CN107374737A - A kind of intervention operation robot catheter guide wire cooperating system and its control method - Google Patents

Abstract

The invention discloses a kind of intervention operation robot catheter guide wire cooperating system and its control method, belong to interventional surgery technical field.The system includes operating platform, and sets catheter controller on the operational platform and guidewire controller；The controllable relative motion between catheter controller and guidewire controller of operating platform；Catheter controller includes main part and the conduit clamp system for clamping conduit；Guidewire controller includes clamping device, and it includes sleeve, brake component and holder, and after the holder with clamping termination loads brake component, brake component is connected with bush whorl, and bare terminal end head clamping seal wire can be driven by being relatively rotated by brake component and sleeve.The system of the present invention installs catheter controller and guidewire controller on a mobile platform, and conduit and seal wire are controlled respectively, and the control of compounding practice platform, completes the cooperating of catheter guide wire.

Description

A kind of intervention operation robot catheter guide wire cooperating system and its control method

Technical field

The invention belongs to interventional surgery technical field, is related to robot conduit from end in being performed the operation for intervention The control technology of seal wire, more specifically to a kind of intervention operation robot catheter guide wire cooperating system and its control Method.

Background technology

Cardiovascular and cerebrovascular disease increasingly occurred frequently has a strong impact on national health and social life, is Health Care in China system band Carry out immense pressure.Cardiovascular and cerebrovascular disease has become one of three dead big reasons of human diseases, and there are 16,700,000 people in the whole world every year Cardiovascular and cerebrovascular disease is died from, the 29.2% of all mortalities is accounted for, just has in the annual Patients with Cardiovascular/Cerebrovascular Diseases of China 9,000,000 2500000 people are dead.

The minimally invasive interventional therapy of cardiovascular and cerebrovascular is the essential therapeutic arsenals for cardiovascular and cerebrovascular disease, can reduce traditional craniotomy, The wound and pain that open chest surgery is brought to patient, post-operative recovery time is short, can effectively improve medical resource utilization rate.So And the apparatuses such as conduit, seal wire and support are sent into patient by traditional cardiovascular and cerebrovascular intervention operation manually by doctor.One side Face, in surgical procedure, because radioactive ray influence, doctor's physically-draining is very fast, and notice and stability decrease, and causes to operate Precise decreasing, Yi Fashengyin push power it is improper caused by blood vessel internal membrane damage, vascular puncture rupture etc. accident, cause patient to give birth to Critically ill danger.On the other hand, the accumulation injury of long-term ionising radiation can significantly increase patient afflicted with leukemia, cancer and acute The probability of cataract." eating line " problem has become infringement Doctors ' Occupational life, restricts intervention and perform the operation and develop very important ask Topic.This problem can be successfully managed by the operation method of robot technology progress conduit, seal wire remote operating, can significantly be carried The precision and stability of high operation technique, while injury of the radioactive ray to operating doctor can be effectively reduced, reduce accident in art Occurrence probability.Therefore, cardiovascular and cerebrovascular intervention operation auxiliary robot is more and more of interest by people, is increasingly becoming current each Emphasis of the science and technology power in medical robot field researches and develops object.

External blood vessel intervention operation robot research is relatively early, but not yet fully achieves clinical practice.Domestic correlation is ground Study carefully and start late, mainly there is Beijing Institute of Technology, Institutes Of Technology Of Tianjin, BJ University of Aeronautics ＆ Astronautics and Harbin Institute of Technology Deng.

Blood vessel intervention operation robot is isolated doctor with radioactive ray, such as mainly using principal and subordinate end operation structure at present The Application No. of Institutes Of Technology Of Tianjin's application：201410206956.7 publication date is：In September, 2014 patent of invention of 17 days, it is public A kind of principal and subordinate's interventional surgery accessory system has been opened from operator device, it include axial push unit, rotary unit, Catching unit, surgical catheters, operating physical force detection unit and tilt adjustable base, its method of work include signal detection, transmission, place Reason, action.It is advantageous in that：The interventional procedure action of doctor can be imitated, performance accuracy is high, effectively improves operation safety； It can ensure that different curers or different intervention positions can be adjusted to the desired angle of operator；Device is whole Body uses aluminum alloy materials, and size is small, light weight.The invention can complete the push of seal wire well, and using magnetorheological Liquid realizes force feedback, the advantages that moving component inertia is small, feedback is sensitive be present.And for example, BJ University of Aeronautics ＆ Astronautics applies Application No.：201210510169.2 publication date is：In September, 2014 patent document of 17 days, discloses a kind of distant behaviour of master-slave mode Make blood vessel intervention operation robot, including main side operating-controlling mechanism, from end propulsive mechanism, PMAC controllers；Main side operating-controlling mechanism is made For the operating side of doctor；Executing agency from end propulsive mechanism as robot, doctor is replaced to hold conduit in operating room, it is complete Into the motor function of conduit；PMAC control cabinets be used for realize main side operating-controlling mechanism and from end propulsive mechanism between information transmission, from And make to be moved according to the movable information of main side operating-controlling mechanism from end conduit propulsive mechanism, it uses principal and subordinate's remote operating mode auxiliary Doctor is helped to implement operation, propulsive mechanism realizes the axial feed of conduit and the motion that rotates in a circumferential direction from end.For another example, Harbin industry is big Learn a kind of the special of entitled catheter robot system for intravascular minimally invasive intervention operation filed in 17 days January in 2011 Profit, its main hand handle and main frame are placed in control room, and switch board, modular catheter, principal and subordinate's intervention device, magnetic field occur Device and steerable catheter are placed in operating room, and main hand handle pose signal passes to switch board after being computed machine host processing, controls There are motion control card and driver in cabinet, motion control card receives order and sends instructions to driver, and driver is by control signal Each motor of principal and subordinate's intervention device is passed to, and then controls intervention device to realize that push/pull, rotation and the bending of steerable catheter are grasped Make, Position and attitude sensor collects the posture information of controllable bending tune, and pose signal is transmitted to main frame through motion control card and entered Row signal transacting.The program employs steerable catheter, can obtain the posture information of steerable catheter bending controllable segment, guarantee can conduct The flexibility of pipe front end and the navigability of intubation operation, while it is controllable by main hand handle to control principal and subordinate's intervention device to realize Tui drawings, rotation and the flexure operation of conduit, and operating room steerable catheter conveying force information can be obtained, ensure the accuracy of intubation With stability.

Such scheme is all for the relatively advanced research of blood vessel intervention operation robot for the country, but they are all present Following several respects problem：(1) seal wire or conduit can only individually be pushed, it is impossible to collaboration push conduit and seal wire in surgical procedure, Prevent it from the operational motion of simulating doctor completely, and need wire catheter at some while coordinate the position of advance to be difficult to grasp Make, in turn result in low performance accuracy, surgical inefficiency, it is low to the auxiliary degree of doctor, certain potential safety hazard be present；(2) The relatively too fat to move complexity of structure, not only manufacturing cost is high, and influences performance accuracy；(3) dismounting of catheter guide wire is inconvenient, It is not easy in operation with changing replacing catheter guide wire, carry out disinfection processing to senior executive's seal wire；(4) catheter guide wire can not be known in performing the operation Relative position in the blood vessels, operation risk are higher.

Inventor is directed to research in this respect always, and has applied for Patents before this, such as Chinese patent application Number it is：201510064919.1 publication date is：The patent document on May 20th, 2015, disclose a kind of for intervening surgical engine The measurement apparatus of device people, its pedestal are connected with upper lid by hinge；On be covered with spill limiting plate and pushing block, when it is upper lid close During conjunction, spill limiting plate compresses stud wheel and driving wheel, idle pulley, limits vertical direction displacement, pushing block by the U-shaped catch in left side to Right side promotes, and separately the U-shaped catch in right side, the U-shaped catch in left side clamp seal wire driving auxiliary member；Pedestal is arranged on linear drives component Sliding block on.The program can effectively reduce loss of the push power in conductive process, reduce and cause because the reason such as assembling or vibrating Larger error, but it is also served only for driving seal wire, can not complete the cooperating of catheter guide wire；Moreover, although seal wire is torn open Pretend and improved to some extent than previous designs, but still improve to some extent；In addition, it can not also understand seal wire in blood vessel in operation It is interior, the relative position between seal wire head end and vascular wall.

After this, inventor is persistently studied the technology of intervention operation robot, and in Shen on March 3rd, 2016 Please Application No.：It is 201610119761.8 entitled：Principal and subordinate's interventional surgery robot from end and its control method Patent, it include from end controlling organization and from end mobile platform, from end controlling organization by clamp drive mechanism I, thrust feed back Mechanism II, lossless clamping device III, clamping controlling organization IV form, while the present invention gives its control method.The program By devising lossless clamping device, clamping controlling organization, clamp drive mechanism and thrust feedback mechanism, to complete surgical procedure The clamping of middle seal wire, loosen, rotate, pushing, pushing the operations such as power measurement, adding the accuracy of push power measurement, improve The reliability of seal wire clamping, but its structure is relative complex, property easy to assemble does not have too big raising yet, while is led during push Pipe or the relative position problem between seal wire head end and vascular wall are not also well solved.

It should be strongly noted that the clamping device of catheter guide wire is all to realize push on the operational platform, because of reality The operational requirements of operation are, it is necessary to which the equivalent rail of conduit, seal wire and auxiliary body is arranged, and can arbitrarily be realized each in the axial direction Linear motion, and prior art is completed to move along a straight line using the slide rail of the secondary composition of motor driven nut-screw rod, exists following Problem：(1) volume weight is big：Due to needing two sets of slide rails to manipulate conduit and seal wire respectively, device volume is increased, while by It is big in the weight of two sets of slide rails, therefore be not suitable for clinical operation operation；(2) actual act of doctor's operation by human hand can not be reproduced： Complete the control of conduit and seal wire using two sets of slide rails, because its use it is coaxially arranged so that the movement travel of conduit and seal wire Do not occur simultaneously, i.e., the position of seal wire control slide rail in the axial direction lags far behind the position of conduit control slide rail in the axial direction all the time Put, and in actual mechanical process, the distance that doctor operates the hand of conduit and seal wire is arbitrary, thus it can not reproduce doctor The actual act of raw operation by human hand, it is impossible to complete the collaboration push of conduit and seal wire, do not meet actual operation operational requirements；(3) Autgmentability is poor：, it is necessary to carry out auxiliary operation to conduit and seal wire in surgical procedure, and the axial linear movement of auxiliary operation is with leading , it is necessary to increase slide rail when pipe, the motion of seal wire are asynchronous, and the form of existing line slide rail is used, is arranged using slide rail axis, Respective stroke does not occur simultaneously, therefore can not complete the extension to its function.Also need offer one kind can in a hurry at present Realize the operating robot operating platform of catheter guide wire cooperating.

The content of the invention

1st, to solve the problems, such as

The present invention provides a kind of intervention operation robot catheter guide wire cooperating system and its control method, the operation system System purpose is solve the problems, such as that prior art is difficult to meet the requirement of catheter guide wire cooperating；The system is pacified on the operational platform Catheter controller and guidewire controller are filled, conduit and seal wire are controlled respectively, and the control of compounding practice platform, complete to lead The cooperating of pipe seal wire；This method can control catheter controller and guidewire controller to complete to conduit and lead by operating platform The cooperating control of silk.

2nd, technical scheme

To solve the above problems, the present invention adopts the following technical scheme that.

A kind of intervention operation robot catheter guide wire cooperating system, including operating platform, for controlling rod action Catheter controller and for control seal wire act guidewire controller；The catheter controller and guidewire controller are arranged on behaviour Make on platform, the controllable relative motion between catheter controller and guidewire controller of operating platform；

The catheter controller includes main part, conduit clamp system and seal wire auxiliary clamp mechanism, conduit clamping machine Structure is used to clamp conduit, and seal wire auxiliary clamp mechanism is used for auxiliary clamp or unclamps seal wire；Described conduit clamp system and lead Silk auxiliary clamp mechanism is removably mounted in main part；

The guidewire controller includes clamping device；Described clamping device includes sleeve, brake component and holder, carries After the holder loading brake component for clamping termination, brake component is connected with bush whorl, and being relatively rotated by brake component and sleeve can Drive bare terminal end head clamping seal wire.

As a further improvement, the operating platform includes support platform, thereon by line slideway auxiliary B at least provided with Two platform contiguous blocks；Each platform contiguous block is driven by a drive mechanism, on two of which platform contiguous block Catheter controller and guidewire controller are installed respectively.

As a further improvement, described each drive mechanism includes motor, the rope being fixed in support platform And strainer；The strainer has two, is separately positioned on the both ends of support platform；The rope tension is at two Between tight mechanism, its connecting platform contiguous block；The motor connects rope sheave, and rope sheave is used to drive cable tie moving platform to connect Block moves.

As a further improvement, the strainer includes being oriented to fixed cover and Adjusting bolt Adjusting screw, it is oriented in fixed cover and installs Guide rod, one end connection tensioning support of guide rod, the both ends for being tensioned support are respectively provided with the directive wheel of a support cable；It is described Screw rod is installed, screw rod can adjust position of the guide rod in guiding fixed cover, make directive wheel tensioning rope in Adjusting bolt Adjusting screw.

As a further improvement, described conduit clamp system includes medical three-way valve and clamp assemblies；Described is medical Triple valve is used for connecting conduit, and it is fixed in main part by clamp assemblies；Described main part includes housing A and peace Upper lid A on housing A, clamp assemblies are removably mounted on lid A.

As a further improvement, the catheter controller, which also includes conduit, reverses component, conduit reverses component and is used to drive The screw-cap of medical three-way valve drives conduit rotation；The conduit, which reverses component, includes motor A, little gear and gear wheel；It is described Motor A is arranged in main part, and it connects little gear；The gear wheel and the company on the screw-cap of medical three-way valve Sheath cooperation is connect, connecting utricle is used for A/C；Described little gear and gear wheel engaged transmission.

As a further improvement, the catheter controller also includes the conduit dynamometry group for being used to detect the push power of conduit Part；The conduit dynamometry component includes dividing plate, conduit connecting plate and the force snesor being arranged in main part；The conduit connects Fishplate bar is arranged on dividing plate by line slideway auxiliary A, and conduit connecting plate is used for connecting conduit clamp system；The force snesor one End is connected with dividing plate, and the other end is connected with conduit connecting plate.

As a further improvement, described medical three-way valve is gripped by two clamp assemblies from both sides, often Individual clamp assemblies include grip block and the switch pedestal that is fixed on below grip block, and being set between grip block and switch pedestal can be with The switch stirred, switch for pinning or unlocking conduit connecting plate.

As a further improvement, described seal wire auxiliary clamp mechanism includes support member, clamping element and driving element；It is described Clamping element is arranged in support member by spring supporting, and the upper end of clamping element has compact heap, and driving element can driving support member Moved under in the vertical direction.

As a further improvement, described driving element is steering wheel, steering wheel connection line wheel, wind in line wheel it is wired, line One end connects clamping element.

As a further improvement, one end of the sleeve has screwed hole, the tail end of screwed hole is taper hole；Described braking Part has the thread segment coordinated with the screwed hole of sleeve；Clamping termination is exposed after the holder loads sleeve, clamping termination tool There is the male cone (strobilus masculinus) being engaged with taper hole in sleeve, circumference of the clamping termination along male cone (strobilus masculinus) offers at least two otch.

As a further improvement, the guidewire controller also includes the skidding group for clamping or take-off the brake part Part；The skidding component includes brake shoes and connects the driving element of brake shoes；The brake component is provided with brake disc, stops The driving element of car brake assemblies can driving brake block compression or releasing of brake disk.

As a further improvement, described driving element is push-pull electromagnet.

As a further improvement, the guidewire controller also includes being used for the sleeve drive component that drive sleeve rotates；Institute State big herringbone bear of the sleeve drive component including branch sleeve, the small herringbone gear engaged with big herringbone bear and for driving The motor B of small herringbone gear.

As a further improvement, described motor B connection shaft couplings, shaft coupling pass through ball spline pair and small herringbone gear Connection.

As a further improvement, described clamping device is arranged in housing by guide rail slide block modular support In supporting plate.

As a further improvement, the housing is detachably provided with lid B, upper lid both sides relative B are equipped with otic placode, on Lid B is detachably connected by otic placode and housing housing.

As a further improvement, the guide rail slide block component has two groups, the both ends of sleeve are supported respectively, every group Guide rail slide block component includes two pairs of rail plates being separately mounted in supporting plate and upper lid B, and they are connected to bottom plate And mounting plate, bottom plate installation bottom half-bearing seat, mounting plate install semiaxis bearing, upper half bearing block and the combination of bottom half-bearing seat The bearing on sleeve is supported into complete bearing block.

As a further improvement, described skidding component is located on bottom plate, set between supporting plate and bottom plate Dynamometer.

A kind of control method of intervention operation robot catheter guide wire cooperating system, completes the association to conduit and seal wire Biconditional operation, its step include：The relative position of operating platform control catheter controller and guidewire controller in the direction of movement, it is complete Into the collaboration push operation of conduit and seal wire；Wherein, catheter controller is used for the action for controlling conduit, and guidewire controller is used to control The action of seal wire processed.

3rd, beneficial effect

Compared to prior art, beneficial effects of the present invention are：

(1) intervention operation robot catheter guide wire cooperating system of the present invention, conduit is set to control on the operational platform Device and guidewire controller, and by the relative motion of operating platform control catheter controller and guidewire controller, coordinate conduit control Control of the device processed for conduit, and control of the guidewire controller for seal wire, it can meet to lead for conduit in intervention operation The cooperating of silk, meet the complicated manipulation demand of operation, this kind of mode simulates doctor's hand motion, plus can meet doctor's operation Custom；

(2) intervention operation robot catheter guide wire cooperating system of the present invention, by conduit and seal wire in operating platform Axial movement control monorail arrangement, i.e., using the form of the multiple platform contiguous blocks of a track, platform contiguous block is used to fix Catheter controller or guidewire controller, due to being run using multiple sliding blocks on same track, the stroke of each sliding block is complete Overlap, the difference is that smoothly, such a mode complies fully with the practical operation form of doctor's hand successively, conduit can be completed and led The collaboration push of silk, meets actual operation operational requirements；

(2) intervention operation robot catheter guide wire cooperating system of the present invention, operating platform for catheter controller and The straight line control of guidewire controller is avoided and transported in the prior art for each straight line using the form of the multiple sliding blocks of track The problem of dynamic control is required for a set of track and a set of sliding block and causes volume big, and weight is big, the present invention use multiple sliding blocks The form of common rail, device volume is reduced, and alleviate the weight of device, reduce cost, enabling preferably should For clinical operation；

(3) intervention operation robot catheter guide wire cooperating system of the present invention, operating platform can be carried out as needed Function Extension, when needing to carry out auxiliary operation to conduit and seal wire in surgical procedure, and the axial linear movement of auxiliary operation It when asynchronous with the motion of conduit, seal wire, can be completed by increasing the quantity of platform contiguous block, be connected using increased platform Block carries backup actuating device, is realized the booster action to conduit and seal wire, it can carry out work(according to specific needs It can extend, favorable expandability, while its operation is relatively easy；

(4) intervention operation robot catheter guide wire cooperating system of the present invention, operating platform are driven come complete using rope Be in line mobile control, and plays a part of being tensioned and being oriented to simultaneously using strainer, because rope driving utilizes rope To replace traditional rigid structure so that its is simple in construction, and mechanism is relatively light, and inertia is small, and the compliance of device is good, will not produce Raw rigid collision or impact, while the motion of each platform contiguous block is individually controlled by a motor, is connected for platform The respective motion of block can Linear Control, simultaneously because it uses pulley to complete to be oriented to so that axial friction is small, and energy Enough it is tensioned using strainer so that installation and adjustment are convenient；

(6) intervention operation robot catheter guide wire cooperating system of the present invention, by by vessel clamp in catheter controller Tight mechanism and seal wire auxiliary clamp mechanism are removably mounted in main part, simple combination, easy disassembly, and are led Pipe clamp system can clamp conduit, and seal wire auxiliary clamp mechanism clamps or loosens seal wire, can be real so as to coordinate guidewire controller The individually or simultaneously push of existing catheter guide wire, cooperates；

(7) intervention operation robot catheter guide wire cooperating system of the present invention, conduit clamp system in catheter controller Using the structure type of clamp assemblies clamping medical three-way valve, dismounting combination is simple, enormously simplify clamp structure, Medical tee joint Valve not only can be simple and quick with conduit connection, be easy to the sterilization of their junctions, and more important is pass through medical three Port valve, contrast agent can be squeezed into intravascular in surgical procedure, to internal blood vessel carry out radiography, and then observable catheter guide wire with The relative position of blood vessel, it is easy to the further operation to catheter guide wire, improves the security of operation；In addition, medical three-way valve Cost is relatively low, can be disposable, be finished it is i.e. discardable, unlike existing clamping device also need to repeated disassembled and assembled sterilization；

(8) intervention operation robot catheter guide wire cooperating system of the present invention, reversed by conduit in catheter controller Component can realize the twist operation to conduit, so as to meet that the angle of conduit head end is controlled in surgical procedure, ensure that conduit exists It is intravascular smoothly to be promoted to precalculated position；Conduit reverses the form that component uses motor-driven gear, by adjusting small tooth The gearratio of wheel and gear wheel, can adjust the velocity of rotation of conduit, and gear wheel and medical three-way valve connect through connecting utricle Realize, can complete the torsion driving of conduit, conduit is simply and easily installed on medical three-way valve by and can；Equally, seal wire Reversing component, there is also same action effect；

(9) intervention operation robot catheter guide wire cooperating system of the present invention, in catheter controller or guidewire controller The push power of conduit or seal wire during push can be detected by load-sensing unit, reach the accurate control of conduit or seal wire, Improve operation safety；Real-time dynamic force feedback is carried out using sensor, for surgical control push power size；Conduit control Dynamometry component is arranged on body portion thereof in device processed, compact-sized, structure relative closure, can be good at protection sensing Device, and the dynamometry form of force snesor is simple and convenient, intermediate connector is relatively fewer, and the dynamometry degree of accuracy is high；

(10) intervention operation robot catheter guide wire cooperating system of the present invention, conduit clamp system in catheter controller Clamp assemblies both reliable retention simply can be carried out to medical three-way valve, and by the switching toggle in clamp assemblies, The dismounting of conduit holder and conduit connecting plate in dynamometry component, smart structural design can be rapidly completed；

(11) intervention operation robot catheter guide wire cooperating system of the present invention, seal wire auxiliary clamp in catheter controller Structure type of the clamping element to seal wire progress auxiliary clamp, spring are pulled with moving-wire using servo driving line wheel mechanics innovation Opposition can make clamping element unclamp seal wire, it is simple to operate, be easy to control, can coordinate conduit clamp system complete pair The coordinated operation of catheter guide wire；

(12) intervention operation robot catheter guide wire cooperating system of the present invention, the clamping in guidewire controller to seal wire Mechanism has carried out innovative design, is spun using the screw thread of sleeve and brake component and drives the clamping termination of holder to match somebody with somebody by the conical surface Close extruding to be shunk or opened, so as to clamp or unclamp seal wire, according to the clamping termination of the deep-controlled holder of threaded engagement Openings of sizes, control clamping dynamics, meet the electrodeless regulation for seal wire difference clamping force, it is easy to accomplish lossless clamping；And And cone match clamping mode is utilized, contact surface is big, and clamping force is uniformly reliable, is not in skidding；This kind of mode, it can collect Clamping, reverse, operation and the one such as push, greatly simplified compared to existing seal wire clamp structure, can efficiently, it is accurate, reliably Ground clamps to catheter guide wire；

(13) intervention operation robot catheter guide wire cooperating system of the present invention, cover in the clamping device of guidewire controller Cylinder and brake component are designed with centre bore, are available for conduit or seal wire to pass through, and its sleeve has screwed hole, and the tail end of screwed hole is cone Hole, brake component is with the thread segment coordinated with the screwed hole of sleeve, and clamping termination is exposed after holder loads sleeve, and bare terminal end When head end has otch, sleeve and brake component threaded engagement, the bare terminal end head end of holder and the taper hole conical surface of sleeve can be promoted Contact and extrude, because the presence of otch, clamp termination radial contraction, opening diminishes, so as to clamp seal wire；

(14) intervention operation robot catheter guide wire cooperating system of the present invention, the clamping device of guidewire controller is to leading The clamping of silk is completed by the cooperation of sleeve drive component and skidding component, and sleeve and brake component are spun using screw thread Mode, relative rotation is certainly existed, skidding component clamps to brake component, the rotation of sleeve drive component drive sleeve Turn, so as to realize topology requirement that sleeve and brake component screw thread spin；Skidding component uses driving element driving brake block Come compress or take-off the brake part on brake disc structure type, very simply, be also easy to control；

(15) intervention operation robot catheter guide wire cooperating system of the present invention, the clamping device of guidewire controller use The mode of sleeve and brake component threaded engagement, they necessarily also have linear motion vertically, this is just while relatively rotating It is required that sleeve drive component and skidding component adapt to such a special kind of drive, and brake component is locked by skidding component Extremely, therefore sleeve needs axial action；In order to meet such a demand, sleeve drive component is passed using the engagement of big small herringbone gear It is dynamic, axial force can be born；Importantly, connected between motor and small herringbone gear by ball spline pair, small double helical tooth Wheel almost unresisted can be axially moved while rotating, and to meet the action demand of sleeve, be reduced subsequently to seal wire Push the influence of resistance accuracy of detection；

(16) intervention operation robot catheter guide wire cooperating system of the present invention, clamping device, set in guidewire controller Cylinder drive component and skidding component are all disposed within housing, and are covered by upper, overall more to close, to unit protection Preferably, device precision is advantageously ensured that, and removes lid, you can clamping device is taken out, it is convenient and swift, it is easy to conduit, seal wire Dismounting；

(17) intervention operation robot catheter guide wire cooperating system of the present invention, to meet clamping machine in guidewire controller The special method of clamping of structure, is supported using guide rail slide block component to clamping device, can not only be stablized and be supported, can also meet to cover The demand of cylinder axial movement, and fixing bearing is supported by upper and lower two groups of guide rail slide block components, supporting ＆ stablizing is reliable, and Convenient disassembly, it is easy to remove clamping device；

(18) intervention operation robot catheter guide wire cooperating system of the present invention, supporting plate and subiculum in guidewire controller Dynamometer is set between plate, coordinates the structure type of guide rail slide block component, push resistance progress that can be to seal wire is high-precision in real time The detection of degree, so as to the change of the impression push power in surgical procedure, improve processing safety；

Brief description of the drawings

Fig. 1 is the operating platform of present invention dimensional structure diagram viewed from above；

Fig. 2 is dimensional structure diagram of the operating platform of the present invention from downside；

Fig. 3 is the dimensional structure diagram of strainer in operating platform of the invention；

Fig. 4 is the configuration schematic diagram of strainer in operating platform of the invention；

Fig. 5 is the dimensional structure diagram of catheter controller in the present invention；

Fig. 6 is the main structure diagram of main part in catheter controller；

Fig. 7 is A-A sectional views in Fig. 6；

Fig. 8 is B-B sectional views in Fig. 7；

Fig. 9 is the explosive view of main part in catheter controller；

Figure 10 is the main structure diagram of conduit clamping device in catheter controller；

Figure 11 is C-C sectional views in Figure 10；

Figure 12 is the dimensional structure diagram of conduit clamping device in catheter controller；

Figure 13 is the explosive view of conduit clamping device in catheter controller；

Figure 14 is the dimensional structure diagram of seal wire auxiliary clamp mechanism in catheter controller；

Figure 15 is the explosive view of seal wire auxiliary clamp mechanism in catheter controller；

Figure 16 is the dimensional structure diagram of guidewire controller in the present invention；

Figure 17 is component home exploded perspective view in guidewire controller；

Figure 18 is the sectional structure chart and its partial enlarged drawing of clamp system in guidewire controller.

In figure：1st, main part；110th, housing A；111st, plate；120th, upper lid A；

2nd, seal wire auxiliary clamp mechanism；210th, pedestal；211st, inserted block；220th, support member；221st, spring cavity；230th, clamp Part；231st, compact heap；240th, spring；250th, steering wheel；260th, line wheel；

3rd, conduit clamp system；310th, medical three-way valve；320th, clamp assemblies；321st, switch pedestal；322nd, grip block； 323rd, switch；324th, connecting utricle；

4th, conduit reverses component；401st, motor A；402nd, little gear；403rd, gear wheel；

5th, conduit dynamometry component；510th, dividing plate；520th, line slideway auxiliary A；530th, supporting plate；540th, conduit connecting plate； 541st, plugboard；542nd, spliced eye；550th, force snesor；560th, sensor fixation plate；

6th, clamping device；610th, sleeve；620th, brake component；621st, thread segment；622nd, brake disc；630th, holder；631、 Clamp termination；

7th, sleeve drive component；710th, big herringbone bear；720th, small herringbone gear；730th, motor B；740th, ball spline It is secondary；750th, shaft coupling；760th, supporting plate；

8th, skidding component；810th, magnet holder；820th, brake shoes；821st, guide pillar；830th, push-pull electromagnet；840、 Dynamometer；

9th, casing part；910th, housing；920th, upper lid B；921st, otic placode；930th, guide rail slide block component；931st, rail plate； 932nd, mounting plate；933rd, upper half bearing block；934th, bottom plate；935th, bottom half-bearing seat；

1110th, support platform；1120th, line slideway auxiliary B；1130th, platform contiguous block；1140th, drive mechanism；1141st, restrict Rope；1142nd, motor；1143rd, rope sheave；1150th, strainer；1151st, it is oriented to fixed cover；1152nd, Adjusting bolt Adjusting screw；1153、 Guide rod；1154th, it is tensioned support；1155th, directive wheel；1156th, screw rod.

Embodiment

The present invention is further described below with reference to specific embodiments and the drawings.

Embodiment 1

The present embodiment provides a kind of intervention operation robot catheter guide wire cooperating system, mainly completes to catheter guide wire Cooperating control, it mainly includes operating platform, the catheter controller for controlling rod action and for controlling seal wire The guidewire controller of action；Wherein, catheter controller and guidewire controller are set on the operational platform, the controllable guidance of operating platform Relative motion between tube controller and guidewire controller.The phase of catheter controller and guidewire controller is controlled by operating platform To motion, coordinate control of the catheter controller for conduit, and control of the guidewire controller for seal wire, can meet to intervene For the cooperating of catheter guide wire in operation, meeting the complicated manipulation demand performed the operation, this kind of mode simulates doctor's hand motion, Plus doctor's operating habit can be met.The structure in each portion is described in detail below.

The overall structure of operating platform is shown as shown in Figure 1, Figure 2, and operating platform includes support platform 1110, platform contiguous block 1130 and drive mechanism 1140；Wherein, platform contiguous block 1130 at least has two (three are represented in accompanying drawing), and it passes through straight Line guideway B1120 is arranged in support platform 1110, and the present embodiment uses two platform contiguous blocks 1130, each platform connection Block 1130 is all operated alone by a drive mechanism 1140, and platform contiguous block 1130 is used to install catheter controller, seal wire control Device processed or other support supplementary structures.Certainly, catheter controller and guidewire controller have corresponding construction, conduit control in the prior art Device processed or guidewire controller can complete the functions such as the clamping, torsion, push dynamometry of conduit or seal wire, select in the present embodiment Using existing structure type in existing, such as the structure type in the patent applied before of applicant.

In the present embodiment, each drive mechanism 1140 includes motor 1142, rope 1141 and strainer 1150；Its In, motor 1142 is fixed on the bottom of support platform 1110, and it is connected with rope sheave 1143, and rope sheave 1143 is used to drive rope 1141 band moving platform contiguous blocks 1130 move；The strainer 1150 has two, is separately positioned on support platform 1110 Both ends, for support cable 1141, and it is tensioned rope 1141, rope sheave 1143 is wrapped on two strainers 1150, rope sheave 1143 connecting platform contiguous blocks 1130.

As shown in Figure 3 and Figure 4, strainer 1150 includes being oriented to fixed cover 1151 and Adjusting bolt Adjusting screw 1152, is oriented to and fixes Guide rod 1153 is installed, one end connection of guide rod 1153 is tensioned support 1154, and the both ends for being tensioned support 1154 are each in set 1151 Directive wheel 1155 provided with a support cable 1141；The Adjusting bolt Adjusting screw 1152 installs screw rod 1156, and screw rod 1156 is adjustable Position of the guide rod 1153 in guiding fixed cover 1151, makes the tensioning rope 1141 of directive wheel 1155.

The operating platform solves that device volume weight present in prior art is big, device can not reproduce doctor's hand behaviour The problem of actual act of work and the autgmentability difference of device, it by devise support platform 1110, drive mechanism 1140 and The mutual cooperation of tight mechanism 1150, and using the form of a track multi-slide, to complete to catheter controller and guidewire controller Rectilinear movement control；With installation and adjustment conveniently, the advantages of control accuracy is high.

Embodiment 2

The present embodiment provides an intermediary and entered to perform the operation robotic catheter seal wire cooperating system, on the basis of embodiment 1, Design is optimized to the structure of catheter controller, it is specific as follows.

As shown in figure 1, catheter controller mainly includes five parts, respectively main part 1, seal wire auxiliary clamp mechanism 2nd, conduit clamp system 3, conduit reverse component 4 and conduit dynamometry component 5；Wherein, main part 1 is the peace of other four parts Dress basis, conduit clamp system 3 and seal wire auxiliary clamp mechanism 2 are removably mounted in main part 1, seal wire auxiliary clamp Mechanism 2 is used to carry out auxiliary clamp to seal wire or loosened, and conduit clamp system 3 is used to clamp conduit, and conduit reverses component 4 and is used for The twist operation to conduit is completed, conduit dynamometry component 5 is then used for the push power for detecting conduit.The phase that the device passes through each several part Mutually coordinate, can complete clamping, push, torsion and the dynamometry to conduit, and to the auxiliary clamp of seal wire or loosen, so as to reality The coordinated of existing conduit and seal wire, complete the demand of operation.The concrete structure of each several part is carried out in detail respectively separately below Explanation.

With reference to shown in Fig. 6 to Fig. 9, main part 1 includes housing A110 and upper lid A120, in the present embodiment, housing A110 is the shell-like structure that top and rear end open, and upper lid A120 is arranged on housing A110 top so that shape in housing A110 Into the space comparatively closed, for further conduit torsion component 4 and the installation vacating space of conduit dynamometry component 5.Vessel clamp Tight mechanism 3 is arranged on upper lid A120 top, and seal wire auxiliary clamp mechanism 2 is fixed on housing A110 rear end, installation site Reasonable distribution.Due to part based on main part 1, whole device is to be installed on platform contiguous block 1130 to carry out by it Corresponding operation, for the convenience of installation, a pair of plates 111 are set in housing A110 bottom, and it is corresponding in platform connection Set on block 1130 and connect hole soon, plate 111 inserts connects hole soon, and pin-and-hole is set on plate 111, and platform contiguous block is passed through by pin In 1130 insertion pin-and-holes so that plate 111 is reliably connected with platform contiguous block 1130, and convenient dismounting.

Still with reference to shown in Fig. 6 to Fig. 9, conduit dynamometry component 5 be arranged on housing A110 in, it mainly include dividing plate 510, Conduit connecting plate 540 and force snesor 550；Wherein, dividing plate 510 is fixed on housing A110 centre, by space in housing A110 It is broadly divided into two parts, the opposite sides side of dividing plate 510 up and down to flip up to form side plate, each installation one is straight on two side plates Line guideway A520, line slideway auxiliary A520 connecting conduits connecting plate 540, so as to conduit connecting plate 540 can opposed separators 510 move Dynamic, this is also the premise that can subsequently carry out pushing power detection to conduit.In the present embodiment, line slideway auxiliary A520 is preferably used Ball line slideway auxiliary, frictional force is smaller can almost to be ignored, and can be neglected so as to the resistance of motion of conduit connecting plate 540, ensured The high accuracy of catheter propelling power detection.Line slideway auxiliary A520 includes guide rail and sliding block, and guide rail is fixed on the side plate of dividing plate 510 On, sliding block is attached by supporting plate 530 and conduit connecting plate 540, and conduit connecting plate 540 is used for connecting conduit clamp system 3.One L-shaped sensor fixation plate 560, one end and the conduit connecting plate of force snesor 550 are also installed on dividing plate 510 540 connections, the other end are connected with sensor fixation plate 560, and so, the thrust of conduit is delivered to by conduit clamp system 3 to be led On pipe connecting plate 540, the opposed separators 510 of conduit connecting plate 540 move, can be by the conversion element of force snesor 550, such as foil gauge Sensing, is converted into electric signal by force signal and exports, so as to obtain the size of power.

From the foregoing, it will be observed that push power of the conduit during push can be detected by conduit dynamometry component 5, reach conduit Accurate control, improves operation safety；Real-time dynamic force feedback is carried out using force snesor 550, pushed away for surgical control Send power size；The conduit dynamometry component 5 is arranged in housing A110, compact-sized, structure relative closure, can be good at protecting Force snesor 550, and the dynamometry form of force snesor 550 is simple and convenient, intermediate connector is relatively fewer, and the dynamometry degree of accuracy is high.

Certainly, in order to facilitate the connection between conduit connecting plate 540 and conduit clamp system 3, the present embodiment, connect in conduit A pair of plugboards 541 with spliced eye 542 are set on fishplate bar 540, plugboard 541 passes through upper lid A120 out of housing A110, Spliced eye 542 is set to be higher by lid A120 surface, can be quick with conduit clamp system 3 by its conduit connecting plate 540 Connect or pull down.At the same time, to adapt to the structure type of conduit connecting plate 540, also have to the structure of conduit clamp system 3 It is specific to require, it can illustrate below.

With reference to shown in Figure 10 to Figure 13, conduit clamp system 3 includes medical three-way valve 310 and clamp assemblies 320；Wherein, Medical three-way valve 310 is used for connecting conduit, and it is the existing medical instruments clinically commonly used, and is innovatively used in and leads herein In the clamping control of pipe, it mainly includes three-way body, control valve and screw-cap, and screw-cap can rotate relative to three-way body.Using When, conduit is first coupled on connecting utricle 324, is then again threadedly coupled connecting utricle 324 with screw-cap, so as to connect the conduit to On medical three-way valve 310, and it can relatively rotate；Connecting utricle 324 is used as middle coupling element, very common in the prior art, This is repeated no more.Clamp assemblies 320 are for being gripped to medical three-way valve 310, and certainly fixed is Medical tee joint The three-way body of valve 310, it has two, gripped from the both sides of medical three-way valve 310, and it includes grip block 322, folder Hold the neck that there is the one side of block 322 profile with the three-way body half of medical three-way valve 310 to fasten, two grip blocks 322 neck, which is combined, is combined into a card chamber, can reliably clamp the three-way body of medical three-way valve 310, simultaneously The rotation of screw-cap is not influenceed.Certainly, to adapt to the attachment structure of above-mentioned conduit connecting plate 540, herein, in grip block 322 Downside has open slot, switch pedestal 321 is equipped with open slot, and set between grip block 322 and switch pedestal 321 The switch 323 that can be stirred is put, switch 323 is used to pinning or unlocking conduit connecting plate 540.Switch 323 by level clamp and Vertical swinging plate composition, clamp are slidably arranged in the chute in switch pedestal 321, and swinging plate is passed through on grip block 322 Kong Hou, for stirring.By conduit clamp system 3 be installed to lid A120 top when, plugboard 541 insert grip block 322 with In the vertical jack formed between switch pedestal 321, by toggle switch 323, the grafting of clamp insertion plugboard 541 may be such that Hole 542, so as to realize being detachably connected for conduit connecting plate 540 and conduit clamp system 3.

From the foregoing, it will be observed that conduit clamp system 3 clamps the structure type of medical three-way valve 310, dismounting using clamp assemblies 320 Combination is simple, enormously simplify clamp structure.Novelty uses the connecting conduit of medical three-way valve 310, and it not only can be with conduit Simple and quick connection, it is easy to the sterilization of their junctions, and more important is by medical three-way valve 310, can performing the operation During to intravascular squeeze into contrast agent, carry out radiography to the internal blood vessel at conduit head end, so observable catheter guide wire with The relative position of blood vessel, it is easy to the further operation to catheter guide wire, improves the security of operation；In addition, medical three-way valve 310 Cost it is relatively low, can be disposable, be finished it is i.e. discardable, and without disappearing as existing structure type also needs to repeated disassembled and assembled Poison.

With reference to shown in Fig. 5 to Fig. 9, conduit, which reverses component 4, includes motor A401, little gear 402 and gear wheel 403；Wherein, Motor A401 is fixed in housing A110, has a good protective effect, motor A401 output axis connection little gear 402, greatly Gear 403 is connected with the connecting utricle 324 of A/C, little gear 402 and the engaged transmission of gear wheel 403；In use, motor A401 Driving pinion 402 rotates, and by little gear 402 and the engaged transmission of gear wheel 403, gear wheel 403 drives 324 turns of connecting utricle It is dynamic, so as to drive conduit to reverse, the angle of conduit head end is can adjust, ensures that conduit can be promoted smoothly in the blood vessels.Gear wheel The hole that 403 profile of centrally disposed and connecting utricle 324 matches, connecting utricle 324 insert in the hole can by connecting utricle 324 with it is big Gear 403 connects.

Twist operation to conduit can be realized by conduit torsion component 4, so as to meet in surgical procedure to conduit head end Angle control, ensure conduit in the blood vessels can smoothly to precalculated position promote；Conduit is reversed component 4 and driven using motor A401 The form of moving gear, by the gearratio for being sized gear, you can adjust the velocity of rotation of conduit, and gear wheel 403 and doctor Realized with the connecting utricle 324 that connects through of triple valve 310, can complete the torsion driving of conduit, and can will simply and easily be led Pipe is installed to 310 on medical three-way valve.

With reference to shown in Figure 14 and Figure 15, seal wire auxiliary clamp mechanism 2 includes pedestal 210, support member 220, the and of clamping element 230 Driving element；Wherein, pedestal 210 is used to seal wire auxiliary clamp mechanism 2 being installed to housing A110, support member 220 and driving Element is all arranged on pedestal 210, and clamping element 230 is arranged in support member 220 by the support of spring 240, and it is by driving member Part driving can be moved under in the vertical direction, and seal wire is clamped or unclamped.There is spring cavity 221, spring on support member 220 240 in spring cavity 221；Clamping element 230 is rod-like structure, and its upper end has compact heap 231, and its lower end has aperture, and Lower end is out of the insertion of the top of support member 220 spring cavity 221, and through after spring 240, the lower section through support member 220 is stretched out, connection Driving element.As long as driving element can drive clamping element 230 to move up and down, but the present embodiment driving element uses steering wheel 250, steering wheel 250 connects line wheel 260, wind in line wheel 260 it is wired, one end of line penetrate the aperture of the lower end of clamping element 230 so as to Connect clamping element 230.In use, steering wheel 250 drives line wheel 260 to rotate, clamping element 230 is driven to move down compression spring by line 240, the compact heap 231 of the upper end of clamping element 230 moves down the upper surface that seal wire is pressed on to support member 220, so as to realize to seal wire Clamping.

In addition, for convenience of seal wire auxiliary clamp mechanism 2 is installed on housing A110, pedestal 210, which is provided with, to be used to be pacified A pair of the inserted blocks 211 being attached on housing A110, housing A110 rear side is inserted by this to inserted block 211, and blending bolt carries out tight Gu.

In summary illustrate, the structure to catheter controller each several part and its annexation have carried out clear complete Statement, it has advantages below：

1. overall structure is simple, comparatively independent between each several part using modular structure design, by simple Combination can be completed to assemble, and dismounting is all convenient, and compact-sized small volume；Most of modular construction is simple, and can use plastics Product is made, in light weight, and substantially reduces manufacturing cost；

2. clamping, push, torsion and the dynamometry of conduit can be realized simultaneously, and the auxiliary clamp of seal wire or loosen, from And guidewire controller can be coordinated to complete to control the cooperating of catheter guide wire, meet the various operational requirements of operation；

3. the structure type more closed, all there is preferably protection to sensor and motor；

4. in surgical procedure, it can conveniently realize and radiography is carried out to blood vessel at conduit head end, be led so as to understand Pipe seal wire has the relative position relation of blood vessel, improves operation safety.

Conduit and seal wire are controlled using above-mentioned catheter controller, mainly complete clamping, push, torsion to conduit And dynamometry, and the auxiliary clamp of seal wire and loosen, the cooperation control to catheter guide wire, meet the operational requirements of intervention operation, It is described in detail below to completing corresponding operation using catheter controller.

First, main part 1 is installed to connecing soon in hole for platform contiguous block 1130 by plate 111, and consolidated by pin It is fixed.

Then, conduit clamp system 3 clamps conduit and installation, is specially：The tail end of conduit is first connected to connection On sheath 324, gear wheel 403 and connecting utricle 324 are coordinated into installation simultaneously during this step, component 4 is reversed for further conduit and is driven and do Prepare；Connecting utricle 324 is screwed onto on the screw-cap of medical three-way valve 310 again；Then the grip block of clamp assemblies 320 is passed through 322 are fixedly clamped medical three-way valve 310 from both sides；Finally, the clamp assemblies 320 after medical three-way valve 310 are clamped to be plugged into On conduit connecting plate 540 above upper lid A120, toggle switch 323 is inserted in the spliced eye 542 of conduit connecting plate 540 and pinned, So that conduit clamp system 3 is connected with conduit connecting plate 540, now, little gear 402 and gear wheel 403 also engaged transmission Connection；Conduit 3 clamping to conduit of clamp system is completed, and is installed in main part 1.

Then, after guidewire controller clamps seal wire, the head end of seal wire is penetrated in conduit through medical three-way valve 310, protected The seal wire for demonstrate,proving the rear of medical three-way valve 310 passes through the compact heap of support member 220 and clamping element 230 in seal wire auxiliary clamp mechanism 2 Between 231, so as to which seal wire be installed in place.

After preparation more than, catheter controller can be controlled conduit and seal wire accordingly, specific as follows：

(1) when being separately controlled conduit

Seal wire auxiliary clamp mechanism 2 unclamps seal wire, i.e. the dead electricity of steering wheel 250, clamping element 230 under the active force of spring 240, Its surface of compact heap 231 away from support member 220, so as to which compact heap 231 will not compress seal wire；Platform contiguous block 1130 moves, Drive main part 1 to move, and then drive conduit clamp system 3 to move, control conduit is individually moved, and completes push.

(2) when needing to control conduit and seal wire simultaneously

The auxiliary clamp seal wire of seal wire auxiliary clamp mechanism 2, i.e. steering wheel 250 must be electric, and driving line wheel 260 rotates, and line wheel 260 is logical Cross line to pull down clamping element 230, clamping element 230 overcomes the resistance of spring 240 to move downward, until compact heap 231 is by seal wire pressure Tightly on the surface of support member 220, the clamping to seal wire is completed；Platform contiguous block 1130 drives main part 1 to move, and then conduit Clamp system 3 drives conduit movement, meanwhile, seal wire auxiliary clamp mechanism 2 drives seal wire synchronization action, realizes conduit and seal wire Synchronized push.

(3) when being separately controlled seal wire

Operating platform stopping acts, and conduit clamp system 3 is motionless, and seal wire auxiliary clamp mechanism 2 unclamps seal wire, seal wire control Device drive seal wire can carry out the independent push of seal wire.

(4) the torsion control to conduit

Motor A401 is acted, and by little gear 402 and the engaged transmission of gear wheel 403, drives connecting utricle 324 and medical three The screw-cap of port valve 310 rotates together, and then drives conduit to reverse, and completes the twist operation to conduit, realizes conduit head end Angular adjustment.

(5) to the detection of catheter propelling power

Operating platform acts, and drives main part 1 to push forward, its motive force is through dividing plate 510, force snesor 550 and leads Pipe connecting plate 540 is delivered to conduit clamp system 3, and during push, force snesor 550 receives thrust information, and is converted into Electric signal output, and then the push power detection of conduit.

Clamping, push, torsion and the push power that can be completed to conduit by above step detect, and the additional lock of seal wire Tightly and loosen, orderly work between each step, and coordinate guidewire controller to complete the cooperating to catheter guide wire, from And the various operational requirements in surgical procedure can be met.Guidewire controller is described in detail below.

Embodiment 3

The present embodiment provides an intermediary and entered to perform the operation robotic catheter seal wire cooperating system, on the basis of embodiment 2, It is specific as follows to the further optimization design of structure of guidewire controller.

As shown in figure 16, guidewire controller mainly includes casing part 9, clamping device 6, sleeve drive component 7 and brake Brake assemblies 8；Wherein, clamping device 6, sleeve drive component 7 and skidding component 8 are all disposed within casing part 9.

Between still shown in Fig. 1, casing part 9 includes housing 910, and housing 910 is similar U-shape structure, has front-rear side walls, In figure 16 to see device internal structure clearly, the antetheca of housing 910 is removed；The open top of housing 910 is detachably installed Upper lid B920, specifically, an otic placode 921, otic placode 921 and shell are respectively installed on upper lid B920 former and later two relative sides It is connected by screw between body 910.Housing 910 covers the space of formation relative closure after B920, to its inner components Protected, and whole guidewire controller is to be installed to by housing 910 on platform contiguous block 1130.

With reference to shown in Figure 17 and Figure 18, clamping device 6 includes sleeve 610, brake component 620 and holder 630, their threes All have and be available for the centre bore that conduit or seal wire pass through；Wherein, one end of sleeve 610 is provided with screwed hole, in the tail end of screwed hole With taper hole, taper hole openings of sizes is 90 °, and this is a kind of preferred embodiment certainly；One end of brake component 620 has and sleeve The thread segment 621 that 610 screwed hole coordinates.One end of holder 630 is relatively large, forms clamping termination 631, clamps termination 631 rear and front ends all have the conical surface, and holder 630 uniformly offers four on this one end of clamping termination 631 and cut vertically Mouthful, certain otch quantity determines that preferably four, otch extends to the centre of the length direction of holder 630 as needed, from And clamping termination 631 can be extruded, opening is shunk；The end of non-clamping termination 631 of holder 630 is inserted into brake component 620 Thread segment 621 one end centre bore in, clamping termination 631 be exposed at outside brake component 620, and the end of brake component 620 have and folder Hold the internal taper hole that the male cone (strobilus masculinus) of the rear end of termination 631 is engaged；Again by the thread segment 621 of brake component 620 and the screwed hole of sleeve 610 Screw, form one, the front end conical surface of clamping termination 631 can be engaged with the inner conical surface of sleeve 610.

Compared to the mode designed before the existing method of clamping to seal wire, including inventor, the present embodiment is to clamping machine Structure 6 has carried out innovative design, the clamping termination for the driving holder 630 that spun using the screw thread of sleeve 610 and brake component 620 631 are shunk or are opened by cone match extruding, so as to clamp or unclamp seal wire, according to the deep-controlled clamping of threaded engagement The openings of sizes of the clamping termination 631 of part 630, controls clamping dynamics, meets the electrodeless regulation for seal wire difference clamping force, easily In realizing lossless clamping；And cone match clamping mode is utilized, contact surface is big, and clamping force is uniformly reliable, is not in skid Phenomenon；This kind of mode, the operation such as clamping, torsion, push and one can be collected, be obtained compared to existing seal wire clamp structure significantly simple Change, can efficiently, accurately, reliably catheter guide wire be clamped.

Clamping of the clamping device 6 to seal wire is completed by the cooperation of sleeve drive component 7 and skidding component 8, Sleeve 610 and brake component 620 are spun mode using screw thread, certainly exist relative rotation, sleeve drive component 7 is used for actuating sleeve Cylinder 610 rotates, and skidding component 8 is used to clamp or take-off the brake part 620, so as to realize sleeve 610 and the screw thread of brake component 620 The topology requirement to spin.

Specific in the present embodiment, skidding component 8 includes brake shoes 820 and connects the driving element of brake shoes 820, Driving element uses push-pull electromagnet 830, naturally it is also possible to using other dynamical elements in the prior art, as long as can realize Driving to brake shoes 820, push-pull electromagnet 830 are fixed in magnet holder 810, brake shoes 820 and plug-type electricity The push rod of magnet 830 is bolted.Effectively easy brake component 620 can be braked, made for skidding component 8 The one end of moving part 620 away from thread segment 621 is provided with brake disc 622, and the driving element of skidding component 8 can driving brake block 820 compressions or releasing of brake disk 622；There is pillar in the front side of brake shoes 820, brake component 620 is rotated by bearing Support, and pillar is provided with guide hole, and the front end of corresponding brake shoes 820 is provided with guide pillar 821, and guide pillar 821 is stretched into guide hole, to stopping Moving forward and backward for car block 820 is oriented to, while is also the support to brake shoes 820.This skidding component 8 is using driving member Part driving brake block 820 come compress or take-off the brake part 620 on brake disc 622 structure type, very simply, be also easy to control System.

Further, by the way of sleeve 610 and the threaded engagement of brake component 620, they are being relatively rotated clamping device 6 While, necessarily also have linear motion vertically, this require sleeve drive component 7 and skidding component 8 adapt to it is such a The special kind of drive, and it is locked by skidding component 8 from the above-mentioned structure of skidding component 8, brake component 620, therefore Sleeve 610 just needs axial action, and this just claims to the structure of sleeve drive component 7.In the present embodiment, sleeve driving group Part 7 includes big herringbone bear 710, small herringbone gear 720, motor B730 and electric machine support；Wherein, electric machine support is fixed on housing On 910 bottom plate, motor B730 is fixed on electric machine support；It is relative for big herringbone bear 710 and small herringbone gear 720 For, small herringbone gear 720 is that the diameter of relatively large herringbone bear 710 is smaller, and big herringbone bear 710 is arranged on set by key On cylinder 610, small herringbone gear 720 is connected with motor B730, big herringbone bear 710 and small herringbone gear 720 engaged transmission.In order to Meeting the action demand that sleeve 610 rotationally and axially moves, sleeve drive component 7 uses the engaged transmission of big small herringbone gear, Axial force can be born, they also do traversing action during engaged transmission.But motor B730 is fixed on electric machine support not It can move, it is necessary to while ensureing that motor B730 driving small herringbone gears 720 rotate, be suitable for the axial direction of small herringbone gear 720 Mobile, therefore, the present embodiment motor B730 connections shaft coupling 750, shaft coupling 750 passes through ball spline pair 740 and small double helical tooth The connection of wheel 720, can be achieved the almost unresisted axial movement of small herringbone gear 720, also can greatly reduce and subsequently seal wire is pushed The influence of resistance accuracy of detection.

It should be strongly noted that clamping device 6 needs to be supported at work, it is impossible to hanging action, and in view of folder The particularity of mode is held, the present embodiment clamping device 6 is arranged in supporting plate 760 by the support of guide rail slide block component 930, supported The both sides of plate 760 are fixed on the front-rear side walls of housing 910, and its bottom surface is connected with electric machine support.Guide rail slide block component 930 has Two groups, the both ends of sleeve 610 are supported respectively, every group of guide rail slide block component 930 includes being separately mounted to the He of supporting plate 760 Two pairs of rail plates 931 on upper lid B920, they are connected to bottom plate 934 and mounting plate 932, and bottom plate 934 is installed Bottom half-bearing seat 935, mounting plate 932 install semiaxis bearing 933, and upper half bearing block 933 and bottom half-bearing seat 935 have been combined into Whole bearing block is supported to the bearing on sleeve 610.Clamping device 6 is carried out using guide rail slide block component 930 Support, it can not only stablize and support, can also meet the needs of axial movement of sleeve 610, and pass through upper and lower two groups of guide rail slide block groups Part 930 supports fixing bearing, and supporting ＆ stablizing is reliable, and convenient disassembly, be easy to remove clamping device 6.Meanwhile skidding Component 8 is also mounted on bottom plate 934.

In addition, in order to detect push power of the seal wire during push, the present embodiment is stopped in supporting plate 760 and installation Dynamometer 840 is set between the bottom plate 934 of car brake assemblies 8, for detecting the push power of seal wire.

Below to using guidewire controller complete seal wire is clamped, pushed, reversed and push power detect etc. operate into Row describes in detail.

1. the clipping operation of seal wire

First, seal wire passes through brake component 620, holder 630 and the sleeve 610 of clamping device 6, certainly, through rear seal wire Head end can be inserted in conduit through the medical three-way valve 310 in catheter controller；Then, skidding component 8 works, to brake component 620 are braked, be specifically, push-pull electromagnet 830 it is electric, pull brake shoes 820 close to brake component 620 brake disc 622, And contact and compress brake disc 622, brake component 620 is braked；Then, sleeve drive component 7 drives 610 turns of the sleeve of clamping device 6 It is dynamic, it is specifically that motor B730 obtains electric, and driving small herringbone gear 720 rotates, and small herringbone gear 720 engages with big herringbone bear 710 Transmission, big herringbone bear 710 rotate with moving sleeve 610；Brake component 620 and the increase of the screw thread length of fit of sleeve 610, sleeve 610 Moved under the support of guide rail slide block component 930 to close to the direction of brake component 620, extrude holder 630, clamping termination 631 Opening is gradually reduced, until clamping seal wire.The reverse rotation of motor B730 reverse rotation control sleeve 610, you can release pair The clamping of seal wire.

2. the axial push-and-pull operation of seal wire

In the state of seal wire clamping, drive mechanism 1140 drives platform contiguous block 1130 to drive seal wire control in operating platform Device movement processed, seal wire is clamped by clamping device 6 and moved together, realize the push-and-pull operation of seal wire.

3. the twist operation of seal wire

In the state of seal wire clamping, skidding component 8 unclamps the brake component 620 of clamping device 6, sleeve drive component The sleeve 610 of 7 driving clamping devices 6 rotates, and with rotation, holder 630 drives seal wire torsion for brake component 620 and holder 630 Turn.

4. the push power detection operation of seal wire

Under seal wire clamped condition, skidding component 8 unclamps the brake component 620 of tight clamping device 6, and guidewire controller exists In moving process, because clamping device 6 clamps seal wire and is moved with it along pushing direction, guide rail slide block component 930 follows slip, Dynamometer 840 is transferred to by resistance is pushed by bottom plate 934, dynamometer 840 receives resistance signal, and resistance signal is converted External control system is passed to for electric signal, realizes that push resistance detects in real time.

For complete machine, collaboration behaviour of the above-mentioned intervention operation robot catheter guide wire cooperating system to catheter guide wire The control method of work, it is that the relative position of catheter controller and guidewire controller in the direction of movement is controlled by operating platform, And coordinate catheter controller and guidewire controller to conduit and the control action of seal wire, orderly completion；Conduit can be controlled simultaneously Clamping with seal wire, loosen, push, reversing or dynamometry, completing the surgical action of complexity；Wherein it should be strongly noted that When guidewire controller pushes seal wire close to catheter controller, now need to move after making guidewire controller, then catheter controller passes through Seal wire auxiliary clamp mechanism 2 clamps seal wire, and after guidewire controller unclamps seal wire and is pushed back into required position, seal wire clamper Again seal wire is clamped, now seal wire auxiliary clamp mechanism 2 can unclamp seal wire, realize the switching action during seal wire push, this Kind form ensures that seal wire position will not change in handoff procedure.

Example of the present invention is only that the preferred embodiment of the present invention is described, not to present inventive concept and Scope is defined, on the premise of design philosophy of the present invention is not departed from, technology of this area engineers and technicians to the present invention The various modifications and improvement that scheme is made, all should fall into protection scope of the present invention.

Claims (20)

1. a kind of intervention operation robot catheter guide wire cooperating system, including operating platform, for controlling rod action Catheter controller and the guidewire controller for controlling seal wire to act, it is characterised in that：Catheter controller and the seal wire control Device is set on the operational platform, the controllable relative motion between catheter controller and guidewire controller of operating platform；

The catheter controller includes main part (1), conduit clamp system (3) and seal wire auxiliary clamp mechanism (2), vessel clamp Tight mechanism (3) is used to clamp conduit, and seal wire auxiliary clamp mechanism (2) is used for auxiliary clamp or unclamps seal wire；Described vessel clamp Tight mechanism (3) and seal wire auxiliary clamp mechanism (2) are removably mounted in main part (1)；

The guidewire controller includes clamping device (6)；Described clamping device (6) includes sleeve (610), brake component (620) With holder (630), after the holder (630) with clamping termination (631) loads brake component (620), brake component (620) and set Cylinder (610) threaded connection, being relatively rotated by brake component (620) with sleeve (610) can drive clamping termination (631) clamping to lead Silk.

A kind of 2. intervention operation robot catheter guide wire cooperating system according to claim 1, it is characterised in that：Institute Stating operating platform includes support platform (1110), is connected thereon by line slideway auxiliary B (1120) at least provided with two platforms Block (1130)；Each platform contiguous block (1130) is driven by a drive mechanism (1140), and two of which platform connects Connect and catheter controller and guidewire controller are installed respectively on block (1130).

3. described a kind of intervention operation robot catheter guide wire cooperating system according to claim 2, its feature It is：Described each drive mechanism (1140) includes motor (1142), the rope being fixed in support platform (1110) And strainer (1150) (1141)；The strainer (1150) has two, is separately positioned on support platform (1110) Both ends；The rope (1141) is stretched between two strainers (1150), its connecting platform contiguous block (1130)；The drive Dynamic motor (1142) connection rope sheave (1143), rope sheave (1143) are used to drive rope (1141) band moving platform contiguous block (1130) to move It is dynamic.

4. described a kind of intervention operation robot catheter guide wire cooperating system according to claim 3, its feature It is：The strainer (1150) includes being oriented to fixed cover (1151) and Adjusting bolt Adjusting screw (1152), is oriented to fixed cover (1151) Middle installation guide rod (1153), one end connection tensioning support (1154) of guide rod (1153), the both ends of tensioning support (1154) It is respectively provided with the directive wheel (1155) of a support cable (1141)；Installation screw rod (1156), spiral shell in the Adjusting bolt Adjusting screw (1152) Bar (1156) can adjust position of the guide rod (1153) in guiding fixed cover (1151), make directive wheel (1155) tensioning rope (1141)。

5. a kind of intervention operation robot catheter guide wire cooperating system according to claim 1 or 2, its feature exist In：Described conduit clamp system (3) includes medical three-way valve (310) and clamp assemblies (320)；Described medical three-way valve (310) it is used for connecting conduit, it is fixed in main part (1) by clamp assemblies (320)；Described main part (1) bag Housing A (110) and the upper lid A (120) on housing A (110) are included, clamp assemblies (320) are removably mounted at lid A (120) on.

6. a kind of intervention operation robot catheter guide wire cooperating system according to claim 1 or 2, its feature exist In：The catheter controller also includes conduit and reverses component (4), and conduit reverses component (4) and is used to drive medical three-way valve (310) Screw-cap drive conduit rotation；The conduit, which reverses component (4), includes motor A (401), little gear (402) and gear wheel (403)；The motor A (401) is arranged in main part (1), and it connects little gear (402)；The gear wheel (403) and peace Connecting utricle (324) on the screw-cap of medical three-way valve (310) coordinates, and connecting utricle (324) is used for A/C；Described Little gear (402) and gear wheel (403) engaged transmission.

A kind of 7. intervention operation robot catheter guide wire cooperating system according to claim 6, it is characterised in that：Institute State the conduit dynamometry component (5) that catheter controller also includes being used to detect the push power of conduit；Conduit dynamometry component (5) bag Include the dividing plate (510) being arranged in main part (1), conduit connecting plate (540) and force snesor (550)；The conduit connection Plate (540) is arranged on dividing plate (510) by line slideway auxiliary A (520), and conduit connecting plate (540) clamps for connecting conduit Mechanism (3)；Described force snesor (550) one end is connected with dividing plate (510), and the other end is connected with conduit connecting plate (540).

A kind of 8. intervention operation robot catheter guide wire cooperating system according to claim 7, it is characterised in that：Institute The medical three-way valve (310) stated is gripped by two clamp assemblies (320) from both sides, each clamp assemblies (320) Including grip block (322) and the switch pedestal (321) being fixed on below grip block (322), grip block (322) and switch pedestal (321) switch (323) that can be stirred is set between, and switch (323) is used to pinning or unlocking conduit connecting plate (540).

A kind of 9. intervention operation robot catheter guide wire cooperating system according to claim 1, it is characterised in that：Institute The seal wire auxiliary clamp mechanism (2) stated includes support member (220), clamping element (230) and driving element；The clamping element (230) It is arranged on by spring (240) support in support member (220), the upper end of clamping element (230) has compact heap (231), driving member Part can move under driving support member (220) in the vertical direction.

A kind of 10. intervention operation robot catheter guide wire cooperating system according to claim 9, it is characterised in that： Described driving element is steering wheel (250), and steering wheel (250) connects line wheel (260), wired, one end of line is wound in line wheel (260) Connect clamping element (230).

11. a kind of intervention operation robot catheter guide wire cooperating system according to claim 1 or 2, its feature exist In：One end of the sleeve (610) has screwed hole, and the tail end of screwed hole is taper hole；Described brake component (620) has and set The thread segment (621) that the screwed hole of cylinder (610) coordinates；The holder (630) loads sleeve (610) and clamps termination (631) afterwards It is exposed, clamping termination (631) have with the male cone (strobilus masculinus) that taper hole is engaged in sleeve (610), clamping termination (631) is along male cone (strobilus masculinus) Circumferentially offer at least two otch.

A kind of 12. intervention operation robot catheter guide wire cooperating system according to claim 11, it is characterised in that： The guidewire controller also includes the skidding component (8) for clamping or take-off the brake part (620)；The skidding group Part (8) includes brake shoes (820) and connects the driving element of brake shoes (820)；The brake component (620) is provided with brake disc (622), the driving element of skidding component (8) can driving brake block (820) compression or releasing of brake disk (622).

A kind of 13. intervention operation robot catheter guide wire cooperating system according to claim 12, it is characterised in that： Described driving element is push-pull electromagnet (830).

A kind of 14. intervention operation robot catheter guide wire cooperating system according to claim 12, it is characterised in that： The guidewire controller also includes being used for the sleeve drive component (7) that drive sleeve (610) rotates；The sleeve drive component (7) the big herringbone bear (710) including branch sleeve (610), the small herringbone gear (720) engaged with big herringbone bear (710) With the motor B (730) for driving small herringbone gear (720).

A kind of 15. intervention operation robot catheter guide wire cooperating system according to claim 14, it is characterised in that： Described motor B (730) connection shaft couplings (750), shaft coupling (750) pass through ball spline pair (740) and small herringbone gear (720) connect.

A kind of 16. intervention operation robot catheter guide wire cooperating system according to claim 15, it is characterised in that： Described clamping device (6) is arranged at the supporting plate in housing (910) by guide rail slide block component (930) support (760) on.

A kind of 17. intervention operation robot catheter guide wire cooperating system according to claim 16, it is characterised in that： The housing (910) is detachably provided with lid B (920), and the relative both sides of upper lid B (920) are equipped with otic placode (921), upper lid B (920) it is detachably connected by otic placode (921) and housing (910) housing (910).

A kind of 18. intervention operation robot catheter guide wire cooperating system according to claim 17, it is characterised in that： The guide rail slide block component (930) has two groups, the both ends of sleeve (610) is supported respectively, every group of guide rail slide block component (930) two pairs of rail plates (931) being separately mounted in supporting plate (760) and upper lid B (920) are included, they are connected respectively There are bottom plate (934) and mounting plate (932), bottom plate (934) installation bottom half-bearing seat (935), mounting plate (932) installs half Bearing block (933), upper half bearing block (933) and bottom half-bearing seat (935) are combined into complete bearing block to installed in sleeve (610) bearing on is supported.

A kind of 19. intervention operation robot catheter guide wire cooperating system according to claim 18, it is characterised in that： Described skidding component (8) is located on bottom plate (934), and dynamometer is set between supporting plate (760) and bottom plate (934) (840)。

20. a kind of control method of intervention operation robot catheter guide wire cooperating system, completes the association to conduit and seal wire Biconditional operation, it is characterised in that：The relative position of operating platform control catheter controller and guidewire controller in the direction of movement, it is complete Into the collaboration push operation of conduit and seal wire；Wherein, catheter controller is used for the action for controlling conduit, and guidewire controller is used to control The action of seal wire processed.