CN104287841A - Vascular intervention surgical robot guide wire/guide pipe operating device and control method thereof - Google Patents
Vascular intervention surgical robot guide wire/guide pipe operating device and control method thereof Download PDFInfo
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- CN104287841A CN104287841A CN201410629037.0A CN201410629037A CN104287841A CN 104287841 A CN104287841 A CN 104287841A CN 201410629037 A CN201410629037 A CN 201410629037A CN 104287841 A CN104287841 A CN 104287841A
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- seal wire
- clamper
- wire
- conduit
- guide wire
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Pulmonology (AREA)
- Engineering & Computer Science (AREA)
- Anesthesiology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Hematology (AREA)
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- Veterinary Medicine (AREA)
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Abstract
The invention provides a vascular intervention surgical robot guide wire/guide pipe operating device and a control method thereof. The operating device comprises a moving guide wire clamp, a sliding barrel, a stationary guide wire clamp, a guide pipe, a guide pipe clamp, a first linear feeding table, a six-axis force sensor, a rotary table, a second linear feeding table and a guide wire, wherein the guide pipe and the guide wire are supported by the sliding barrel; the guide pipe clamp is used for clamping the guide pipe; the first linear feeding table is used for controlling the movement of the guide pipe clamp; the stationary guide wire clamp and the moving guide wire clamp are used for controlling the motion of the guide wire; the rotary table is used for controlling the rotation of the moving guide wire clamp; the second linear feeding table is used for controlling the motion of the moving guide wire clamp; the six-axis force sensor is used for measuring resistance or resistance moment in the motion process of the guide wire to guide an operator to perform reasonable operation. The wire can be fed and rotated by the operating device instead of hands, and a foundation is laid for realization of a telesurgery.
Description
Technical field
The present invention relates to a kind of manipulation device and control method thereof, particularly, relate to a kind of blood vessel intervention operation robot guide wire catheter steering device and control method thereof.
Background technology
In recent years along with vascular interventional treatment is in the rise of China, define and comprise the multiple emerging subject of cardio-vascular interventional therapeutic, cerebrovascular interventional therapy, vascular surgery, interventional radiology etc.Due to the continuous progress of vascular interventional treatment technology and continuing to bring out and applying of various intracavity utensil, many scripts can not adopt the pathological changes of vascular interventional treatment can benefit from this minimally-invasive treatment, and the safety of vascular interventional treatment, effectiveness and late result are constantly improved.But current vascular interventional treatment also has its limitation.
In vascular interventional treatment process, doctor needs to complete operation by the guiding of the Digital subtraction angiograph (DSA) based on X-ray, although doctor is equipped with leaded protective garment, the upper limb of doctor and head still cannot be protected not to be subject to X-radiation; And due to the complexity of vascular interventional treatment, often need to be exposed to for a long time in X-ray environment and operate, the accumulative amount of radiation of doctor is large; And wear heavy leaded protective garment for a long time, increase the pressure load of spinal column, existing more report display blood vessel gets involved the doctor of incidence rate apparently higher than other subject of the thyroid carcinoma, radioactivity lens damage, lumbar spondylosis etc. of doctor.Medical personnel about 700,000 people of Endovascular Therapy operation is engaged in the whole nation, Endovascular Therapy is carried out every year more than 10,000,000 times in the whole nation, the occupational injury relevant to X-ray has become a unavoidable problem, and the health status of doctor and the long term growth of vascular interventional treatment in serious threat.
Existing commercial Non-vascularized iliac bone operating robot in the world, instrument used is mainly pliers, and can be evolved into ligature forceps, cutting clamp, elastic separating plier by pliers, and instrument is relatively single, and main dependence is distance-type, the precise manipulation of amplifying type.And vascular interventional treatment intracavity utensil used is more complicated, seal wire, conduit, lead sheath, sacculus, support, filter, stopper etc., these intracavity utensils are all divided into multiple type according to different therapeutic purposes and target vessel again, different specifications is had again under each type, different importing designs, such as the simplest intracavity utensil---seal wire, hard-soft, have and slightly have carefully, length is had to have short, its head end is also divided into different designs again, so need in real blood vessels interventional treatment operation process according to different tremulous pulse conditions, different lesion natures, different positions and the process of operation frequently change Endovascular utensil.Therefore, the development of the teleoperator of vascular interventional treatment is more complicated, and this is also the reason that there is no substantive breakthroughs.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of blood vessel intervention operation robot guide wire catheter steering device and control method thereof, it can replace staff realize wire feed and turn silk action, and the replacing of seal wire and conduit also more easily realizes, and lays the foundation for realizing remote operation.
According to an aspect of the present invention, a kind of blood vessel intervention operation robot guide wire catheter steering device is provided, it is characterized in that, described blood vessel intervention operation robot guide wire catheter steering device comprises seal wire and moves clamper, slide cartridge, the quiet clamper of seal wire, conduit, conduit holder, first straight-line feed platform, six-axis force sensor, turntable, second straight-line feed platform, seal wire, described conduit, seal wire is supported by described slide cartridge, described conduit holder is for clamping described conduit, described first straight-line feed platform is for controlling the movement of described conduit holder, the quiet clamper of described seal wire and described seal wire move clamper for controlling the motion of described seal wire, described turntable moves the rotation of clamper for controlling described seal wire, described second straight-line feed platform moves the motion of clamper for controlling described seal wire, described axial force sensor, for measuring resistance in guide wire motion process or the moment of resistance, reasonably operates to instruct operator.
Preferably, before described blood vessel intervention operation robot guide wire catheter steering device busy, need operator's otch and described seal wire, conduit be inserted in blood vessel, and connect described conduit holder, seal wire moves clamper, the quiet clamper of seal wire.
Preferably, described turntable and described second straight-line feed platform jointly control described seal wire and move clamper, to realize seesawing and rotary motion of described seal wire.
Preferably, the quiet clamper of described seal wire is used for fixing described seal wire, to control moving forward and backward of described seal wire.
Preferably, described first straight-line feed platform drives seesawing of described conduit by front and back slippage.
The invention provides a kind of control method of blood vessel intervention operation robot guide wire catheter steering device, it is characterized in that, it comprises the following steps:
Step one, opens conduit holder, the quiet clamper of seal wire, seal wire moves clamper, wire catheter is put into slide cartridge;
Step 2, described seal wire, conduit are also inserted in blood vessel by operator's otch, and the quiet clamper of closure catheter clamper, seal wire, seal wire move clamper;
Step 3, send pipe process to be conduit holder clamping conduit, under the drive of the second straight-line feed platform, realizes feed motion, when encountering travel switch or obtain ceasing and desisting order, then stop sending pipe process, unclamp conduit holder, the second straight-line feed platform gets back to starting point;
Step 4, wire feed process comprises the feeding of seal wire and twisted, wherein the feed motion of seal wire and above-mentioned steps three send pipe process basically identical, the twisting process of seal wire is that seal wire clamped by the quiet clamper of seal wire, turntable drive seal wire moves clamper and carrys out back rotation, thus realizes the twisting campaign of seal wire;
Step 5, is installed on six-axis force sensor that seal wire moves clamper end for the resistance measuring seal wire and produce in feed motion and rotary movement and the moment of resistance, thus the tutorial message provided for the operation of operator.
Compared with prior art, the present invention has following beneficial effect: according to process and the feature of manpower intervention operation, blood vessel intervention operation robot guide wire catheter steering device of the present invention can replace staff realize wire feed and turn silk action, the replacing of seal wire and conduit also more easily realizes, and lays the foundation for realizing remote operation.Operator directly can carry out sufferer operation by controlling this device, thus can depart from the radiation of X-ray, improve the safety of medical personnel.The six-axis force sensor that device is installed, can pass the wind tunnel information of seal wire in real time back, thus makes the resistance that operator can produce in long-range perception wire feed process, and the subsequent action for operator provides strong guidance.This apparatus structure is simple simultaneously, and with low cost, safety is high, is easy to realize, and is applicable to the Clinical practice of Wicresoft's intervene operation.The present invention is by the sequence of motion of conservative control seal wire, conduit, and operator can complete robot automatic feeding easily, send pipe to operate.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the structural representation of blood vessel intervention operation robot guide wire catheter steering device of the present invention.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As shown in Figure 1, blood vessel intervention operation robot guide wire catheter steering device of the present invention comprises seal wire and moves clamper 1, slide cartridge 2, the quiet clamper 3 of seal wire, conduit 4, conduit holder 5, first straight-line feed platform 6, six-axis force sensor 7, turntable 8, second straight-line feed platform 9, seal wire 10, described conduit 4, seal wire 10 is supported by described slide cartridge 2, described conduit holder 5 is for clamping described conduit 4, described first straight-line feed platform 6 is for controlling the movement of described conduit holder 5, the quiet clamper of described seal wire 3 and described seal wire move clamper 1 for controlling the motion of described seal wire, described turntable 8 moves the rotation of clamper 1 for controlling described seal wire, described second straight-line feed platform 9 moves the motion of clamper 1 for controlling described seal wire, described axial force sensor 7, for measuring resistance in seal wire 10 motor process or the moment of resistance, reasonably operates to instruct operator.Seal wire moves clamper can realize seal wire twisting action by the rotation of turntable, can realize wire feed action by the feed motion of the first straight-line feed platform.Conduit holder can realize sending pipe function by the feed motion of the second straight-line feed platform.
Wherein, before this blood vessel intervention operation robot guide wire catheter steering device busy, need operator's otch and described seal wire, conduit are inserted in blood vessel, and connecting described conduit holder and described seal wire clamper.Described turntable and described second straight-line feed platform jointly control described seal wire and move clamper, to realize seesawing and rotary motion of described seal wire.Described seal wire is determined clamper and is used for fixing described seal wire, to control moving forward and backward of described seal wire.Described first straight-line feed platform can drive seesawing of described conduit by front and back slippage.The pipe process of specifically sending of this blood vessel intervention operation robot guide wire catheter steering device is that described conduit holder clamps described conduit, feed motion is realized under the drive of described second straight-line feed platform, when encountering travel switch or obtain ceasing and desisting order, then stop sending pipe process, unclamp described conduit holder, described second straight-line feed platform gets back to starting point.The seal wire twisting motor process of this blood vessel intervention operation robot guide wire catheter steering device is that described seal wire is determined clamper and clamped described seal wire, and described turntable drives described seal wire to move clamper to carry out back rotation, thus realizes the twisting campaign of described seal wire.The wire feed process of this device send pipe process consistent with above-mentioned.
The control method of blood vessel intervention operation robot guide wire catheter steering device of the present invention comprises the following steps:
Step one, opens conduit holder, the quiet clamper of seal wire, and seal wire moves clamper, and wire catheter is put into slide cartridge;
Step 2, described seal wire, conduit are also inserted in blood vessel by operator's otch, and closure catheter clamper and seal wire clamper;
Step 3, send pipe process to be conduit holder clamping conduit, under the drive of the second straight-line feed platform, realizes feed motion, when encountering travel switch or obtain ceasing and desisting order, then stop sending pipe process, unclamp conduit holder, the second straight-line feed platform gets back to starting point;
Step 4, wire feed process comprises the feeding of seal wire and twisted, wherein the feed motion of seal wire and above-mentioned steps three send pipe process basically identical, the twisting process of seal wire is that seal wire clamped by the quiet clamper of seal wire, turntable drive seal wire moves clamper and carrys out back rotation, thus realizes the twisting campaign of seal wire;
Step 5, is installed on six-axis force sensor that seal wire moves clamper end for the resistance measuring seal wire and produce in feed motion and rotary movement and the moment of resistance, thus the tutorial message provided for the operation of operator.
In sum, according to process and the feature of manpower intervention operation, blood vessel intervention operation robot guide wire catheter steering device of the present invention can replace staff realize wire feed and turn silk action, and the replacing of seal wire and conduit also more easily realizes, and lays the foundation for realizing remote operation.Operator directly can carry out sufferer operation by controlling this device, thus can depart from the radiation of X-ray, improve the safety of medical personnel.The six-axis force sensor that device is installed, can pass the wind tunnel information of seal wire in real time back, thus makes the resistance that operator can produce in long-range perception wire feed process, and the subsequent action for operator provides strong guidance.This apparatus structure is simple simultaneously, and with low cost, safety is high, is easy to realize, and is applicable to the Clinical practice of Wicresoft's intervene operation.The present invention is by the sequence of motion of conservative control seal wire, conduit, and operator can complete robot automatic feeding easily, send pipe to operate.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (6)
1. a blood vessel intervention operation robot guide wire catheter steering device, it is characterized in that, described blood vessel intervention operation robot guide wire catheter steering device comprises seal wire and moves clamper, slide cartridge, the quiet clamper of seal wire, conduit, conduit holder, first straight-line feed platform, six-axis force sensor, turntable, second straight-line feed platform, seal wire, described conduit, seal wire is supported by described slide cartridge, described conduit holder is for clamping described conduit, described first straight-line feed platform is for controlling the movement of described conduit holder, the quiet clamper of described seal wire and described seal wire move clamper for controlling the motion of described seal wire, described turntable moves the rotation of clamper for controlling described seal wire, described second straight-line feed platform moves the motion of clamper for controlling described seal wire, described axial force sensor, for measuring resistance in guide wire motion process or the moment of resistance, reasonably operates to instruct operator.
2. blood vessel intervention operation robot guide wire catheter steering device according to claim 1, it is characterized in that, before described blood vessel intervention operation robot guide wire catheter steering device busy, need operator's otch and described seal wire, conduit be inserted in blood vessel, and connect described conduit holder, seal wire moves clamper, the quiet clamper of seal wire.
3. blood vessel intervention operation robot guide wire catheter steering device according to claim 1, is characterized in that, described turntable and described second straight-line feed platform jointly control described seal wire and move clamper, to realize seesawing and rotary motion of described seal wire.
4. blood vessel intervention operation robot guide wire catheter steering device according to claim 1, is characterized in that, the quiet clamper of described seal wire is used for fixing described seal wire, to control moving forward and backward of described seal wire.
5. blood vessel intervention operation robot guide wire catheter steering device according to claim 1, is characterized in that, described first straight-line feed platform drives seesawing of described conduit by front and back slippage.
6. a control method for blood vessel intervention operation robot guide wire catheter steering device, it is characterized in that, it comprises the following steps:
Step one, opens conduit holder, the quiet clamper of seal wire, seal wire moves clamper, wire catheter is put into slide cartridge;
Step 2, described seal wire, conduit are also inserted in blood vessel by operator's otch, and the quiet clamper of closure catheter clamper, seal wire, seal wire move clamper;
Step 3, send pipe process to be conduit holder clamping conduit, under the drive of the second straight-line feed platform, realizes feed motion, when encountering travel switch or obtain ceasing and desisting order, then stop sending pipe process, unclamp conduit holder, the second straight-line feed platform gets back to starting point;
Step 4, wire feed process comprises the feeding of seal wire and twisted, wherein the feed motion of seal wire and above-mentioned steps three send pipe process basically identical, the twisting process of seal wire is that seal wire clamped by the quiet clamper of seal wire, turntable drive seal wire moves clamper and carrys out back rotation, thus realizes the twisting campaign of seal wire;
Step 5, is installed on six-axis force sensor that seal wire moves clamper end for the resistance measuring seal wire and produce in feed motion and rotary movement and the moment of resistance, thus the tutorial message provided for the operation of operator.
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| CN201410629037.0A CN104287841B (en) | 2014-11-10 | 2014-11-10 | Blood vessel intervention operation robot wire catheter manipulation device and control method thereof |
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| CN201410629037.0A CN104287841B (en) | 2014-11-10 | 2014-11-10 | Blood vessel intervention operation robot wire catheter manipulation device and control method thereof |
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| CN104287841B CN104287841B (en) | 2016-05-04 |
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105664333A (en) * | 2016-02-24 | 2016-06-15 | 上海骄成医疗器械有限公司 | Guide wire catheter conveying device |
| CN106943662A (en) * | 2017-04-28 | 2017-07-14 | 合肥美亚光电技术股份有限公司 | A kind of micro drives device for being used to intervene operation |
| CN107049500A (en) * | 2017-06-07 | 2017-08-18 | 中科新松有限公司 | A kind of blood vessel intervention operation robot |
| CN107106155A (en) * | 2017-04-01 | 2017-08-29 | 中国科学院深圳先进技术研究院 | The catheter propelling control method and catheter propelling equipment of blood vessel intervention operation robot |
| CN107184274A (en) * | 2017-06-05 | 2017-09-22 | 上海速介机器人科技有限公司 | Blood vessel intervention operation robot manipulation handle and its control method with feel |
| CN107374740A (en) * | 2017-07-06 | 2017-11-24 | 北京理工大学 | A kind of catheter guide wire cooperating intervention robot and its control method |
| CN107744616A (en) * | 2017-08-31 | 2018-03-02 | 首都医科大学附属北京天坛医院 | A kind of catheter controller and its application method |
| CN107754072A (en) * | 2017-08-31 | 2018-03-06 | 首都医科大学附属北京天坛医院 | A kind of guidewire controller and its operating method |
| CN107789720A (en) * | 2017-08-31 | 2018-03-13 | 首都医科大学附属北京天坛医院 | A kind of seal wire auxiliary clamping device and its method for controlling seal wire |
| CN107847712A (en) * | 2015-06-16 | 2018-03-27 | 汉阳大学校Erica产学协力团 | vascular intervention operation robot and vascular intervention operation system |
| CN108514448A (en) * | 2017-12-14 | 2018-09-11 | 深圳先进技术研究院 | Blood vessel intervention operation robot guide wire, conduit control device |
| CN108704214A (en) * | 2018-04-28 | 2018-10-26 | 燕山大学 | Interventional surgery robotic catheter/seal wire rotating mechanism and propulsion device |
| CN109171976A (en) * | 2018-10-22 | 2019-01-11 | 中国人民解放军陆军军医大学第附属医院 | A kind of vascular surgery robot accurately controlled and its operating method |
| CN109303963A (en) * | 2018-10-08 | 2019-02-05 | 万海伟 | Adjustable type microtubular for cerebrovascular intervention |
| CN109821138A (en) * | 2019-01-29 | 2019-05-31 | 燕山大学 | A kind of interventional surgery robotic catheter and seal wire propulsive mechanism |
| CN111067624A (en) * | 2019-12-25 | 2020-04-28 | 四川安雅仕健康管理有限公司 | Medium-and-long-range remote control operation intervention robot device |
| CN111202585A (en) * | 2020-01-20 | 2020-05-29 | 上海奥朋医疗科技有限公司 | Interventional operation robot guide wire clamping control method and system |
| CN111202586A (en) * | 2020-03-17 | 2020-05-29 | 上海奥朋医疗科技有限公司 | Continuous clamping and rotating method and system of single manipulator for vascular intervention |
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| CN111672011A (en) * | 2020-06-17 | 2020-09-18 | 清华大学 | Multi-action cooperative intervention operation manipulator with multi-dimensional force perception |
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| CN113729962A (en) * | 2021-07-05 | 2021-12-03 | 深圳市爱博医疗机器人有限公司 | Intervene operation robot from end device |
| CN113827342A (en) * | 2021-10-12 | 2021-12-24 | 复旦大学 | Guide wire delivery and twisting device of minimally invasive vascular interventional surgical robot |
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| CN107847712A (en) * | 2015-06-16 | 2018-03-27 | 汉阳大学校Erica产学协力团 | vascular intervention operation robot and vascular intervention operation system |
| CN105664333A (en) * | 2016-02-24 | 2016-06-15 | 上海骄成医疗器械有限公司 | Guide wire catheter conveying device |
| CN107106155A (en) * | 2017-04-01 | 2017-08-29 | 中国科学院深圳先进技术研究院 | The catheter propelling control method and catheter propelling equipment of blood vessel intervention operation robot |
| CN107106155B (en) * | 2017-04-01 | 2020-06-12 | 中国科学院深圳先进技术研究院 | Catheter pushing control method and catheter pushing equipment of vascular intervention surgical robot |
| CN106943662A (en) * | 2017-04-28 | 2017-07-14 | 合肥美亚光电技术股份有限公司 | A kind of micro drives device for being used to intervene operation |
| CN106943662B (en) * | 2017-04-28 | 2023-04-07 | 合肥美亚光电技术股份有限公司 | Miniature driving device for interventional operation |
| CN107184274A (en) * | 2017-06-05 | 2017-09-22 | 上海速介机器人科技有限公司 | Blood vessel intervention operation robot manipulation handle and its control method with feel |
| CN107184274B (en) * | 2017-06-05 | 2020-03-31 | 上海速介机器人科技有限公司 | Vascular intervention operation robot operating handle with hand feeling and control method thereof |
| CN107049500B (en) * | 2017-06-07 | 2019-10-29 | 中科新松有限公司 | A kind of blood vessel intervention operation robot |
| CN107049500A (en) * | 2017-06-07 | 2017-08-18 | 中科新松有限公司 | A kind of blood vessel intervention operation robot |
| CN107374740A (en) * | 2017-07-06 | 2017-11-24 | 北京理工大学 | A kind of catheter guide wire cooperating intervention robot and its control method |
| CN107789720A (en) * | 2017-08-31 | 2018-03-13 | 首都医科大学附属北京天坛医院 | A kind of seal wire auxiliary clamping device and its method for controlling seal wire |
| CN107754072A (en) * | 2017-08-31 | 2018-03-06 | 首都医科大学附属北京天坛医院 | A kind of guidewire controller and its operating method |
| CN107744616A (en) * | 2017-08-31 | 2018-03-02 | 首都医科大学附属北京天坛医院 | A kind of catheter controller and its application method |
| CN108514448A (en) * | 2017-12-14 | 2018-09-11 | 深圳先进技术研究院 | Blood vessel intervention operation robot guide wire, conduit control device |
| CN108704214A (en) * | 2018-04-28 | 2018-10-26 | 燕山大学 | Interventional surgery robotic catheter/seal wire rotating mechanism and propulsion device |
| CN108704214B (en) * | 2018-04-28 | 2021-11-30 | 燕山大学 | Catheter/guide wire rotating mechanism and propelling device of minimally invasive vascular interventional surgical robot |
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