installing plate, 10 is shaft coupling I, 11 is rotary drive motor installing plate, 12 is holding screw, 13 is connecting axle, 14 is slide unit drive motors, 15 is rear end fixture installing plate, 16 is sliding end keyset, 17 is shaft coupling II, 18 is front end installation riser, 19 is Timing Belt, 20 is electric fixture I, 20-1 is jig plate I, 20-2 is spring, 20-3 is jig plate II, 20-4 is screw, 20-5 is clamp sheet, 20-6 is clamp motor installing plate, 20-7 is clamp motor, 20-8 is cam, 20-9 is pin, 21 is fixture connecting axle I, 22 is tension and compression annular cover, 23 is pull pressure sensor, 24 is torque sensor, 25 is rotary drive motor, 26 is surgical catheters, 27 is electric fixture II, 28 is Linear slide platform, 29 is gripper shoe, 30 is telescopic joint axle, 31 is fixture connecting axle II, 32 is synchronous pulley II.
(5) detailed description of the invention:
Embodiment: a kind of principal and subordinate's minimally-invasive vascular intervene operation aid system, from operator device (seeing Fig. 1, Fig. 2), is characterized in that it comprises axial push unit, rotary unit, gripping unit, surgical catheters 26, operating physical force detecting unit and inclination angle adjustable base; Wherein, described axial push unit is arranged on the adjustable base of inclination angle, and its output driven rotary unit, gripping unit and operating physical force detecting unit are in axially-movable; Described rotary unit is arranged on the sliding end keyset 16 of axial push unit, and its outfan connects gripping unit, and gripping unit is rotated; Described surgical catheters 26 is through gripping unit; Described gripping unit is output as clamping or unclamps surgical catheters 26; The input of described operating physical force detecting unit detects the propelling movement force signal of gripping unit to surgical catheters 26 and the torque signal of rotary unit; Described inclination angle adjustable base is the mounting seat from operator device.
Described axial push unit (seeing Fig. 2) is made up of Linear slide platform 28, slide unit drive motors 14 and sliding end keyset 16; Described rotary unit (seeing Fig. 2, Fig. 3) is made up of rotary drive motor 25, rotary drive motor installing plate 11, shaft coupling I10, shaft coupling II17, Timing Belt wheel shaft 7, synchronous pulley I6, synchronous pulley II32 and Timing Belt 19; Wherein, the outfan of described slide unit drive motors 14 connects Linear slide platform 28, for the movement of the sliding end of Linear slide platform 28 provides driving force; Described Linear slide platform 28 is arranged on the adjustable base of inclination angle; Described sliding end keyset 16 is arranged on the sliding end of Linear slide platform 28; Described rotary drive motor 25 is arranged on rotary drive motor installing plate 11, and its outfan connects electric fixture I20 by shaft coupling I10, torque sensor 24, shaft coupling II17, Timing Belt wheel shaft 7, synchronous pulley I6, Timing Belt 19, synchronous pulley II32 and fixture connecting axle II31; Described rotary drive motor installing plate 11 is arranged on sliding end keyset 16.
The stroke of described Linear slide platform 28 can advance and be sized to 0-400mm according to one way, and the effective travel of the present embodiment is 200mm.
Described gripping unit (seeing Fig. 1, Fig. 2, Fig. 3), by electric fixture I20, electric fixture II27, fixture connecting axle I21, fixture connecting axle II31, front end, riser 18 is installed and rear end fixture installing plate 15 forms; Wherein, described axial push unit is arranged on the adjustable base of inclination angle, and the electric fixture I20 of its output driven rotary unit, gripping unit and operating physical force detecting unit are in axially-movable; Described electric fixture I20 two ends are jockey connecting axle I21 and fixture connecting axle II31 respectively, and it is exported clamping or unclamps surgical catheters 26; Described fixture connecting axle I21 one end is connected and plays a supporting role with electric fixture I20, and one end is connected in bearing mode with operating physical force detecting unit; Described fixture connecting axle II31 one end is connected and plays a supporting role with electric fixture I20, and one end is installed riser 18 with front end and is connected in bearing mode; Described electric fixture II27 is arranged on rear end fixture installing plate 15, and it is exported clamping or unclamps surgical catheters 26; Described front end is installed riser 18 and is arranged on the sliding end keyset 16 of axial push unit; Described rear end fixture installing plate 15 is arranged on the adjustable base of inclination angle.
Described operating physical force detecting unit (seeing Fig. 1, Fig. 2) is made up of torque sensor 24, pull pressure sensor 23, pull pressure sensor installing plate 9, tension and compression annular cover 22 and disk 8; Wherein, one end of the fixture connecting axle I21 of described gripping unit is connected in bearing mode with pull pressure sensor installing plate 9; Described torque sensor 24 is connected by the outfan of the shaft coupling I10 of axial push unit and the rotary drive motor 25 of rotary unit, detects its output torque; Described pull pressure sensor 23 is arranged on pull pressure sensor installing plate 9, and the input collection of described pull pressure sensor 23 transmits by tension and compression annular cover 22 and disk 8 the axial operation force signal of coming; Described pull pressure sensor installing plate 9 is arranged on the sliding end keyset 16 of axial push unit; Described tension and compression annular cover 22 is arranged on the detection axle of pull pressure sensor 23; Described disk 8 is arranged on the fixture connecting axle I21 of gripping unit, and its edge is embedded in tension and compression annular cover 22; The input of described electric fixture I20 is connected with the outfan of rotary drive motor 25 by shaft coupling I10, torque sensor 24, shaft coupling II17, synchronous pulley I6, Timing Belt 19, synchronous pulley II32 and fixture connecting axle II31.
The range of described torque sensor 24 is 0-0.2NM, and precision is ± 0.3%F.S, and the present embodiment taken amount journey is 0.1NM, and precision is ± 0.3%F.S.
The range of described pull pressure sensor 23 is that 0-5N precision is 0.025%R.O, and the present embodiment taken amount journey is that 2N precision is 0.025%R.O.
Described pull pressure sensor installing plate 9 is U-shaped pull pressure sensor installing plate.
Described inclination angle adjustable base (seeing Fig. 5) is made up of base front end riser 1, pony sill 2, gripper shoe 29, riser connecting axle 4, sleeve pipe 3, telescopic joint axle 30, adjusting lever 5, connecting axle 13 and holding screw 12; Wherein, described base front end riser 1 is arranged on pony sill 2; Described sleeve pipe 3 is connected with pony sill 2, and can rotate around telescopic joint axle 30; Described adjusting lever 5 is embedded in sleeve pipe 3 according to the holding screw 12 of capable of regulating embedded length; The gripper shoe 29 of described inclination angle adjustable base is connected with base front end riser 1 by riser connecting axle 4 respectively, is connected with adjusting lever 5 by connecting axle 13, and riser connecting axle 4 and connecting axle 13 are rotatable connecting axles; The Linear slide platform 28 of described axial push unit is arranged in gripper shoe 29; The rear end fixture installing plate 15 of described gripping unit is arranged in gripper shoe 29.
Described inclination angle adjustable base is manual adjustments frame (seeing Fig. 5); Described connection gripper shoe 29 can be rotated with the riser connecting axle 4 of base front end riser 1; The telescopic joint axle 30 of described joint sleeve 3 and pony sill 2 can rotate; The connecting axle 13 of described connection gripper shoe 29 and adjusting lever 5 can rotate;
Described electric fixture I20 (is shown in Fig. 4-a, Fig. 4-b) be made up of clamp motor 20-7, clamp motor installing plate 20-6, cam 20-8, pin 20-9, clamp sheet 20-5, jig plate I20-1, jig plate II20-3, spring 20-2 and screw 20-4; Wherein, described clamp motor 20-7 is arranged on clamp motor installing plate 20-6; Described cam 20-8 is connected with the outfan of clamp motor 20-7, and is stuck in the middle of clamp sheet 20-5; Described jig plate I20-1 is parallel installation with clamp motor installing plate 20-6; On described jig plate II20-3, there is screwed hole, between described jig plate II20-3 and jig plate I20-1, be all connected according to screw between jig plate II20-3 and clamp motor installing plate 20-6; Described clamp sheet 20-5 is fixed between jig plate I20-1 and clamp motor installing plate 20-6 by pin 20-9; On described jig plate II20-3, have screwed hole, described spring 20-2 is through jig plate II20-3 upper screwed hole, and it is upper that one end is pressed in clamp sheet 20-5, and the screw 20-4 in one end and jig plate II20-3 upper screwed hole joins; Described electric fixture II27 has identical structure with electric fixture I20.
Described clamp motor 20-7 is micro-step motor.
Described principal and subordinate's minimally-invasive vascular intervene operation aid system adopts aluminum alloy materials from operator device.
Principal and subordinate's minimally-invasive vascular intervene operation aid system, from a method of work for operator device, is characterized in that comprising following operation part:
1. get involved the adjusting of angle:
For different curers or operation intervention position, obtain any intervention angle of 0-45 ° by adjustable inclination adjustable base.The length that adjusting lever 5 gos deep into sleeve pipe 3 has determined to get involved the size of angle, when the length of going deep into sleeve pipe 3 when adjusting lever 5 reaches the intervention angle that operator expects, is fixed by holding screw 12;
2. the propelling movement of conduit rotation operation:
Described electric fixture I20 and electric fixture II27 alternately clamp surgical catheters 26, and in the time that electric fixture I20 clamps surgical catheters 26, surgical catheters 26 is in getting involved duty; In the time that electric fixture II27 clamps surgical catheters 26, surgical catheters 26 keeps original state motionless, and slide unit drive motors 14 drives Linear slide platform 28 to make Linear slide platform 28 sliding ends move to the rear end of Linear slide platform 28; Wherein, electric fixture I20 clamps the clamping force of surgical catheters 26, and to be installed in the voltage sensitive sensor of clamp sheet 20-5 clamped position measured, to ensure that electric fixture I20 can clamp surgical catheters 26 and moves and do not produce relative sliding, surgical catheters 26 is not caused to damage again simultaneously.The size of electric fixture I20 clamping force can be carried out by being screwed into the screw 20-4 length of jig plate II20-3 upper screwed hole the degree of tightness control of regulating spring 20-2.
3. the detection of conduit operating physical force:
The described operating physical force to surgical catheters 26 detects and comprises the detection of axial operation power and the detection of rotation torque (seeing Fig. 3):
The detection of I, described axial operation power is completed by pull pressure sensor 23, and described tension and compression annular cover 22 is contacted by disk 8 but not extruding in the time there is no pressure, and disk 8 does not affect tension and compression annular cover 22 with the rotation of axle; When electric fixture I20 clamps surgical catheters 26 while axially moving, surgical catheters 26 can make electric fixture I20 axially produce micro-movement to the counteracting force of electric fixture I 20, this micro-combination that moves through disk 8 and tension and compression annular cover 22 is delivered to pull pressure sensor 23, and pull pressure sensor 23 can detect the axial operation power to surgical catheters 26;
The detection of II, described rotation torque is completed by torque sensor 24, and described torque sensor 24 is arranged between the outfan and Timing Belt wheel shaft 7 of rotary drive motor 25; When torque sensor 24 detects after the output torque of rotary drive motor 25, output torque when real-time output torque deducts zero load, the real-time moment of torsion can obtain surgical catheters 26 to operate time.
The propelling movement rotation operation of the conduit of described step in 2., what doctor was imitated in the clamping of electric fixture I20 grabs pipe action, and send pipe, coil that doctor's hands is imitated in the rotation of the propelling of Linear slide platform 28 and rotary drive motor 25 move; In the time that surgical catheters 26 is clamped by electric fixture I20, from operator, the operation of surgical catheters 26 is had to two degree of freedom, comprise rotation and axially-movable, formed by following step:
The rotation of I, rotary drive motor 25 is by shaft coupling I10, torque sensor 24, shaft coupling II17, Timing Belt wheel shaft 7, Timing Belt 19, fixture connecting axle II31, finally be delivered to electric fixture I20, thereby the surgical catheters 26 that driving electric fixture I20 clamps is rotated together, realizes rotatablely moving of surgical catheters 26;
The rotation of II, slide unit drive motors 14 is slided Linear slide platform 28 sliding ends, promotes thereby realize surgical catheters 26 axially-movables that electric fixture 20 clamps.
Claims (11)
1. principal and subordinate's minimally-invasive vascular intervene operation aid system, from an operator device, is characterized in that it comprises axial push unit, rotary unit, gripping unit, surgical catheters, operating physical force detecting unit and inclination angle adjustable base; Wherein, described axial push unit is arranged on the adjustable base of inclination angle, and its output driven rotary unit, gripping unit and operating physical force detecting unit are in axially-movable; Described rotary unit is arranged on the sliding end keyset of axial push unit, and its outfan connects gripping unit, and gripping unit is rotated; Described surgical catheters is through gripping unit; Described gripping unit is output as clamping or unclamps surgical catheters; The input of described operating physical force detecting unit detects the propelling movement force signal of gripping unit to surgical catheters and the torque signal of rotary unit; Described inclination angle adjustable base is the mounting seat from operator device.
2. a kind of principal and subordinate's minimally-invasive vascular intervene operation aid system, from operator device, is characterized in that described axial push unit is made up of Linear slide platform, slide unit drive motors and sliding end keyset according to claim 1; Described rotary unit is made up of rotary drive motor, rotary drive motor installing plate, shaft coupling I, shaft coupling II, Timing Belt wheel shaft, synchronous pulley I, synchronous pulley II and Timing Belt; Wherein, the outfan of described slide unit drive motors connects Linear slide platform, for the movement of the sliding end of Linear slide platform provides driving force; Described Linear slide platform is arranged on the adjustable base of inclination angle; Described sliding end keyset is arranged on the sliding end of Linear slide platform; Described rotary drive motor is arranged on rotary drive motor installing plate, and its outfan connects electric fixture I by shaft coupling I, torque sensor, shaft coupling II, Timing Belt wheel shaft, synchronous pulley I, Timing Belt, synchronous pulley II and fixture connecting axle II; Described rotary drive motor installing plate is arranged on sliding end keyset.
3. a kind of principal and subordinate's minimally-invasive vascular intervene operation aid system, from operator device, is characterized in that the stroke of described Linear slide platform can advance and be sized to 0-400mm according to one way according to claim 2.
4. a kind of principal and subordinate's minimally-invasive vascular intervene operation aid system, from operator device, is characterized in that riser is installed by electric fixture I, electric fixture II, fixture connecting axle I, fixture connecting axle II, front end in described gripping unit and rear end fixture installing plate forms according to claim 1; Wherein, described axial push unit is arranged on the adjustable base of inclination angle, and the electric fixture I of its output driven rotary unit, gripping unit and operating physical force detecting unit are in axially-movable; Described electric fixture I two ends are jockey connecting axle I and fixture connecting axle II respectively, and it is exported clamping or unclamps surgical catheters; Described fixture connecting axle I one end is connected and plays a supporting role with electric fixture I, and one end is connected in bearing mode with operating physical force detecting unit; Described fixture connecting axle II one end is connected and plays a supporting role with electric fixture I, and one end is installed riser with front end and is connected in bearing mode; Described electric fixture II is arranged on the fixture installing plate of rear end, and it is exported clamping or unclamps surgical catheters; Described front end is installed riser and is arranged on the sliding end keyset of axial push unit; Described rear end fixture installing plate is arranged on the adjustable base of inclination angle.
5. a kind of principal and subordinate's minimally-invasive vascular intervene operation aid system, from operator device, is characterized in that described operating physical force detecting unit is made up of torque sensor, pull pressure sensor, pull pressure sensor installing plate, tension and compression annular cover and disk according to claim 1; Wherein, one end of the fixture connecting axle I of described gripping unit is connected in bearing mode with pull pressure sensor installing plate; Described torque sensor is connected with the outfan of the rotary drive motor of rotary unit by the shaft coupling I of axial push unit, detects its output torque; Described pull pressure sensor is arranged on pull pressure sensor installing plate, the axial operation force signal that the input collection of described pull pressure sensor comes by tension and compression annular cover and disk transmission; Described pull pressure sensor installing plate is arranged on the sliding end keyset of axial push unit; Described tension and compression annular cover is arranged on the detection axle of pull pressure sensor; Described disk is arranged on the fixture connecting axle I of gripping unit, and its edge is embedded in tension and compression annular cover; The input of described electric fixture I is connected with the outfan of rotary drive motor by shaft coupling I, torque sensor, shaft coupling II, synchronous pulley I, Timing Belt, synchronous pulley II and fixture connecting axle II.
6. a kind of principal and subordinate's minimally-invasive vascular intervene operation aid system is from operator device according to claim 5, and the range that it is characterized in that described torque sensor is 0-0.2NM, and precision is ± 0.3%F.S; The range of described pull pressure sensor is 0-5N, and precision is 0.025%R.O; Described pull pressure sensor installing plate is U-shaped pull pressure sensor installing plate.
7. a kind of principal and subordinate's minimally-invasive vascular intervene operation aid system, from operator device, is characterized in that described inclination angle adjustable base is made up of base front end riser, pony sill, gripper shoe, riser connecting axle, sleeve pipe, telescopic joint axle, adjusting lever, connecting axle and holding screw according to claim 1; Wherein, described base front end riser is arranged on pony sill; Described sleeve pipe is connected with pony sill, and can be around telescopic joint axle rotation; Described adjusting lever is embedded in sleeve pipe according to the holding screw of capable of regulating embedded length; The gripper shoe of described inclination angle adjustable base is connected with base front end riser by riser connecting axle respectively, is connected with adjusting lever by connecting axle, and riser connecting axle and connecting axle are rotatable connecting axles; The Linear slide platform of described axial push unit is arranged in gripper shoe; The rear end fixture installing plate of described gripping unit is arranged in gripper shoe.
8. a kind of principal and subordinate's minimally-invasive vascular intervene operation aid system, from operator device, is characterized in that described inclination angle adjustable base is manual adjustments frame according to claim 7; The riser connecting axle of described connection gripper shoe and base front end riser can rotate; The telescopic joint axle of described joint sleeve and pony sill can rotate; The connecting axle of described connection gripper shoe and adjusting lever can rotate.
9. a kind of principal and subordinate's minimally-invasive vascular intervene operation aid system, from operator device, is characterized in that described electric fixture I is made up of clamp motor, clamp motor installing plate, cam, pin, clamp sheet, jig plate I, jig plate II, spring and screw according to claim 4; Wherein, described clamp motor is arranged on clamp motor installing plate; Described cam is connected with the outfan of clamp motor, and is stuck in the middle of clamp sheet; Described jig plate I is parallel installation with clamp motor installing plate; On described jig plate II, there is screwed hole, between described jig plate II and jig plate I, be all connected according to screw between jig plate II and clamp motor installing plate; Described clamp sheet is fixed by a pin between jig plate I and clamp motor installing plate; On described jig plate II, have screwed hole, described spring is through jig plate II upper screwed hole, and one end is pressed in clamp sheet, and the screw in one end and jig plate II upper screwed hole joins; Described electric fixture II has identical structure with electric fixture I.
10. a kind of principal and subordinate's minimally-invasive vascular intervene operation aid system, from operator device, is characterized in that described clamp motor is micro-step motor according to claim 9.
11. 1 kinds of principal and subordinate's minimally-invasive vascular intervene operation aid systems, from the method for work of operator device, is characterized in that comprising following operation part:
1. get involved the adjusting of angle:
For different curers or operation intervention position, obtain any intervention angle of 0-45 ° by adjustable inclination adjustable base.The length that adjusting lever gos deep into sleeve pipe has determined to get involved the size of angle, when the length of going deep into sleeve pipe when adjusting lever reaches the intervention angle that operator expects, is fixed by holding screw;
2. the propelling movement of conduit rotation operation:
Described electric fixture I and electric fixture II alternately clamp surgical catheters, and in the time that electric fixture I clamps surgical catheters, surgical catheters is in getting involved duty; In the time that electric fixture II clamps surgical catheters, surgical catheters keeps original state motionless, and slide unit drive motors drives Linear slide platform to make Linear slide platform sliding end move to the rear end of Linear slide platform; Wherein, electric fixture I clamps the clamping force of surgical catheters, and to be installed in the voltage sensitive sensor of clamp sheet clamped position measured, to ensure that electric fixture I can clamp surgical catheters motion and not produce relative sliding, does not cause damage to surgical catheters again simultaneously; The size of electric fixture I clamping force can be carried out by being screwed into the screw length of jig plate II upper screwed hole the degree of tightness control of regulating spring;
Wherein, the propelling movement rotation of conduit operates, and the pipe of grabbing that doctor is imitated in the clamping of electric fixture I moves, and send pipe, coil that doctor's hands is imitated in the propelling of Linear slide platform and the rotation of rotary drive motor move; In the time that surgical catheters is clamped by electric fixture I, from operator, the operation of surgical catheters is had to two degree of freedom, comprise rotation and axially-movable, formed by following step:
The rotation of I, rotary drive motor is by shaft coupling I, torque sensor, shaft coupling II, Timing Belt wheel shaft, Timing Belt, fixture connecting axle II, finally be delivered to electric fixture I, thereby the surgical catheters that driving electric fixture I clamps is rotated together, realizes rotatablely moving of surgical catheters;
The rotation of II, slide unit drive motors is slided Linear slide platform sliding end, promotes thereby realize the surgical catheters axially-movable that electric fixture clamps;
3. the detection of conduit operating physical force:
The described operating physical force to surgical catheters detects and comprises the detection of axial operation power and the detection of rotation torque:
The detection of I, described axial operation power is completed by pull pressure sensor, and described tension and compression annular is not enclosed within while thering is no pressure and is contacted by disk but not extruding, and disk does not affect tension and compression annular cover with the rotation of axle; When electric fixture I clamps surgical catheters while axially moving, surgical catheters can make electric fixture I axially produce micro-movement to the counteracting force of electric fixture I, this micro-combination that moves through disk and tension and compression annular cover is delivered to pull pressure sensor, and pull pressure sensor can detect the axial operation power to surgical catheters;
The detection of II, described rotation torque is completed by torque sensor, and described torque sensor is arranged between the outfan and Timing Belt wheel shaft of rotary drive motor; When torque sensor detects after the output torque of rotary drive motor, output torque when real-time output torque deducts zero load, the real-time moment of torsion can obtain surgical catheters to operate time.
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| CN201410206956.7A CN104042259B (en) | 2014-05-16 | 2014-05-16 | A kind of principal and subordinate's interventional surgery aid system is from operator device |
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