CN105662586B - A kind of intervention operation robot and its control method of catheter guide wire collaboration push - Google Patents
A kind of intervention operation robot and its control method of catheter guide wire collaboration push Download PDFInfo
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- CN105662586B CN105662586B CN201610119763.7A CN201610119763A CN105662586B CN 105662586 B CN105662586 B CN 105662586B CN 201610119763 A CN201610119763 A CN 201610119763A CN 105662586 B CN105662586 B CN 105662586B
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- 238000003825 pressing Methods 0.000 claims description 56
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- 230000008878 coupling Effects 0.000 claims description 33
- 238000010168 coupling process Methods 0.000 claims description 33
- 238000005859 coupling reaction Methods 0.000 claims description 33
- 239000000203 mixture Substances 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 7
- 238000009790 rate-determining step (RDS) Methods 0.000 claims description 6
- 210000004907 gland Anatomy 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 9
- 238000001356 surgical procedure Methods 0.000 abstract description 7
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000011161 development Methods 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 10
- 230000001141 propulsive effect Effects 0.000 description 4
- 238000002627 tracheal intubation Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 208000024172 Cardiovascular disease Diseases 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 2
- 238000013475 authorization Methods 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 2
- 208000026106 cerebrovascular disease Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000002526 effect on cardiovascular system Effects 0.000 description 2
- XEBWQGVWTUSTLN-UHFFFAOYSA-M phenylmercury acetate Chemical compound CC(=O)O[Hg]C1=CC=CC=C1 XEBWQGVWTUSTLN-UHFFFAOYSA-M 0.000 description 2
- 230000035479 physiological effects, processes and functions Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 208000007536 Thrombosis Diseases 0.000 description 1
- 208000009443 Vascular Malformations Diseases 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 208000011775 arteriosclerosis disease Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000013152 interventional procedure Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
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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
-
- 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
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
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Abstract
The invention discloses the intervention operation robot and its control method of a kind of catheter guide wire collaboration push, belong to machinery manufacturing technology field.It includes seal wire mobile platform, conduit mobile platform, seal wire operating side, supporting guide frame, catheter manipulation end, seal wire, conduit, the both ends of described supporting guide frame are connected respectively at seal wire operating side with catheter manipulation end, described conduit passes through catheter manipulation end, described seal wire is set in the catheter, and pass through in seal wire operating side, while the present invention gives its control method.The present invention controls the motion of seal wire and conduit by using seal wire operating side and catheter manipulation end respectively, so as to the operation of conduit, seal wire is completed according to the concrete operations of doctor, ensure seal wire and conduit can in surgical procedure Coordinate development, the operational motion of doctor can be simulated completely, had the advantages that rational in infrastructure, easy to control.
Description
Technical field
The invention belongs to machinery manufacturing technology field, specifically, is related to a kind of interventional surgery robot, more
Specifically, it is related to a kind of intervention operation robot of catheter guide wire collaboration push.
Background technology
Cardiovascular and cerebrovascular disease turns into one of three big Death causes of the mankind, serious threat human health.The feelings of vascular diseases
Condition mainly has vascular tumor, thrombus blocking, vascular malformation, vessel retraction, vascular sclerosis etc..Intubation intervention operation is existing controls
Treat cardiovascular and cerebrovascular disease most efficient method, with " opening " perform the operation compared with, it have small wound, security, post-operative recovery soon,
The advantages that few intercurrent disease.But traditional blood vessel intervention operation, there is also some problems, intubation intervention operation first is in medical science shadow
As equipment guiding under carry out, doctor is radiated by X-ray for a long time, and the body of doctor is damaged；Next to that the height of operation
Danger, high is required to the operation skill for operating doctor, it is necessary to it is that high-caliber specialist could perform, therefore it is existing tired
Difficulty is the shortage of doctor and time length, the cost height of training of doctors；It is operating time length again, doctor can be because long-time operation
And it is tired, the maloperation when physiology of doctor trembles and is tired can all substantially reduce the security of operation.
Remote operating principal and subordinate's interventional surgery robot can effectively solve the problem that above mentioned problem, and doctor can be in a peace
Operation in the environment not radiated entirely by X-ray, the physiology of doctor trembles can be filtered out with maloperation by system, be reduced
Training time of doctor.In recent years, remote operating principal and subordinate interventional surgery accessory system turns into a study hotspot.
The direct operation apparatus of doctor in traditional operation, contact information of the apparatus with tissue can be directly transmitted to doctor, and micro-
Tactile data in invasive procedures in surgical is hardly resulted in mostly due to the relation of operating theater instruments.Therefore, in Minimally Invasive Surgery,
Doctor, may be because of misoperation or the too quickly device for having damaged patient due to having lacked tactile data and so that operation adds danger
Official.Touch feedback is all related in many researchs, but traditional direct of feedback system is differed very by way of operating theater instruments
Far, the mode of operation of doctor and traditional mode are also big different, typically direct sending action instruction.Therefore, tradition is situated between
Entering the accumulated Experiences and Skills of operation cannot utilize well, not meet the requirement of ergonomics.
Mainly there are Institutes Of Technology Of Tianjin, Harbin Institute of Technology and Beijing Aviation for blood vessel intervention operation robot at present
Space flight university etc..
Such as documents 1：Application publication number is CN104042259A, and the applying date is on May 16th, 2014, applies for artificial day
Tianjin Polytechnics, disclose a kind of patent text of the entitled principal and subordinate's interventional surgery accessory system from operator device
Part, it includes axial push unit, rotary unit, catching unit, surgical catheters, operating physical force detection unit and tilt adjustable bottom
Seat, its method of work include signal detection, transmission, processing, action.It is advantageous in that：The interventional procedure that doctor can be imitated moves
Make, performance accuracy is high, effectively improves operation safety；It can ensure that different curers or different intervention positions are equal
The desired angle of operator can be adjusted to；Device integrally uses aluminum alloy materials, and size is small, light weight.The invention can be very
The push of seal wire is completed well, and force feedback is realized using magnetic flow liquid, moving component inertia is small, feedback is sensitive etc. be present
Advantage.
Documents 2：Authorization Notice No. is CN102028549B, and the date of application is on January 17th, 2011, applies for artificial breathe out
That shore polytechnical university, disclose a kind of patent text of entitled catheter robot system for intravascular minimally invasive intervention operation
Part, it is related to a kind of robot system of minimally invasive intervention operation in secondary vessel.To reduce the spoke of operative site patient and doctor
Harm is penetrated, realizes the intervention operation of compartment strange land, feedback conduit carrying capacity.Main hand handle and main frame are placed in control room,
Switch board, modular catheter, principal and subordinate's intervention device, magnetic field generator and steerable catheter are placed in operating room, main hand handle pose letter
Switch board is passed to after number being computed machine host processing, there is motion control card and driver in switch board, motion control card receives
Order sends instructions to driver, and driver passes to control signal in each motor of principal and subordinate's intervention device, and then controls and be situated between
Enter push/pull, rotation and bending operation that device realizes steerable catheter, Position and attitude sensor collects the pose letter of controllable bending tune
Breath, pose signal are transmitted to main frame through motion control card and carry out signal transacting.The invention employs steerable catheter, can obtain
Steerable catheter bends the posture information of controllable segment, ensures the flexibility of steerable catheter front end and the navigability of intubation operation,
Simultaneously by main hand handle control principal and subordinate's intervention device realize steerable catheter push away draw, rotation and flexure operation, and hand can be obtained
Art room steerable catheter conveying force information, ensure the accuracy and stability of intubation.
Documents 3：Authorization Notice No. is CN103006327B, and the date of application is on December 3rd, 2012, applies for artificial north
Capital Aero-Space university, a kind of patent document of entitled Master-slave teleoperation vascular intervention surgical robot is disclosed, it is wrapped
Include main side operating-controlling mechanism, from end propulsive mechanism, PMAC controllers；Operating side of the main side operating-controlling mechanism as doctor；Promoted from end
Executing agency of the mechanism as robot, replace doctor to hold conduit in operating room, complete the motor function of conduit；PMAC is controlled
Case processed be used for realize main side operating-controlling mechanism and from end propulsive mechanism between information transmission so that from end conduit propulsive mechanism according to
The movable information of main side operating-controlling mechanism is moved, and it uses principal and subordinate's remote operating mode to aid in doctor to implement operation, is promoted from end
Mechanism realizes the axial feed of conduit and the motion that rotates in a circumferential direction, and replaces doctor to hold conduit, main side actuation means in operating room
The remote operating to conduit propulsive mechanism is realized, avoids doctor from being radiated by ray.
But current research generally existing problems with：(1) the shortcomings that assembly and disassembly are inconvenient be present；(2) in measurement feedback force
During, the accuracy of dynamometry is not high；(3) seal wire clamping device will easily clamp the damage for excessively, in turn resulting in seal wire to seal wire
Wound；(4) seal wire or conduit can only individually be pushed at present, it is impossible to the collaboration push conduit and seal wire in surgical procedure, prevent its from
The operational motion of simulation doctor completely, and need wire catheter at some while coordinate the position of advance to be difficult to operate, and then
Cause low performance accuracy, surgical inefficiency, it is low to the auxiliary degree of doctor, the problem of certain potential safety hazard be present.
The content of the invention
1. invention technical problems to be solved
Above-mentioned deficiency can be overcome by providing one kind, so as to safer, convenient and efficient, catheter guide wire collaboration push
Intervention operation robot and its control method.
2. technical scheme
To solve the above problems, the present invention adopts the following technical scheme that.
A kind of intervention operation robot of catheter guide wire collaboration push, including seal wire mobile platform, conduit mobile platform, lead
Silk operating side, supporting guide frame, catheter manipulation end, seal wire, conduit, described seal wire operating side is arranged on seal wire mobile platform
On, described catheter manipulation end is arranged on conduit mobile platform, and the both ends of described supporting guide frame operate respectively at seal wire
End is connected with catheter manipulation end, and described conduit passes through catheter manipulation end, and described seal wire is set in the catheter, and passes through seal wire
In operating side.
Described seal wire mobile platform is made up of base, slide unit motor, screw mandrel, slide unit, and described base is connected in operation
On platform, described slide unit motor is arranged on the end of base, and screw mandrel is provided with the front end of described base, and described screw mandrel leads to
The output shaft that decelerator is crossed with slide unit motor is connected, and screwed hole is provided with described slide unit, and be engaged with the screw thread of screw mandrel.
Described seal wire operating side is made up of seal wire operating side lower component, seal wire operating side upper-part and housing；
Described seal wire operating side lower component is by motor, motor support base, shaft coupling A, torque sensor, torque sensor branch
Seat, shaft coupling B, ball spline shaft A, ball spline sleeve A, ball spline pair sleeve A, lower gear, linear bearing A, linear bearing
Bearing A, linear bearing gland A, left side circlip composition, described motor is fixed by screws on motor support base, described
Motor support base be connected on lower house, described shaft coupling A one end is connected with the output shaft of motor, the other end and moment sensing
The axle of device is connected, and described torque sensor is fixed on torque sensor bearing, described torque sensor bearing and lower casing
Body is connected, and described ball spline shaft A is connected by shaft coupling B with torque sensor, is equipped with described ball spline sleeve A
Ball spline shaft A, described ball spline sleeve A are assemblied in ball spline pair sleeve A, described ball spline pair sleeve A's
The other end is provided with axle, and axle is engaged by key with lower gear, described linear bearing A inner ring and ball spline secondary case
Cylinder A axle coordinates, and its outer ring is fixed on linear bearing carriage A by linear bearing gland A, and described left side circlip is set
Put in the outside groove of ball spline pair sleeve A axle, described linear bearing carriage A is connected on lower house.
Described seal wire operating side upper-part is spent by electromagnetic clutch, electromagnetic clutch bearing, right side circlip, ball
Key secondary case cylinder B, ball spline sleeve B, ball spline shaft B, shaft coupling C, conical surface binding clasp, gear, force transmission shaft, linear bearing B,
Linear bearing carriage B, force plate, thrust bearing, cone, sliding block, slide rail, Dynamometric support, force snesor fixed mount, power transmission nail,
Force snesor is formed, and described electromagnetic clutch is arranged on electromagnetic clutch bearing, and described electromagnetic clutch bearing is connected
On lower house, described ball spline pair sleeve B one end is provided with axle, and its axle is assemblied in electromagnetic clutch by key,
Described right side circlip is arranged in the outside groove of ball spline pair sleeve B axle, described ball spline sleeve B assemblings
In ball spline pair sleeve B, described ball spline shaft B is assemblied in ball spline sleeve B, described ball spline shaft B's
Axle is hollow shaft, and described shaft coupling C one end is connected with ball spline shaft B, and the other end is connected with conical surface binding clasp, described
Conical surface binding clasp is engaged with the endoporus of gear, and described force transmission shaft is connected with gear, and described force transmission shaft passes through straight line
Bearing B is arranged on linear bearing carriage B, and described force transmission shaft is provided with through hole along own axes, and described force plate upper end is set
It is equipped with U-type groove, and causes force transmission shaft to pass through U-type groove, described thrust bearing is pressed on force plate, and is arranged on and linear bearing
Side relative B, described cone are provided with through hole, and through hole passes through force transmission shaft, described cone when upper shell closes with
Conical surface pressing plate is engaged, and described force plate lower end is connected by screw and sliding block, and described sliding block is assemblied in slide rail, described
Slide rail be arranged on Dynamometric support, described Dynamometric support is connected on lower house, described force snesor be assemblied in power biography
In sensor fixed mount, and it is connected by power transmission nail with force plate, described force snesor fixed mount is bolted on lower casing
On body, described gear is meshed with lower gear.
Described housing is by lower house, upper shell, hinge, conical surface pressing plate, linear bearing pressing plate, electromagnetic clutch pressing plate group
Into described housing is made up of lower house, upper shell, hinge, conical surface pressing plate, linear bearing pressing plate, electromagnetic clutch pressing plate, institute
The lower house stated is connected by bolt and base, and described upper shell is hinged with lower house by hinge, described conical surface pressing plate,
Linear bearing pressing plate and electromagnetic clutch pressing plate are connected by screw with upper shell, and conical surface pressing plate, linear bearing pressing plate and
The axis of electromagnetic clutch pressing plate is on the same line.
Described supporting guide frame is by left socle, left ball hinged support, left ball pivot ball part, right support, right ball hinged support, the right side
Ball pivot ball part, expansion link composition, described left socle are connected with lower house, and described right support is connected with operating table, described
Left socle on be provided with left ball hinged support, right ball hinged support, described left ball pivot ball part are provided with described right support
It is assemblied in left ball hinged support, described right ball pivot ball part is assemblied in right ball hinged support, the both ends point of described expansion link
Left ball pivot ball part and right ball pivot ball part are not connected, and described expansion link is in series by the different hollow pipe of stepped diameters.
Described conduit mobile platform is identical with seal wire mobile platform structure.
Described catheter manipulation end is identical with seal wire operation end structure.
The side of described conical surface pressing plate is the circular arc conical surface, and rotatable steel ball is provided with the conical surface.
Internal and external cycle separates when described electromagnetic clutch connects electricity, and Internal and external cycle engages during power-off.
A kind of control method of the intervention operation robot of catheter guide wire collaboration push, including following rate-determining steps：
(1) assembly and disassembly of seal wire, conduit：
The installation of seal wire：Upper shell is opened, the electromagnetic clutch being assembled together, ball spline pair sleeve B, ball are spent
Key set B, ball spline shaft B, shaft coupling C, conical surface binding clasp, gear, force transmission shaft, linear bearing B take out from lower house, will
Seal wire head sequentially passes through, expansion link, ball spline pair sleeve B, ball spline sleeve B, ball spline shaft B, shaft coupling C, the conical surface
Binding clasp, gear, force transmission shaft and, be then returned in lower house, close upper shell so that conical surface pressing plate on upper shell,
Linear bearing pressing plate and electromagnetic clutch pressing plate are pressed on cone, linear bearing B and electromagnetic clutch respectively, it are carried out radially
It is fixed；
The dismounting of seal wire：The step of the step of seal wire is dismantled is installed with seal wire is opposite；
The assembly and disassembly of conduit are identical with the assembly and disassembly of seal wire；
(2) clamping of seal wire, conduit is with loosening：
The clamping of seal wire：Electromagnetic clutch powers off, its Internal and external cycle engagement so that one end of conical surface binding clasp is fixed, motor
It is powered, by shaft coupling A, torque sensor, shaft coupling B, ball spline shaft A, ball spline sleeve A, ball spline pair sleeve A,
Lower gear rotation is driven, so as to drive gear so that the other end of conical surface binding clasp rotates with the rotation of gear, enters
And clamp seal wire；
Seal wire loosens：Seal wire loosens control with the rate-determining steps of seal wire clamping on the contrary, first power off electromagnetic clutch,
Invert electrical power again；
The clamping of conduit is identical with seal wire with loosening；
(3) the rotation control of seal wire, conduit：
When seal wire is in clamped condition, electromagnetic clutch is powered so that one end of conical surface binding clasp is in free state, electricity
Machine is powered, and according to specific control signal, drives gear and conical surface binding clasp to rotate, so that seal wire rotates necessarily
Angle；
The rotation control of conduit is identical with seal wire；
(4) push/withdraw control of seal wire, conduit：
The push of seal wire/withdraw control：Clamped condition is in using step (2) seal wire, slide unit electrical power starts work
Make, according to specifically advance/withdraw signal so that slide unit motor forward or reverse so that slide unit advance or retreat, drive body
Advance or retreat, so that seal wire is realized push or withdrawn；
When slide unit moves to extreme position of the base close to patient end, and needs to continue to push forward seal wire, slide unit electricity
Machine stops operating so that seal wire stops push；The control method loosened using seal wire in step (2), loosens seal wire；Now slide unit
Electrical power rotates backward, and drives slide unit to retreat, base motions to the extreme position away from patient end；In recycle step (2)
The control method that seal wire clamps, clamp seal wire；Last slide unit electrical power, according to specific signal, realizes rotating, so as to band
Dynamic seal wire is realized push or withdrawn again；
The push of conduit/withdraw control is identical with seal wire；
(5) the collaboration push control of seal wire, conduit：
When seal wire needs to complete to advance, withdraws, clamps, a series of controls such as loosen when, alternately realize step (2), (3),
(4), when conduit needs to complete to advance, withdraws, clamps, a series of controls such as loosen when, alternately realize step (2), (3), (4),
When seal wire and when needing cooperating to conduit, according to specific operation signal, while complete conduit, seal wire advance, withdraw,
A series of controls such as clamp, loosen, to realize the Collaborative Control of conduit, seal wire.
3. beneficial effect
Compared with prior art, the present invention has following remarkable advantage：
(1) present invention is by there is provided seal wire operating side and catheter manipulation end, and causes conduit to pass through catheter manipulation end, leads
Silk sets in the catheter and passes through seal wire operating side, and the both ends of supporting guide frame are respectively at seal wire operating side and catheter manipulation end phase
Even, in specific operating process, seal wire operating side and catheter manipulation end are respectively by seal wire mobile platform and conduit mobile platform
Control, and then ensure that conduit and seal wire can be controlled individually so that its can according to the concrete operations of doctor come complete conduit,
The control of seal wire, ensure seal wire and conduit can in surgical procedure Coordinate development, the operation of doctor can be simulated completely
Action, and needs wire catheter at some while coordinates the position of advance to smoothly complete operation, add performance accuracy,
Procedure efficiency is improved, reduces operating safety risks.
(2) present invention utilizes expansion link by being provided with supporting guide frame between seal wire operating side and catheter manipulation end
Can be flexible with the movement of bite, support and constraint are provided for seal wire, avoids the situation of curved transitions from occurring, so as to solve
Because seal wire bending and caused by seal wire push is difficult, motive force of seal wire is not easy to measure, easy maloperation, causes malpractice to send out
The problem of raw.Connected simultaneously in the junction of expansion link and support using ball pivot so that it can arbitrarily be rotated, without influenceing to lead
The operation of silk.
(3) present invention devises rational force measuring structure, has come by using force transmission shaft, force plate, thrust bearing, cone
Into the transmission of axial force, and conical surface pressing plate can quickly coordinate with cone, and play a part of locking cone, and it utilizes compression
Locking type structure, it is easy to be rapidly assembled and disassembled；Sliding block and slide rail are set in the lower end of force plate simultaneously, not only acted as support
Effect, and axial friction is reduced, while the radial load effect to sensor head is reduced, improve measurement essence
Degree, add the service life of sensor.
(4) present invention completes the radial and axial solid of hold assembly by using lower house and upper shell quickly opening and closing
Fixed, after upper shell closure, conical surface pressing plate, linear bearing pressing plate and electromagnetic clutch pressing plate on upper shell are pressed on cone respectively
On body, linear bearing and electromagnetic clutch, the effect of positioning is served to whole hold assembly.The conical surface on conical surface pressing plate simultaneously
Rotatable steel ball is inside provided with, when with taper fit, can not only play radially fixed, prevent radial-play, while its
Can realize that seal wire withdraws the unidirectional fixation in direction, be free state in seal wire direction of advance, and can by sensor come
Measurement push power.
(5) present invention is rational in infrastructure, processing and manufacturing is simple, easy to control.
Brief description of the drawings
Fig. 1 is the axonometric drawing of apparatus of the present invention；
Fig. 2 is the structure chart of part 1 in Fig. 1；
Fig. 3 is the structure chart of part 3 in Fig. 1；
Fig. 4 is the structure chart of part 3A in Fig. 3；
Fig. 5 is the structure chart of part 3B in Fig. 3；
Fig. 6 is the structure chart of part 3A and 3B assemblings in Fig. 3；
Fig. 7 is the structure chart of part 3C in Fig. 3；
Fig. 8 is the structure chart of part 4 in Fig. 1.
In accompanying drawing：1-seal wire mobile platform, 2-conduit mobile platform, 3-seal wire operating side, 4-supporting guide frame,
5-catheter manipulation end, 6-seal wire, 7-conduit, 1-1-base, 1-2-slide unit motor, 1-3-screw mandrel, 1-4-slide unit,
3A-seal wire operating side lower component, 3-1-motor, 3-2-motor support base, 3-3-shaft coupling A, 3-4-torque sensor, 3-
5-torque sensor bearing, 3-6-shaft coupling B, 3-7-ball spline shaft A, 3-8-ball spline sleeve A, 3-9-ball flower
Key secondary case cylinder A, 3-10-lower gear, 3-11-linear bearing A, 3-12-linear bearing carriage A, 3-13-linear bearing gland
A, 3-14-left side circlip, 3B-seal wire operating side upper-part, 3-15-electromagnetic clutch, 3-16-electromagnetic clutch branch
Seat, 3-17-right side circlip, 3-18-ball spline pair sleeve B, 3-19-ball spline sleeve B, 3-20-ball spline
Axle B, 3-21-shaft coupling C, 3-22-conical surface seal wire binding clasp, 3-23-gear, 3-24-force transmission shaft, 3-25-linear axis
Hold B, 3-26-linear bearing carriage B, 3-27-force plate, 3-28-thrust bearing, 3-29-cone, 3-30-sliding block, 3-
31-slide rail, 3-32-Dynamometric support, 3-33-force snesor fixed mount, 3-34-power transmission nail, 3-35-force snesor, 3C-
Housing, 3-36-lower house, 3-37-upper shell, 3-38-hinge, 3-39-conical surface pressing plate, 3-40-linear bearing pressing plate,
3-41-electromagnetic clutch pressing plate, 4-1-left socle, 4-2-left ball hinged support, 4-3-left ball pivot ball part, 4-4-right branch
Frame, 4-5-right ball hinged support, 4-6-right ball pivot ball part, 4-7-expansion link.
Embodiment
Below in conjunction with Figure of description, the invention will be further described.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, a kind of intervention operation of catheter guide wire collaboration push
Robot, including seal wire mobile platform 1, conduit mobile platform 2, seal wire operating side 3, supporting guide frame 4, catheter manipulation end 5, lead
Silk 6, conduit 7, described seal wire operating side 3 are arranged on seal wire mobile platform 1, and described catheter manipulation end 5 is arranged on conduit
On mobile platform 2, the both ends of described supporting guide frame 4 are connected respectively at seal wire operating side 3 with catheter manipulation end 5, described
Conduit 7 passes through catheter manipulation end 5, and described seal wire 6 is arranged in conduit 7, and passes through in seal wire operating side 3.
Described seal wire mobile platform 1 is made up of base 1-1, slide unit motor 1-2, screw mandrel 1-3, slide unit 1-4, described bottom
Seat 1-1 is connected on operating table, and described slide unit motor 1-2 is arranged on base 1-1 end, described base 1-1 front end
On be provided with screw mandrel 1-3, described screw mandrel 1-3 and be connected by decelerator with slide unit motor 1-2 output shaft, described slide unit 1-
Screwed hole is provided with 4, and is engaged with screw mandrel 1-3 screw thread.
Described seal wire operating side 3 is made up of seal wire operating side lower component 3A, seal wire operating side upper-part 3B and housing 3C.
Described seal wire operating side lower component 3A is by motor 3-1, motor support base 3-2, shaft coupling A3-3, torque sensor 3-
4th, torque sensor bearing 3-5, shaft coupling B3-6, ball spline shaft A3-7, ball spline sleeve A3-8, ball spline pair sleeve
A3-9, lower gear 3-10, linear bearing A3-11, linear bearing carriage A3-12, linear bearing gland A3-13, left side elasticity gear
3-14 compositions are enclosed, described motor 3-1 is fixed by screws on motor support base 3-2, and described motor support base 3-2 is connected in down
On housing 3-36, described shaft coupling A3-3 one end is connected with motor 3-1 output shaft, and the other end is with torque sensor 3-4's
Axle is connected, and described torque sensor 3-4 is fixed on torque sensor bearing 3-5, described torque sensor bearing 3-5 with
Lower house 3-36 is connected, and described ball spline shaft A3-7 is connected by shaft coupling B3-6 with torque sensor 3-4, described rolling
Ball spline shaft A3-7, described ball spline sleeve A3-8, which are equipped with, in spline set A3-8 is assemblied in ball spline pair sleeve
In A3-9, the described ball spline pair sleeve A3-9 other end is provided with axle, and axle is matched by key and lower gear 3-10
Close, described linear bearing A3-11 inner ring coordinates with ball spline pair sleeve A3-9 axle, and its outer ring passes through linear axis pressure-bearing
Lid A3-13 is fixed on linear bearing carriage A3-12, and described left side circlip 3-14 is arranged on ball spline pair sleeve
In the outside groove of A3-9 axle, described linear bearing carriage A3-12 is connected on lower house 3-36.
Described seal wire operating side upper-part 3B is by electromagnetic clutch 3-15, electromagnetic clutch bearing 3-16, right side elasticity
Back-up ring 3-17, ball spline pair sleeve B3-18, ball spline sleeve B3-19, ball spline shaft B3-20, shaft coupling C3-21, the conical surface
Binding clasp 3-22, gear 3-23, force transmission shaft 3-24, linear bearing B3-25, linear bearing carriage B3-26, force plate 3-27,
Thrust bearing 3-28, cone 3-29, sliding block 3-30, slide rail 3-31, Dynamometric support 3-32, force snesor fixed mount 3-33, power transmission
3-34, force snesor 3-35 composition are followed closely, described electromagnetic clutch 3-15 is arranged on electromagnetic clutch bearing 3-16, described
Electromagnetic clutch bearing 3-16 is connected on lower house 3-36, and described ball spline pair sleeve B3-18 one end is provided with axle,
Its axle is assemblied in electromagnetic clutch 3-15 by key, and described right side circlip 3-17 is arranged on ball spline pair sleeve
In the outside groove of B3-18 axle, described ball spline sleeve B3-19 is assemblied in ball spline pair sleeve B3-18, described
Ball spline shaft B3-20 is assemblied in ball spline sleeve B3-19, and described ball spline shaft B3-20 axle is hollow shaft, described
Shaft coupling C3-21 one end be connected with ball spline shaft B3-20, the other end is connected with conical surface binding clasp 3-22, described cone
Face binding clasp 3-22 is engaged with gear 3-23 endoporus, and described force transmission shaft 3-24 and gear 3-23 is connected, described
Force transmission shaft 3-24 is arranged on linear bearing carriage B3-26 by linear bearing B3-25, and described force transmission shaft 3-24 is along itself axle
Line is provided with through hole, and described force plate 3-27 upper ends are provided with U-type groove, and cause force transmission shaft 3-24 to pass through U-type groove, and described pushes away
Power bearing 3-28 is pressed on force plate 3-27, and is arranged on the side relative with linear bearing B3-25, on described cone 3-29
Provided with through hole, and through hole passes through force transmission shaft 3-24, described cone 3-29 when upper shell 3-37 is closed and conical surface pressing plate 3-39
It is engaged, described force plate 3-27 lower ends are connected by screw and sliding block 3-30, and described sliding block 3-30 is assemblied in slide rail 3-
In 31, described slide rail 3-31 is arranged on Dynamometric support 3-32, and described Dynamometric support 3-32 is connected on lower house 3-36,
Described force snesor 3-35 is assemblied in force snesor fixed mount 3-33, and follows closely 3-34 and force plate 3-27 phases by power transmission
Even, described force snesor fixed mount 3-33 is bolted on lower house 3-36, described gear 3-23 and lower tooth
Wheel 3-10 is meshed.
Described housing 3C is by lower house 3-36, upper shell 3-37, hinge 3-38, conical surface pressing plate 3-39, linear axis pressure-bearing
Plate 3-40, electromagnetic clutch pressing plate 3-41 are formed, and described housing 3C is by lower house 3-36, upper shell 3-37, hinge 3-38, cone
Face pressure plate 3-39, linear bearing pressing plate 3-40, electromagnetic clutch pressing plate 3-41 composition, described lower house 3-36 by bolt with
Base 1-1 is connected, and described upper shell 3-37 and lower house 3-36 is hinged by hinge 3-38, described conical surface pressing plate 3-39,
Linear bearing pressing plate 3-40 and electromagnetic clutch pressing plate 3-41 are connected by screw with upper shell 3-37, and conical surface pressing plate 3-
39th, linear bearing pressing plate 3-40 and electromagnetic clutch pressing plate 3-41 axis is on the same line.
Described supporting guide frame 4 by left socle 4-1, left ball hinged support 4-2, left ball pivot ball part 4-3, right support 4-4,
Right ball hinged support 4-5, right ball pivot ball part 4-6, expansion link 4-7 compositions, described left socle 4-1 and lower house 3-36 are connected,
Described right support 4-4 is connected with operating table, and left ball hinged support 4-2, described right support are provided with described left socle 4-1
Right ball hinged support 4-5 is provided with 4-4, described left ball pivot ball part 4-3 is assemblied in left ball hinged support 4-2, the described right side
Ball pivot ball part 4-6 is assemblied in right ball hinged support 4-5, and described expansion link 4-7 both ends connect left ball pivot ball part respectively
4-3 and right ball pivot ball part 4-6, described expansion link 4-7 are in series by the different hollow pipe of stepped diameters.
Described conduit mobile platform 2 is identical with the structure of seal wire mobile platform 1.
Described catheter manipulation end 5 is identical with the structure of seal wire operating side 3.
Described conical surface pressing plate 3-39 side is the circular arc conical surface, and rotatable steel ball is provided with the conical surface.
Internal and external cycle separates when described electromagnetic clutch 3-15 connects electricity, and Internal and external cycle engages during power-off.
A kind of control method of the intervention operation robot of catheter guide wire collaboration push, including following rate-determining steps：
(1) assembly and disassembly of seal wire, conduit：
The installation of seal wire：Upper shell 3-37 is opened, by the electromagnetic clutch 3-15 being assembled together, ball spline pair sleeve
B3-18, ball spline sleeve B3-19, ball spline shaft B3-20, shaft coupling C3-21, conical surface binding clasp 3-22, gear 3-23,
Force transmission shaft 3-24, linear bearing B3-25 take out from lower house 3-36, seal wire head are sequentially passed through, expansion link 4-7, ball
Spline pair sleeve B3-18, ball spline sleeve B3-19, ball spline shaft B3-20, shaft coupling C3-21, conical surface binding clasp 3-22, on
Gear 3-23, force transmission shaft 3-24 and, be then returned in lower house 3-36, close upper shell 3-37 so that on upper shell 3-37
Conical surface pressing plate 3-39, linear bearing pressing plate 3-40 and electromagnetic clutch pressing plate 3-41 be pressed on cone 3-29, linear bearing respectively
On B3-25 and electromagnetic clutch 3-15, it is carried out radially fixed；
The dismounting of seal wire：The step of the step of seal wire is dismantled is installed with seal wire is opposite；
The assembly and disassembly of conduit are identical with the assembly and disassembly of seal wire；
(2) clamping of seal wire, conduit is with loosening：
The clamping of seal wire：Electromagnetic clutch 3-15 is powered off, its Internal and external cycle engagement so that conical surface binding clasp 3-22 one end is consolidated
Fixed, motor 3-1 is powered, and is spent by shaft coupling A3-3, torque sensor 3-4, shaft coupling B3-6, ball spline shaft A3-7, ball
Key set A3-8, ball spline pair sleeve A3-9, drive lower gear 3-10 rotations, so as to drive gear 3-23 so that the conical surface presss from both sides
The tight device 3-22 other end rotates with gear 3-23 rotation, and then clamps seal wire；
Seal wire loosens：Seal wire loosens control with the rate-determining steps of seal wire clamping on the contrary, first by electromagnetic clutch 3-15
Power-off, then motor 3-1 is powered and invert；
The clamping of conduit is identical with seal wire with loosening；
(3) the rotation control of seal wire, conduit：
When seal wire is in clamped condition, electromagnetic clutch 3-15 is powered so that conical surface binding clasp 3-22 one end is in certainly
By state, motor 3-1 is powered, and is rotated according to specific control signal, drive gear 3-23 and conical surface binding clasp 3-22, from
And seal wire is caused to rotate certain angle；
The rotation control of conduit is identical with seal wire；
(4) push/withdraw control of seal wire, conduit：
The push of seal wire/withdraw control：Clamped condition is in using step (2) seal wire, slide unit motor 1-2, which is powered, to be started
Work, according to specifically advance/withdraw signal so that slide unit motor 1-2 forward or reverse so that slide unit 1-4 advance or retrogressing,
Body 3 is driven to advance or retreat, so that seal wire is realized push or withdrawn；
When slide unit 1-4 moves to extreme positions of the base 1-1 close to patient end, and needs to continue to push forward seal wire,
Slide unit motor 1-2 stops operating so that seal wire stops push；The control method loosened using seal wire in step (2), is loosened and led
Silk；Now slide unit motor 1-2 is powered and rotated backward, and drives slide unit 1-4 to retreat, and base 1-1 moves to the limit away from patient end
Position；The control method that seal wire clamps in recycle step (2), clamp seal wire；Last slide unit motor 1-2 is powered, according to specific
Signal, realize rotating, so as to drive seal wire again realize push or withdraw；
The push of conduit/withdraw control is identical with seal wire；
(5) the collaboration push control of seal wire, conduit：
When seal wire needs to complete to advance, withdraws, clamps, a series of controls such as loosen when, alternately realize step (2), (3),
(4), when conduit needs to complete to advance, withdraws, clamps, a series of controls such as loosen when, alternately realize step (2), (3), (4),
When seal wire and when needing cooperating to conduit, according to specific operation signal, while complete conduit, seal wire advance, withdraw,
A series of controls such as clamp, loosen, to realize the Collaborative Control of conduit, seal wire.
Claims (5)
1. a kind of intervention operation robot of catheter guide wire collaboration push, it is characterised in that including seal wire mobile platform (1), lead
Pipe mobile platform (2), seal wire operating side (3), supporting guide frame (4), catheter manipulation end (5), seal wire (6), conduit (7), it is described
Seal wire operating side (3) be arranged on seal wire mobile platform (1), described catheter manipulation end (5) is arranged on conduit mobile platform
(2) on, the both ends of described supporting guide frame (4) are connected respectively at seal wire operating side (3) with catheter manipulation end (5), described
Conduit (7) passes through catheter manipulation end (5), and described seal wire (6) is arranged in conduit (7), and passes through in seal wire operating side (3)；
Described seal wire mobile platform (1) is made up of base (1-1), slide unit motor (1-2), screw mandrel (1-3), slide unit (1-4), institute
The base (1-1) stated is connected on operating table, and described slide unit motor (1-2) is arranged on base (1-1) end, described bottom
Screw mandrel (1-3), the output that described screw mandrel (1-3) passes through decelerator and slide unit motor (1-2) are provided with the front end of seat (1-1)
Axle is connected, and screwed hole is provided with described slide unit (1-4), and be engaged with the screw thread of screw mandrel (1-3)；
Described conduit mobile platform (2) is identical with seal wire mobile platform (1) structure；
Described supporting guide frame (4) is by left socle (4-1), left ball hinged support (4-2), left ball pivot ball part (4-3), right support
(4-4), right ball hinged support (4-5), right ball pivot ball part (4-6), expansion link (4-7) composition, described left socle (4-1) is with leading
The lower house of silk operating side (3) is connected, and described right support (4-4) and the lower house of catheter manipulation end (5) are connected, a described left side
Left ball hinged support (4-2) is provided with support (4-1), right ball hinged support (4-5), institute are provided with described right support (4-4)
The left ball pivot ball part (4-3) stated is assemblied in left ball hinged support (4-2), and described right ball pivot ball part (4-6) is assemblied in the right side
In ball hinged support (4-5), the both ends of described expansion link (4-7) connect left ball pivot ball part (4-3) and right ball pivot bulb respectively
Part (4-6), described expansion link (4-7) are in series by the different hollow pipe of stepped diameters.
2. the intervention operation robot of a kind of catheter guide wire collaboration push according to claim 1, it is characterised in that described
Seal wire operating side (3) be made up of seal wire operating side lower component (3A), seal wire operating side upper-part (3B) and housing (3C)；
Described seal wire operating side lower component (3A) is by motor (3-1), motor support base (3-2), shaft coupling A (3-3), moment sensing
Device (3-4), torque sensor bearing (3-5), shaft coupling B (3-6), ball spline shaft A (3-7), ball spline sleeve A (3-8), rolling
Spline secondary case cylinder A (3-9), lower gear (3-10), linear bearing A (3-11), linear bearing carriage A (3-12), linear bearing
Gland A (3-13), left side circlip (3-14) composition, described motor (3-1) are fixed by screws in motor support base (3-2)
On, described motor support base (3-2) is connected on lower house (3-36), described shaft coupling A (3-3) one end and motor (3-1)
Output shaft be connected, the other end is connected with the axle of torque sensor (3-4), and described torque sensor (3-4) is fixed on torque
On sensor support base (3-5), described torque sensor bearing (3-5) is connected with lower house (3-36), described ball spline
Axle A (3-7) is connected by shaft coupling B (3-6) with torque sensor (3-4), is equipped with described ball spline sleeve A (3-8)
Ball spline shaft A (3-7), described ball spline sleeve A (3-8) are assemblied in ball spline pair sleeve A (3-9), described rolling
Spline secondary case cylinder A (3-9) other end is provided with axle, and axle is engaged by key with lower gear (3-10), and described is straight
The axle of inner ring and ball spline pair sleeve A (3-9) that bobbin holds A (3-11) coordinates, and its outer ring passes through linear bearing gland A (3-
13) it is fixed on linear bearing carriage A (3-12), described left side circlip (3-14) is arranged on ball spline pair sleeve A
In the outside groove of the axle of (3-9), described linear bearing carriage A (3-12) is connected on lower house (3-36)；
Described seal wire operating side upper-part (3B) is by electromagnetic clutch (3-15), electromagnetic clutch bearing (3-16), right side bullet
Property back-up ring (3-17), ball spline pair sleeve B (3-18), ball spline sleeve B (3-19), ball spline shaft B (3-20), shaft coupling
C (3-21), conical surface binding clasp (3-22), gear (3-23), force transmission shaft (3-24), linear bearing B (3-25), linear bearing branch
Seat B (3-26), force plate (3-27), thrust bearing (3-28), cone (3-29), sliding block (3-30), slide rail (3-31), dynamometry branch
Seat (3-32), force snesor fixed mount (3-33), power transmission nail (3-34), force snesor (3-35) composition, described electromagnetic clutch
Device (3-15) is arranged on electromagnetic clutch bearing (3-16), and described electromagnetic clutch bearing (3-16) is connected in lower house
On (3-36), described ball spline pair sleeve B (3-18) one end is provided with axle, and its axle is assemblied in electromagnetic clutch by key
In (3-15), in the outside groove for the axle that described right side circlip (3-17) is arranged on ball spline pair sleeve B (3-18),
Described ball spline sleeve B (3-19) is assemblied in ball spline pair sleeve B (3-18), described ball spline shaft B (3-20)
It is assemblied in ball spline sleeve B (3-19), described ball spline shaft B (3-20) axle is hollow shaft, described shaft coupling C
The one end of (3-21) is connected with ball spline shaft B (3-20), and the other end is connected with conical surface binding clasp (3-22), described conical surface folder
Tight device (3-22) is engaged with the endoporus of gear (3-23), and described force transmission shaft (3-24) is connected with gear (3-23), institute
The force transmission shaft (3-24) stated is arranged on linear bearing carriage B (3-26) by linear bearing B (3-25), described force transmission shaft
(3-24) is provided with through hole along own axes, and described force plate (3-27) upper end is provided with U-type groove, and causes force transmission shaft (3-24)
Through U-type groove, described thrust bearing (3-28) is pressed on force plate (3-27), and is arranged on and linear bearing B (3-25) phase
To side, described cone (3-29) is provided with through hole, and through hole passes through force transmission shaft (3-24), and described cone (3-29) exists
Upper shell (3-37) is engaged when closing with conical surface pressing plate (3-39), and described force plate (3-27) lower end passes through screw and sliding block
(3-30) is connected, and described sliding block (3-30) is assemblied in slide rail (3-31), and described slide rail (3-31) is arranged on Dynamometric support
On (3-32), described Dynamometric support (3-32) is connected on lower house (3-36), and described force snesor (3-35) is assemblied in
In force snesor fixed mount (3-33), and (3-34) is followed closely by power transmission and is connected with force plate (3-27), described force snesor is consolidated
Determine frame (3-33) to be bolted on lower house (3-36), described gear (3-23) is mutually nibbled with lower gear (3-10)
Close；
Described housing (3C) is by lower house (3-36), upper shell (3-37), hinge (3-38), conical surface pressing plate (3-39), straight line
Bearing plate (3-40), electromagnetic clutch pressing plate (3-41) composition, described housing (3C) is by lower house (3-36), upper shell
(3-37), hinge (3-38), conical surface pressing plate (3-39), linear bearing pressing plate (3-40), electromagnetic clutch pressing plate (3-41) composition,
Described lower house (3-36) is connected by bolt and base (1-1), and described upper shell (3-37) is logical with lower house (3-36)
It is be hinged to cross hinge (3-38), described conical surface pressing plate (3-39), linear bearing pressing plate (3-40) and electromagnetic clutch pressing plate (3-
41) it is connected by screw with upper shell (3-37), and conical surface pressing plate (3-39), linear bearing pressing plate (3-40) and electromagnetic clutch
The axis of device pressing plate (3-41) is on the same line；
Described catheter manipulation end (5) is identical with seal wire operating side (3) structure.
3. the intervention operation robot of a kind of catheter guide wire collaboration push according to claim 2, it is characterised in that described
The side of conical surface pressing plate (3-39) be the circular arc conical surface, and rotatable steel ball is provided with the conical surface.
4. the intervention operation robot of a kind of catheter guide wire collaboration push according to claim 2, it is characterised in that described
Electromagnetic clutch (3-15) when connecing electricity Internal and external cycle separate, Internal and external cycle engages during power-off.
5. a kind of control method of the intervention operation robot of catheter guide wire collaboration push, is based on Jie described in claim 2
Enter operating robot, it is characterised in that following rate-determining steps：
A. the assembly and disassembly of seal wire, conduit：
The installation of seal wire：Upper shell (3-37) is opened, by the electromagnetic clutch being assembled together (3-15), ball spline pair sleeve
B (3-18), ball spline sleeve B (3-19), ball spline shaft B (3-20), shaft coupling C (3-21), conical surface binding clasp (3-22), on
Gear (3-23), force transmission shaft (3-24), linear bearing B (3-25) are taken out from lower house (3-36), and seal wire head is worn successively
Cross, expansion link (4-7), ball spline pair sleeve B (3-18), ball spline sleeve B (3-19), ball spline shaft B (3-20), shaft coupling
Device C (3-21), conical surface binding clasp (3-22), gear (3-23), force transmission shaft (3-24) and, be then returned to lower house (3-36)
In, close upper shell (3-37) so that conical surface pressing plate (3-39), linear bearing pressing plate (3-40) and electricity on upper shell (3-37)
Magnet clutch pressing plate (3-41) is pressed on cone (3-29), linear bearing B (3-25) and electromagnetic clutch (3-15) respectively, to it
Carry out radially fixed；
The dismounting of seal wire：The step of the step of seal wire is dismantled is installed with seal wire is opposite；
The assembly and disassembly of conduit are identical with the assembly and disassembly of seal wire；
B. the clamping of seal wire, conduit is with loosening：
The clamping of seal wire：Electromagnetic clutch (3-15) powers off, its Internal and external cycle engagement so that one end of conical surface binding clasp (3-22) is consolidated
Fixed, motor (3-1) is powered, and passes through shaft coupling A (3-3), torque sensor (3-4), shaft coupling B (3-6), ball spline shaft A (3-
7), ball spline sleeve A (3-8), ball spline pair sleeve A (3-9), lower gear (3-10) rotation is driven, so as to drive gear
(3-23) so that the other end of conical surface binding clasp (3-22) rotates with the rotation of gear (3-23), and then clamps seal wire；
Seal wire loosens：Seal wire loosens control with the rate-determining steps of seal wire clamping on the contrary, first that electromagnetic clutch (3-15) is disconnected
Electricity, then motor (3-1) is powered and invert；
The clamping of conduit is identical with seal wire with loosening；
C. the rotation control of seal wire, conduit：
When seal wire is in clamped condition, electromagnetic clutch (3-15) is powered so that one end of conical surface binding clasp (3-22) is in certainly
By state, motor (3-1) is powered, and according to specific control signal, drives gear (3-23) and conical surface binding clasp (3-22)
Rotate, so that seal wire rotates certain angle；
The rotation control of conduit is identical with seal wire；
D. the push/withdraw control of seal wire, conduit：
The push of seal wire/withdraw control：Clamped condition is in using step B seal wires, slide unit motor (1-2), which is powered, starts working,
According to specifically advance/withdraw signal so that slide unit motor (1-2) forward or reverse so that slide unit (1-4) advance or retreat,
Body (3) is driven to advance or retreat, so that seal wire is realized push or withdrawn；
When slide unit (1-4) moves to extreme position of the base (1-1) close to patient end, and needs to continue to push forward seal wire,
Slide unit motor (1-2) stops operating so that seal wire stops push；The control method loosened using seal wire in step B, is loosened and led
Silk；Now slide unit motor (1-2) is powered and rotated backward, and drives slide unit (1-4) to retreat, and base (1-1) is moved to away from patient end
Extreme position；The control method that seal wire clamps in recycle step B, clamp seal wire；Last slide unit motor (1-2) is powered, root
According to specific signal, rotating is realized, so as to drive seal wire to realize push again or withdraw；
The push of conduit/withdraw control is identical with seal wire；
E. the collaboration push control of seal wire, conduit：
When seal wire needs to complete to advance, withdraws, clamps, a series of controls such as loosen when, alternately realize step B, C, D, work as conduit
Need to complete advance, withdraw, clamping, loosening etc. a series of controls when, alternating realizes step B, C, D, when seal wire with need to conduit
When wanting cooperating, according to specific operation signal, while complete conduit, seal wire advance, a system such as withdraw, clamp, loosening
Row control, to realize the Collaborative Control of conduit, seal wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610119763.7A CN105662586B (en) | 2016-03-03 | 2016-03-03 | A kind of intervention operation robot and its control method of catheter guide wire collaboration push |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610119763.7A CN105662586B (en) | 2016-03-03 | 2016-03-03 | A kind of intervention operation robot and its control method of catheter guide wire collaboration push |
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| CN105662586B true CN105662586B (en) | 2017-12-12 |
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