CN107049375A - A kind of minimally invasive interposing catheter operation device - Google Patents
A kind of minimally invasive interposing catheter operation device Download PDFInfo
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- CN107049375A CN107049375A CN201710343784.1A CN201710343784A CN107049375A CN 107049375 A CN107049375 A CN 107049375A CN 201710343784 A CN201710343784 A CN 201710343784A CN 107049375 A CN107049375 A CN 107049375A
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- Prior art keywords
- decelerator
- minimally invasive
- operation device
- interposing catheter
- cover plate
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
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Abstract
The invention discloses a kind of minimally invasive interposing catheter operation device, including first shaft coupling, cover plate body and control cabinet, the bottom side of the cover plate body is connected with the second decelerator, the bottom of second decelerator is connected with first shaft coupling, one end of the first shaft coupling is connected with the first power transmission shaft, one end of first power transmission shaft is socketed with operation handle, the surface side of the cover plate body is provided with connecting plate, one end of the connecting plate is connected with the first decelerator, one end of first decelerator is connected with drive mechanism, one end of the drive mechanism is connected with outer sleeve, the other end of first decelerator is connected with the second drive shaft by pipeline, one end bearing block of second drive shaft.The present invention is rational in infrastructure, and using effect is good, by provided with pull pressure sensor, can be good at detecting the operating force during operation handle use, improves the effect used.
Description
Technical field
The present invention relates to technical field of medical treatment mechanical, more particularly to a kind of minimally invasive interposing catheter operation device.
Background technology
The investigation statisticses of the World Health Organization show that cardiovascular and cerebrovascular disease has become three dead big reasons of human diseases
One of, just there are 2,500,000 people dead in the people that cardiovascular and cerebrovascular disease is suffered from by annual China 9,000,000.The whole world has 16,700,000 people to die from every year
Cardiovascular and cerebrovascular disease, accounts for the 29.2% of all mortalities.It is traditional to open cranium open chest surgery method and also treat the disease, but
It is that damage of this operation method to patient is very big.At present, it is brain blood for cranial vascular disease most direct, most efficient method
Pipe minimally invasive surgery interventional therapy.The advantage of intervention operative treatment is can to reduce wound and pain that operation is brought to patient, and
And post-operative recovery is fast, shorten the hospital stays of patient, mitigate the financial burden of patient.The personnel that operating room can also be reduced match somebody with somebody
It is standby, save the human resources of hospital.But cerebrovascular surgery Minimally Invasive Surgery can only be had been manually done by doctor at present, this intervention hand
Art mode is completed under auxiliary and navigation in Technology of Digital Subtraction Angiography and X-ray, doctor's work under X-ray for a long time
Make, can be by very big radiation；And the high risk of operation is to operating the operation skill of doctor to require high；Operating time compared with
Long, operation safety can be reduced because of the fatigue of doctor.
Principal and subordinate's interventional surgery accessory system can effectively solve doctor and have been manually done blood vessel intervention operation presence
Problem.Doctor sends control command in remote operating master according to live feedback information, and the intervention of conduit is acted then by operative site
Conduit realized from operation device.And it is current, the minimally invasive interposing catheter operation device 26S Proteasome Structure and Function occurred on the market is more
Single, using effect is bad.
The content of the invention
The present invention proposes a kind of minimally invasive interposing catheter operation device, solves that existing capability effect is poor, and using effect is not
The problems such as good.
In order to solve the above-mentioned technical problem, the invention provides following technical scheme：
A kind of minimally invasive interposing catheter operation device of the present invention, including first shaft coupling, cover plate body and control cabinet, the cover plate
The bottom side of body is connected with the second decelerator, and the bottom of second decelerator is connected with first shaft coupling, described
One end of one shaft coupling is connected with the first power transmission shaft, and one end of first power transmission shaft is socketed with operation handle, the cover plate body
Surface side be provided with connecting plate, one end of the connecting plate is connected with the first decelerator, and one end of first decelerator connects
Drive mechanism is connected to, one end of the drive mechanism is connected with outer sleeve, and the other end of first decelerator is connected by pipeline
The second drive shaft is connected to, an end bearing block of second drive shaft, one end of the bearing block is connected with control cabinet, the control
The inside of case processed is provided with CAN data receipt units, operating force detection unit, controller, pull pressure sensor, scale operation list
Member, coding unit and CAN data transmission units, the CAN data receipt units are electrically connected with controller, the operating force
Detection unit is electrically connected with controller, and the pull pressure sensor is electrically connected with scale operation unit, the coding unit
It is electrically connected with CAN data transmission units.
As a preferred technical solution of the present invention, the connecting plate is " L " shape.
As a preferred technical solution of the present invention, the bottom of the bearing block is connected with bolt block.
As a preferred technical solution of the present invention, the upper surface side of the cover plate body is provided with backing plate, the backing plate
For rubber like member.
As a preferred technical solution of the present invention, the inside of the outer sleeve is provided with the second conduit, and described second leads
The madial wall of pipe is provided with wearing layer, and one end of second conduit is connected with the first conduit.
It is aluminum alloy materials as operation handle described in a preferred technical solution of the present invention.
The beneficial effect that is reached of the present invention is：The present invention is rational in infrastructure, and using effect is good, by being sensed provided with pressure
Device, can be good at detecting the operating force during operation handle use, improve the effect used, and operating force detection is single
Member carries out detection at any time to the torsion dynamics during use, and is shown on the display screen of connection at one end, just
In observation and operation, performed the operation so as to effectively avoid doctor with vision and experience so that what dynamics was used
It is more accurate, improve the success rate of operation.
Brief description of the drawings
Accompanying drawing is used for providing a further understanding of the present invention, and constitutes a part for specification, the reality with the present invention
Applying example is used to explain the present invention together, is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is a kind of structural representation of minimally invasive interposing catheter operation device of the present invention；
Fig. 2 is a kind of partial structural diagram of minimally invasive interposing catheter operation device of the present invention；
Fig. 3 is a kind of control cabinet internal structure block diagram of minimally invasive interposing catheter operation device of the present invention.
In figure：1st, operation handle；2nd, the first power transmission shaft；3rd, first shaft coupling；4th, backing plate；5th, bolt block；6th, bearing block；7、
Second drive shaft；8th, the first decelerator；9th, connecting plate；10th, drive mechanism；11st, outer sleeve；12nd, cover plate body；13rd, second slows down
Device；14th, control cabinet；15th, the first conduit；16th, wearing layer；17th, the second conduit；18th, CAN data receipt units；19th, operating force
Detection unit；20th, controller；21st, pull pressure sensor；22nd, scale operation unit；23rd, coding unit；24th, CAN data are sent
Unit.
Embodiment
The preferred embodiments of the present invention are illustrated below in conjunction with accompanying drawing, it will be appreciated that preferred reality described herein
Apply example to be merely to illustrate and explain the present invention, be not intended to limit the present invention.
Embodiment 1
As Figure 1-3, a kind of minimally invasive interposing catheter operation device of the present invention, including first shaft coupling 3, the and of cover plate body 12
Control cabinet 14, the bottom side of cover plate body 12 is connected with the second decelerator 13, and the bottom of the second decelerator 13 is connected with
One shaft coupling 3, one end of first shaft coupling 3 is connected with the first power transmission shaft 2, and one end of the first power transmission shaft 2 is socketed with operation handle
1, the surface side of cover plate body 12 is provided with connecting plate 9, and one end of connecting plate 9 is connected with the first decelerator 8, the first decelerator 8
One end is connected with drive mechanism 10, and one end of drive mechanism 10 is connected with outer sleeve 11, and the other end of the first decelerator 8 passes through pipe
Road is connected with the second drive shaft 7, and an end bearing block 6 of the second drive shaft 7, one end of bearing block 6 is connected with control cabinet 14, control
The inside of case 14 is provided with CAN data receipt units 18, operating force detection unit 19, controller 20, pull pressure sensor 21, ratio
Example arithmetic element 22, coding unit 23 and CAN data transmission units 24, CAN data receipt units 18 electrically connect with controller 20
Connect, operating force detection unit 19 is electrically connected with controller 20, pull pressure sensor 21 electrically connects with scale operation unit 22
Connect, coding unit 23 and CAN data transmission units 24 are electrically connected with.
Further, connecting plate 9 is " L " shape so that good fixing effect.
Further, the bottom of bearing block 6 is connected with bolt block 5.
Further, the upper surface side of cover plate body 12 is provided with backing plate 4, and backing plate 4 is rubber like member, and durability is stronger.
Further, the inside of outer sleeve 11 is provided with the second conduit 17, and the madial wall of the second conduit 17 is provided with wearing layer 16,
One end of second conduit 17 is connected with the first conduit 15.
Further, operation handle 1 is aluminum alloy materials so that the time used is longer.
Operation principle of the present invention：When in use, doctor is held in operation handle 1, one end drive connection of operation handle 1
There is the first power transmission shaft 2, one end of the first power transmission shaft 2 is connected with the second decelerator 13, and the first decelerator 13 is connected to cover plate body 12
Surface side, second driving shaft 7 in the presence of motor, drive drive mechanism 10 move so that outer sleeve 11
The second internal conduit 17 promotes the first conduit 15 to move, more flexible during operation, and the CAN data hair inside control cabinet 14
Unit 24 is sent to send out data-signal, then CAN data receipt units 18 receive data-signal so that signal between the two
Transmission is more accurate, and operating force detection unit 19 can be detected to the operating force of operation handle 1, and will be detected
Signal directly show on a display screen, be easy to people to observe so that doctor preferably grasp operation handle grasp
Dynamics so that using effect is more preferable.
Finally it should be noted that：The preferred embodiments of the present invention are these are only, are not intended to limit the invention, although
The present invention is described in detail with reference to the foregoing embodiments, for those skilled in the art, it still can be right
Technical scheme described in foregoing embodiments is modified, or carries out equivalent substitution to which part technical characteristic.It is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements made etc. should be included in the protection of the present invention
Within the scope of.
Claims (6)
1. a kind of minimally invasive interposing catheter operation device, including first shaft coupling (3), cover plate body (12) and control cabinet (14), it is special
Levy and be, the bottom side of the cover plate body (12) is connected with the second decelerator (13), second decelerator (13)
Bottom is connected with first shaft coupling (3), and one end of the first shaft coupling (3) is connected with the first power transmission shaft (2), and described first passes
One end of moving axis (2) is socketed with operation handle (1), and the surface side of the cover plate body (12) is provided with connecting plate (9), the connection
One end of plate (9) is connected with the first decelerator (8), and one end of first decelerator (8) is connected with drive mechanism (10), described
One end of drive mechanism (10) is connected with outer sleeve (11), and the other end of first decelerator (8) is connected with by pipeline
Two drive shafts (7) a, end bearing block (6) for second drive shaft (7), one end of the bearing block (6) is connected with control cabinet
(14), the inside of the control cabinet (14) is provided with CAN data receipt units (18), operating force detection unit (19), controller
(20), pull pressure sensor (21), scale operation unit (22), coding unit (23) and CAN data transmission units (24), described
CAN data receipt units (18) are electrically connected with controller (20), the operating force detection unit (19) and controller (20)
It is electrically connected with, the pull pressure sensor (21) is electrically connected with scale operation unit (22), the coding unit (23) and CAN
Data transmission unit (24) is electrically connected with.
2. a kind of minimally invasive interposing catheter operation device according to claim 1, it is characterised in that the connecting plate (9) is
" L " shape.
3. a kind of minimally invasive interposing catheter operation device according to claim 1, it is characterised in that the bearing block (6)
Bottom is connected with bolt block (5).
4. a kind of minimally invasive interposing catheter operation device according to claim 1, it is characterised in that the cover plate body (12)
Upper surface side is provided with backing plate (4), and the backing plate (4) is rubber like member.
5. a kind of minimally invasive interposing catheter operation device according to claim 1, it is characterised in that the outer sleeve (11)
Inside is provided with the second conduit (17), and the madial wall of second conduit (17) is provided with wearing layer (16), second conduit
(17) one end is connected with the first conduit (15).
6. a kind of minimally invasive interposing catheter operation device according to claim 1, it is characterised in that the operation handle (1)
For aluminum alloy materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710343784.1A CN107049375B (en) | 2017-05-16 | 2017-05-16 | Minimally invasive intervention catheter operating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710343784.1A CN107049375B (en) | 2017-05-16 | 2017-05-16 | Minimally invasive intervention catheter operating device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107049375A true CN107049375A (en) | 2017-08-18 |
| CN107049375B CN107049375B (en) | 2020-05-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710343784.1A Expired - Fee Related CN107049375B (en) | 2017-05-16 | 2017-05-16 | Minimally invasive intervention catheter operating device |
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| CN (1) | CN107049375B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111821096A (en) * | 2020-07-30 | 2020-10-27 | 吉林省中医药科学院（吉林省中医药科学院第一临床医院） | Ophthalmic surgery circular cutting device with force sensing and reading functions |
| WO2021147177A1 (en) * | 2020-01-20 | 2021-07-29 | 上海奥朋医疗科技有限公司 | Vascular intervention robot operating handle with guide wire catheter advancing resistance feedback |
Citations (8)
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| US20020143319A1 (en) * | 1998-02-24 | 2002-10-03 | Brock David L. | Interchangeable surgical instrument |
| US20070043338A1 (en) * | 2004-03-05 | 2007-02-22 | Hansen Medical, Inc | Robotic catheter system and methods |
| CN101904771A (en) * | 2010-07-08 | 2010-12-08 | 中国科学院自动化研究所 | Control device of catheter delivery mechanism of minimally-invasive vascular intervention operation robot |
| CN103976765A (en) * | 2014-05-16 | 2014-08-13 | 天津理工大学 | Master end operator device of master slave minimal invasive blood vessel interventional surgical assistant system |
| CN104042259A (en) * | 2014-05-16 | 2014-09-17 | 天津理工大学 | Slave manipulator device for auxiliary system of main and slave minimally invasive blood vessel interventional surgery |
| CN105534599A (en) * | 2016-01-27 | 2016-05-04 | 天津理工大学 | Vascular interventional operation robot main end force feedback device and working method thereof |
| CN105662586A (en) * | 2016-03-03 | 2016-06-15 | 北京理工大学 | Interventional operation robot where catheter and guide wire are cooperatively pushed and control method thereof |
| CN105662589A (en) * | 2016-03-03 | 2016-06-15 | 北京理工大学 | Slave side of master-slave minimally invasive vascular intervention surgical robot and controlling method of slave side |
-
2017
- 2017-05-16 CN CN201710343784.1A patent/CN107049375B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020143319A1 (en) * | 1998-02-24 | 2002-10-03 | Brock David L. | Interchangeable surgical instrument |
| US20070043338A1 (en) * | 2004-03-05 | 2007-02-22 | Hansen Medical, Inc | Robotic catheter system and methods |
| CN101904771A (en) * | 2010-07-08 | 2010-12-08 | 中国科学院自动化研究所 | Control device of catheter delivery mechanism of minimally-invasive vascular intervention operation robot |
| CN103976765A (en) * | 2014-05-16 | 2014-08-13 | 天津理工大学 | Master end operator device of master slave minimal invasive blood vessel interventional surgical assistant system |
| CN104042259A (en) * | 2014-05-16 | 2014-09-17 | 天津理工大学 | Slave manipulator device for auxiliary system of main and slave minimally invasive blood vessel interventional surgery |
| CN105534599A (en) * | 2016-01-27 | 2016-05-04 | 天津理工大学 | Vascular interventional operation robot main end force feedback device and working method thereof |
| CN105662586A (en) * | 2016-03-03 | 2016-06-15 | 北京理工大学 | Interventional operation robot where catheter and guide wire are cooperatively pushed and control method thereof |
| CN105662589A (en) * | 2016-03-03 | 2016-06-15 | 北京理工大学 | Slave side of master-slave minimally invasive vascular intervention surgical robot and controlling method of slave side |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021147177A1 (en) * | 2020-01-20 | 2021-07-29 | 上海奥朋医疗科技有限公司 | Vascular intervention robot operating handle with guide wire catheter advancing resistance feedback |
| CN111821096A (en) * | 2020-07-30 | 2020-10-27 | 吉林省中医药科学院（吉林省中医药科学院第一临床医院） | Ophthalmic surgery circular cutting device with force sensing and reading functions |
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| Publication number | Publication date |
|---|---|
| CN107049375B (en) | 2020-05-19 |
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Granted publication date: 20200519 |
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