CN105596084B - Cardiovascular interventional operation robot - Google Patents
Cardiovascular interventional operation robot Download PDFInfo
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- CN105596084B CN105596084B CN201610074861.3A CN201610074861A CN105596084B CN 105596084 B CN105596084 B CN 105596084B CN 201610074861 A CN201610074861 A CN 201610074861A CN 105596084 B CN105596084 B CN 105596084B
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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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- 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
- A61B2017/00238—Type of minimally invasive operation
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- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The present invention provides a kind of cardiovascular interventional operation robots, including：Seal wire/conduit propulsive mechanism module, seal wire/conduit rotating mechanism module, force feedback module and bracket institution, the seal wire/conduit propulsive mechanism module drive seal wire/conduit rotating mechanism module and force feedback module are moved forward and backward, and realize seal wire/conduit forward-reverse；The seal wire/conduit rotating mechanism modular belt power feedback module rotation, realizes the rotation of seal wire/conduit；The power and torque being subject in the force feedback module real-time measurement seal wire/conduit progradation, judge the state of seal wire/conduit in the blood vessel.Robot manipulation of the present invention is simple, and freedom degree is high, while remote control may be implemented, and makes doctor from the radiation of X-ray；Meanwhile the addition of force feedback can reflect the situation in seal wire/conduit insertion blood vessel in real time：Whether vascular wall is collided, if there are larger resistances, carry out further surgical procedure to doctor and provide foundation.
Description
Technical field
The present invention relates to a kind of devices of the field of medical instrument technology, and in particular, to a kind of with force feedback function
Cardiovascular interventional operation robot.
Background technique
Present cardiovascular and cerebrovascular disease has got worse the health for endangering the mankind, is published according to the World Health Organization
Global non-communicable diseases status report is shown within 2014：Cardiovascular disease belongs to non-communicable diseases, and cardiovascular disease causes
Death toll surmounted the numbers of other any causes of the death, have become the number one killer for causing global human death.
At the same time, high to the operation skill and skill requirement of doctor in traditional cardiovascular and cerebrovascular interventional procedure, doctor is inevitable
Radiation of the ground by X-ray.With increasing for cardio-cerebral vascular disease patient, there are also the contradictions between surgical environments by doctor and patient increasingly
Seriously.And cardiovascular and cerebrovascular operating robot can well solve more than problem, while more accurate controlling conduit/seal wire
Movement, therefore the research of cardiovascular and cerebrovascular intervention operation robot is of great significance.
After searching and discovering the prior art, Chinese utility model CN102210610B discloses a kind of minimally invasive blood
Pipe intervention operation robot propulsive mechanism.The device include for promote conduit/seal wire axial feed component and for changing
Conduit/seal wire direction of rotation component that rotates in a circumferential direction.The device clamps conduit/seal wire by clamp module, passes through axial feed
Component transports conduit/seal wire.Due to, conduit/seal wire is constantly grabbed, will affect the cleaning of conduit/seal wire and size,
Bring the trouble of disinfection.Meanwhile the device lacks the function of force feedback.
Application No. is the Chinese patents of CN201310161780.3, disclose a kind of cardiovascular intervention virtual operation force feedback
System, but the system is a virtual teach-in equipment, can not be solved the above problems.
Therefore, those skilled in the art is dedicated to developing a kind of cardiovascular intervention robot with force feedback function.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of force feedback cardiovascular interventional operation machines
People, this robot manipulation is simple, and freedom degree is high, while remote control may be implemented, and makes doctor from the radiation of X-ray.Meanwhile
The addition of force feedback can reflect the situation in seal wire/conduit insertion blood vessel in real time：Whether collide vascular wall, if exist compared with
Big resistance carries out further surgical procedure to doctor and provides foundation.
In order to achieve the above object, the present invention provides a kind of cardiovascular interventional operation robot, including：Seal wire/conduit promotes
Mechanism module, seal wire/conduit rotating mechanism module, force feedback module and bracket institution, wherein：
Seal wire/conduit propulsive mechanism module is connected with seal wire/conduit rotating mechanism module, to realize that seal wire/conduit promotes
Mechanism module and the connection of seal wire/conduit rotating mechanism module；
Force feedback module is mounted in seal wire/conduit rotating mechanism module, to realize that force feedback module and seal wire/conduit are revolved
The connection of rotation mechanism module；
Seal wire/conduit rotating mechanism module is connected with bracket institution, to realize seal wire/conduit rotating mechanism module and bracket
The connection of mechanism；
It is moved before and after the seal wire/conduit propulsive mechanism module drive seal wire/conduit rotating mechanism module and force feedback module
It is dynamic, realize seal wire/conduit forward-reverse；The seal wire/conduit rotating mechanism modular belt power feedback module rotation, realization are led
The rotation of silk/conduit；The power and torque being subject in the force feedback module real-time measurement seal wire/conduit progradation, judgement are led
The state of silk/conduit in the blood vessel.
Preferably, the force feedback module, including mounting surface connector, collet, measuring surface connector and sensor,
In：Collet, measuring surface connector, sensor, mounting surface connector are successively connected with each other, and opposing stationary；Seal wire/conduit insertion
In collet and it is clamped on measuring surface connector, the swivel plate in mounting surface connector and seal wire/conduit rotating mechanism module
Be connected, swivel plate rotation to driving force feedback module to rotate, sensor in real-time measurement seal wire/conduit progradation by
The power and torque arrived.
Preferably, the seal wire/conduit propulsive mechanism module, including mounting base, connecting plate, screw rod, mobile nut,
First shaft coupling, first servo motor and moving slide board pedestal, wherein：Mounting base is for fixing seal wire/conduit pusher
Structure module, seal wire/conduit rotating mechanism module, force feedback module and bracket institution；Screw rod is fixed in mounting seat；Screw rod
It is connected with first servo motor by first shaft coupling；Mobile nut is mounted on screw rod and is moved forward and backward on screw rod；It is mobile
Slider base is connected together by connecting plate and mobile nut.
Preferably, the seal wire/conduit rotating mechanism module, including the second servo motor, motor support base, the second shaft coupling
Device, the first rotary support, the second rotary support, swivel plate, linear guide and sliding block, wherein：Second servo motor is fixed on electricity
On machine support, and it is connected by second shaft coupling with swivel plate；Motor support base is mounted on moving slide board pedestal；The two of swivel plate
End is separately mounted to the first rotary support by bearing, on the second rotary support；First rotary support, the second rotary support are pacified
On moving slide board pedestal；Linear guide is mounted on the mounting base in seal wire/conduit propulsive mechanism module；Sliding block installation
It is moved in linear guide and along linear guide direction, and sliding block is spirally connected with moving slide board pedestal and connect.
Preferably, the bracket institution, including lever, channel bar, hold-down support and support rod are pushed away, wherein：Two solid
Determine support and be one in front and one in back fixed on to lead on mounting base；The upper end two sides of former and later two hold-down supports are equipped with hole, push and block bar and
The two sides of N root support rod also are provided with hole, and two channel bars are through respectively in the upper end two side holes of former and later two hold-down supports, together
When across the hole of push and block bar and N root support rod two sides, push and block bar and N root support rod slide back and forth along channel bar；The installation of push and block bar
On moving slide board pedestal, push and block bar moves under the drive of moving slide board pedestal along channel bar direction together；Push and block bar is along channel
After bar moves certain distance, touches first support rod and the support rod is pushed to move together, next successively push other
Remaining support rod is moved along channel bar, until nth root support rod touches the hold-down support of front end.
It is highly preferred that the center of the hold-down support for pushing away lever, N root support rod and front end is equipped with hole, operation is used
Seal wire/conduit sequentially passes through the centre bore of the hold-down support of push and block bar, N root support rod and front end.
It is highly preferred that being mounted on linear bearing in the hole of the hold-down support top two sides described in former and later two, two logical
Road bar is inserted into the linear bearing on former and later two hold-down supports respectively.
Compared with prior art, the present invention has following beneficial effect：
Robot freedom degree in the present invention is high, easy to operate, and it is primary only to clamp seal wire/conduit, will not pollute seal wire/lead
Pipe, disinfection are convenient.Have the function of force feedback simultaneously, measure the power and torque being subject in seal wire/conduit progradation in real time,
It is transferred in the computer of operating room, the force-bearing situation in seal wire/conduit progradation can be observed in real time in doctor, so that judgement is led
The state of silk/conduit in the blood vessel：Whether vascular wall is collided, if there are larger resistance, corresponding countermeasure is made with this, really
It is fixed whether to need to inject contrast agent.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the overall structure diagram of one embodiment of the invention；
Fig. 2 is seal wire/conduit propulsive mechanism module structural schematic diagram of one embodiment of the invention；
Fig. 3 is seal wire/conduit rotating mechanism module structural schematic diagram of one embodiment of the invention；
Fig. 4 is the structural schematic diagram of the force feedback module of one embodiment of the invention；
Fig. 5 is the structural schematic diagram of the bracket institution of one embodiment of the invention；
In Fig. 1：Seal wire/conduit propulsive mechanism module 1, seal wire/conduit rotating mechanism module 2, force feedback module 3, bracket
Mechanism 4；
In Fig. 2：Bakelite plate 100, screw rod 101, mobile nut 102, shaft coupling 103, servo motor 104, moving slide board base
Seat 105, connecting plate 106；
In Fig. 3：Servo motor 200, motor support base 201, shaft coupling 202, rotary support 203,205, it is swivel plate 204, straight
Line guide rail 207, sliding block 208,209；
In Fig. 4：Collet 300, measuring surface connector 301, sensor 302, mounting surface connector 303；
In Fig. 5：Push away lever 400, channel bar 401, hold-down support 402,404, support rod 403.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
A kind of cardiovascular interventional operation robot as shown in Figure 1, the robot include：Seal wire/conduit propulsive mechanism mould
Block 1, seal wire/conduit rotating mechanism module 2, force feedback module 3, bracket institution 4, wherein：
Seal wire/conduit propulsive mechanism module 1 is connected with seal wire/conduit rotating mechanism module 2, to realize that seal wire/conduit pushes away
Into mechanism module 1 and the connection of seal wire/conduit rotating mechanism module 2；
Force feedback module 3 is mounted in seal wire/conduit rotating mechanism module 2, to realize force feedback module 3 and seal wire/lead
The connection of pipe rotating mechanism module 4；
Seal wire/conduit rotating mechanism module 1 is connected with bracket institution 4, with realize seal wire/conduit rotating mechanism module 2 with
The connection of bracket institution 4；
The seal wire/conduit propulsive mechanism module 1 drives 3 front and back of seal wire/conduit rotating mechanism module 2 and force feedback module
It is mobile, realize seal wire/conduit forward-reverse；The seal wire/conduit rotating mechanism module 2 drives force feedback module 3 to rotate, real
The rotation of existing seal wire/conduit；The power and torque being subject in 3 real-time measurement seal wire of the force feedback module/conduit progradation, sentence
The disconnected state of seal wire/conduit in the blood vessel.
As shown in Fig. 2, in a preferred embodiment, the seal wire/conduit propulsive mechanism module 1, including bakelite plate
100, screw rod 101, mobile nut 102, shaft coupling 103, servo motor 104, moving slide board pedestal 105 and connecting plate 106,
In：Mounting base of the bakelite plate 100 as entire robot mechanism, for fixing above-mentioned four great institutions module；Screw rod 101 is fixed
On bakelite plate 100；Screw rod 101 is connected with servo motor 104 by shaft coupling 103；Mobile nut 102 is mounted on screw rod 101
It can be moved forward and backward above and on screw rod 101；Connecting plate 106 is connected with mobile nut 102；The front end of moving slide board pedestal 105 with
Connecting plate 106 is spirally connected.
In the present embodiment, mounting base is used as using bakelite plate 100, other shapes can also be used in other embodiments
Formula.
As shown in figure 3, in a preferred embodiment, the seal wire/conduit rotating mechanism module 2, including servo motor
200, motor support base 201, shaft coupling 202, rotary support 203,205, swivel plate 204, linear guide 207, sliding block 208,209,
Wherein：
Servo motor 200 is fixed on motor support base 201, and is connected by shaft coupling 202 with swivel plate 204；Swivel plate
204 both ends are separately mounted on rotary support 203,205 by bearing, and motor support base 201 and rotary support 203,205 are pacified
On moving slide board pedestal 105, moving slide board pedestal 105 is mounted on sliding block 208,209, and sliding block 208,209 is mounted on directly
It can be moved along 207 direction of linear guide on line guide rail 207；
As shown in figure 4, in a preferred embodiment, the force feedback module 3, including：Collet 300, measuring surface connection
Part 301, sensor 302, mounting surface connector 303, wherein：Collet 300, measuring surface connector 301, sensor 302, mounting surface
Connector 303 passes sequentially through screw interconnection, and opposing stationary；Seal wire/conduit is inserted in collet 300 and is clamped in measurement
On face connector 301, mounting surface connector 303 is connected with swivel plate 204, and sensor 302 is real-time by its internal foil gauge
Detection seal wire/catheter proximal end passes to the power and turning moment of collet 300 and measuring surface connector 301.
As shown in figure 5, the bracket institution 4, including：Push away lever 400, channel bar 401, hold-down support 402,404, branch
Strut 403, wherein：Pushing away lever 400 has one, and there are two hold-down supports 402, and channel bar 401 has two, and support rod 403 has N
Root；Being fixed on bakelite plate 100 one in front and one in back of hold-down support 402,404；The upper end two sides of hold-down support 402,404 are equipped with
The two sides of hole, push and block bar 400 and N root support rod 403 also are provided with hole, and two channel bars 401 are through the two of hold-down support 402,404
In side opening, also cross push and block bar 400 and 10 piece support rod 403, push and block bar 400 and N root support rod 403 are before channel bar 401
After slide；Push and block bar 400 is mounted on moving slide board pedestal 105, and moving slide board pedestal 105 is moved forward and backward to drive push and block plate
400 move forward and backward together along 401 direction of channel bar；After push and block bar 400 moves certain distance along channel bar 401, first is touched
Root support rod 403 simultaneously pushes the support rod 403 to move together, next successively pushes other remaining support rods 403 along logical
Road bar 401 moves, until nth root support rod 403 touches hold-down support 402.
Moving slide board pedestal 105 is simultaneously in seal wire/conduit rotating mechanism module 2, seal wire/conduit propulsive mechanism module 1
It working, the seal wire/conduit rotating mechanism module 2 is three layers of mechanism of upper, middle and lower, wherein：Servo motor 200, motor support base
201, shaft coupling 202, rotary support 203 and 205, swivel plate 204 constitute upper layer mechanism, and moving slide board pedestal 105 constitutes middle layer
Mechanism, linear guide 207, sliding block 208 and 209 constitute mechanism of lower layer, and middle layer mechanism connects upper layer mechanism and mechanism of lower layer, upper layer
Mechanism is used for the rotation of seal wire/conduit, and mechanism of lower layer is used for the movement of seal wire/conduit rotating mechanism module 2.
The robot realizes seal wire/conduit forward-reverse, rotation and force feedback by following steps：
1. seal wire/conduit is pushed away lever 400 and N root support rod 403 and hold-down support across bracket institution 4 first
402 centre bore into the collet 300 of force feedback module 3, and is clamped on measuring surface connector 301；
2. controlling the operating of servo motor 104,200, by computer in operating room to control seal wire/conduit propulsive mechanism mould
Block 1 and seal wire/conduit rotating mechanism module 2：
The rotation of servo motor 104 drives lead screw 101 to rotate by shaft coupling 103, so that mobile nut 102 is along screw rod
101 are moved forward and backward；Mobile nut 102, connecting plate 106 and moving slide board pedestal 105 are sequentially connected and opposing stationary, so mobile
The back-and-forth motion of nut 102 drives connecting plate 106 and moving slide board pedestal 105 to be moved forward and backward together；Moving slide board pedestal
105 connection upper and lower two layers of the mechanism of seal wire/conduit rotating mechanism module 2, so the back-and-forth motion of moving slide board pedestal 105, band
Dynamic seal wire/conduit rotating mechanism module 2 is moved forward and backward along the direction of linear guide 207；Meanwhile the push and block bar 400 of bracket institution 4
It is mounted on moving slide board pedestal 105, drives push and block bar 400 along channel bar 401 while moving slide board pedestal 105 is moved forward and backward
It moves forward and backward；The mounting surface connector 303 of force feedback module 3 is connected with seal wire/conduit rotating mechanism 2 swivel plate 204, in this way
Force feedback module 3 and seal wire/conduit rotating mechanism module 2 can forward-reverses, i.e. seal wire/conduit propulsive mechanism module 1 simultaneously
Drive force feedback module 3 to be moved forward and backward by seal wire/conduit rotating mechanism module 2, thus realize the advance of seal wire/conduit, after
It moves back；
Force feedback module 3 is connected by mounting surface connector 303 with seal wire/conduit rotating mechanism 2 swivel plate 204, is watched
The rotation for taking motor 200, the rotation of swivel plate 204 is driven by shaft coupling 202, and the rotation of swivel plate 204 drives mounting surface to connect
Fitting 303 rotates, and collet 300, measuring surface connector 301, sensor 302, that mounting surface connector 303 passes sequentially through screw is mutual
It connects and opposing stationary, seal wire/conduit is inserted in collet 300 and is clamped on measuring surface connector 301, leads to realize
The rotary motion of silk/conduit；
3. the sensor 302 of force feedback module 3 measures the power and torque being subject in seal wire/conduit progradation in real time,
It is transferred in the computer of operating room, the force-bearing situation in seal wire/conduit progradation can be observed in real time in doctor, so that judgement is led
The state of silk/conduit in the blood vessel：Whether vascular wall is collided, if there are larger resistance, corresponding countermeasure is made with this, really
It is fixed whether to need to inject contrast agent.
Robot freedom degree of the present invention is high, easy to operate, and it is primary only to clamp seal wire/conduit, will not pollute seal wire/
Conduit, disinfection are convenient；Have the function of force feedback simultaneously, measures the power and power being subject in seal wire/conduit progradation in real time
Square is transferred in the computer of operating room, and the force-bearing situation in seal wire/conduit progradation can be observed in real time in doctor, to sentence
The disconnected state of seal wire/conduit in the blood vessel：Whether vascular wall is collided, if there are larger resistances, corresponding right to make with this
Plan, it is determined whether need to inject contrast agent.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (5)
1. a kind of cardiovascular interventional operation robot, which is characterized in that including：Seal wire/conduit propulsive mechanism module, seal wire/is led
Pipe rotating mechanism module, force feedback module and bracket institution, wherein：
Seal wire/conduit propulsive mechanism module is connected with seal wire/conduit rotating mechanism module, to realize seal wire/conduit propulsive mechanism
Module and the connection of seal wire/conduit rotating mechanism module；
Force feedback module is mounted in seal wire/conduit rotating mechanism module, to realize force feedback module and seal wire/conduit whirler
The connection of structure module；
Seal wire/conduit rotating mechanism module is connected with bracket institution, to realize seal wire/conduit rotating mechanism module and bracket institution
Connection；
The seal wire/conduit propulsive mechanism module drive seal wire/conduit rotating mechanism module and force feedback module are moved forward and backward, real
The forward-reverse of existing seal wire/conduit；The seal wire/conduit rotating mechanism modular belt power feedback module rotation, realization seal wire/lead
The rotation of pipe；The power and torque being subject in the force feedback module real-time measurement seal wire/conduit progradation judge seal wire/lead
The state of pipe in the blood vessel；
The force feedback module, including mounting surface connector, collet, measuring surface connector and sensor, wherein：Collet, survey
Amount face connector, sensor, mounting surface connector are successively connected with each other, and opposing stationary；Seal wire/conduit is inserted in collet simultaneously
It is clamped on measuring surface connector, mounting surface connector is connected with the swivel plate in seal wire/conduit rotating mechanism module, swivel plate
Rotation is to drive force feedback module to rotate, power and power of the sensor for being subject in real-time measurement seal wire/conduit progradation
Square；
The seal wire/conduit propulsive mechanism module, including mounting base, connecting plate, screw rod, mobile nut, first shaft coupling,
First servo motor and moving slide board pedestal, wherein：Mounting base for fix seal wire/conduit propulsive mechanism module, seal wire/
Conduit rotating mechanism module, force feedback module and bracket institution；Screw rod is fixed in mounting seat；Screw rod and the first servo electricity
Machine is connected by first shaft coupling；Mobile nut is mounted on screw rod and is moved forward and backward on screw rod；Moving slide board pedestal passes through
Connecting plate is connected together with mobile nut.
2. a kind of cardiovascular interventional operation robot according to claim 1, which is characterized in that the seal wire/conduit
Rotating mechanism module, including the second servo motor, motor support base, second shaft coupling, the first rotary support, the second rotary support,
Swivel plate, linear guide and sliding block, wherein：Second servo motor is fixed on motor support base, and passes through second shaft coupling and rotation
Rotating plate is connected；Motor support base is mounted on moving slide board pedestal；The both ends of swivel plate are separately mounted to the first rotation by bearing
On support, the second rotary support；First rotary support, the second rotary support are installed on moving slide board pedestal；Linear guide
It is mounted on the mounting base in seal wire/conduit propulsive mechanism module；Sliding block is mounted in linear guide and along linear guide side
To movement, and sliding block is spirally connected with moving slide board pedestal and connect.
3. a kind of cardiovascular interventional operation robot according to claim 1 or 2, which is characterized in that the timbering machine
Structure, including lever, channel bar, hold-down support and support rod are pushed away, wherein：Two hold-down supports are one in front and one in back fixed on mounting base
On；The upper end two sides of former and later two hold-down supports are equipped with hole, and the two sides of push and block bar and N root support rod also are provided with hole, and two logical
Road bar is through respectively in the upper end two side holes of former and later two hold-down supports, also cross push and block bar and N root support rod two sides
Hole, push and block bar and N root support rod slide back and forth along channel bar；Push and block bar is mounted on moving slide board pedestal, and push and block bar is in movement
Slider base moves under driving along channel bar direction together；After push and block bar moves certain distance along channel bar, first is touched
Support rod simultaneously pushes the support rod to move together, next successively pushes other remaining support rods to move along channel bar, directly
The hold-down support of front end is touched to nth root support rod.
4. a kind of cardiovascular interventional operation robot according to claim 3, which is characterized in that described pushes away lever, N root
The center of support rod and the hold-down support of front end is equipped with hole, and operation sequentially passes through push and block bar, N root support rod with seal wire/conduit
With the centre bore of the hold-down support of front end.
5. a kind of cardiovascular interventional operation robot according to claim 3, which is characterized in that described in former and later two
It is mounted on linear bearing in the hole of two sides above hold-down support, two channel bars are inserted into respectively on former and later two hold-down supports
The linear bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610074861.3A CN105596084B (en) | 2016-02-02 | 2016-02-02 | Cardiovascular interventional operation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610074861.3A CN105596084B (en) | 2016-02-02 | 2016-02-02 | Cardiovascular interventional operation robot |
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| CN105596084A CN105596084A (en) | 2016-05-25 |
| CN105596084B true CN105596084B (en) | 2018-11-16 |
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| CN109106449B (en) * | 2018-07-10 | 2020-04-17 | 上海交通大学 | Cardiovascular and cerebrovascular interventional operation robot and guide wire catheter pushing method thereof |
| CN109044533B (en) * | 2018-09-17 | 2020-07-28 | 上海交通大学医学院附属仁济医院 | Minimally invasive interventional operation robot for urinary surgery |
| CN110200700B (en) * | 2019-05-17 | 2021-06-04 | 中国科学院深圳先进技术研究院 | Robot and equipment for vascular intervention operation |
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| CN113133833A (en) * | 2020-01-20 | 2021-07-20 | 上海奥朋医疗科技有限公司 | Blood vessel intervention robot operating handle with guide wire catheter propulsion resistance feedback |
| CN111202585B (en) * | 2020-01-20 | 2021-11-09 | 上海奥朋医疗科技有限公司 | Interventional operation robot guide wire clamping control method and system |
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| CN114366312B (en) * | 2022-02-21 | 2023-07-14 | 厦门大学 | Liver tumor embolism intervention operation robot |
| CN114587616B (en) * | 2022-02-23 | 2023-04-25 | 上海奥朋医疗科技有限公司 | Guide wire catheter conveying device |
| CN115281836A (en) * | 2022-08-02 | 2022-11-04 | 上海卓昕医疗科技有限公司 | Blood vessel intervention operation guide wire/catheter force feedback device and blood vessel intervention operation robot |
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| CN103239791B (en) * | 2013-04-28 | 2015-06-17 | 北京航空航天大学 | Real-time catheter intervention information measuring device in cardiovascular interventional operation |
| CN103280145B (en) * | 2013-05-03 | 2016-01-13 | 上海交通大学 | Cardiovascular intervention virtual operation force feedback system |
| CN103599586B (en) * | 2013-11-20 | 2016-03-23 | 中国科学院深圳先进技术研究院 | Blood vessel intervention operation wire catheter remote operation controller |
| CN103976766B (en) * | 2014-05-16 | 2016-03-30 | 天津理工大学 | A kind of principal and subordinate's interventional surgery aid system |
| CN103976765B (en) * | 2014-05-16 | 2016-08-17 | 天津理工大学 | A kind of principal and subordinate's interventional surgery aid system main side operator device |
| CN104042259B (en) * | 2014-05-16 | 2016-06-29 | 天津理工大学 | A kind of principal and subordinate's interventional surgery aid system is from operator device |
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2016
- 2016-02-02 CN CN201610074861.3A patent/CN105596084B/en active Active
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