CN107374738B

CN107374738B - Interventional operation robot slave end and mobile platform thereof

Info

Publication number: CN107374738B
Application number: CN201710544627.7A
Authority: CN
Inventors: 肖楠; 郭书祥; 包贤强; 杨程
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2017-07-06
Filing date: 2017-07-06
Publication date: 2023-05-05
Anticipated expiration: 2037-07-06
Also published as: CN107374738A

Abstract

The invention discloses a slave end of an interventional operation robot, a mobile platform and a control method thereof, and belongs to the technical field of minimally invasive vascular interventional operations. The mobile platform comprises a platform main beam, wherein a platform connecting block is arranged on the platform main beam through a linear guide rail pair D; the platform connecting block is driven by a platform driving mechanism and is used for installing a catheter controller or a guide wire controller. The interventional operation robot slave end comprises a catheter controller, a guide wire controller and an upper moving platform; the catheter controller and the guide wire controller are respectively arranged on a platform connecting block. The invention discloses an interventional operation robot, which is characterized in that a catheter controller and a guide wire controller are arranged on a mobile platform from the end, so that the problem that the conventional robot is difficult to finish the cooperative operation of a catheter and a guide wire is solved.

Description

Interventional operation robot slave end and mobile platform thereof

Technical Field

The invention belongs to the technical field of minimally invasive vascular interventional procedures, relates to a control technology for a catheter guide wire in a slave end of a robot in an interventional procedure, and particularly relates to the slave end of the robot in the interventional procedure, a moving platform and a control method thereof.

Background

The increasingly high cardiovascular and cerebrovascular diseases seriously affect national health and social life, and bring great pressure to the Chinese medical and health system. Cardiovascular and cerebrovascular diseases become one of three causes of death of human diseases, and 1670 ten thousand people die of cardiovascular and cerebrovascular diseases every year worldwide, accounting for 29.2 percent of all the diseases, and 250 ten thousand people die in 900 ten thousand cardiovascular and cerebrovascular diseases patients in China every year.

The cardiovascular and cerebrovascular minimally invasive interventional therapy is a main treatment means for cardiovascular and cerebrovascular diseases, can reduce the trauma and pain brought to patients by the traditional craniotomy and thoracotomy, has short postoperative recovery time, and can effectively improve the utilization rate of medical resources. However, the traditional cardiovascular and cerebrovascular interventional procedures are performed by a physician manually feeding catheters, guidewires, stents, and other instruments into the patient. On the one hand, in the operation process, due to the influence of radioactive rays, the physical strength of doctors is reduced rapidly, the attention and the stability are reduced along with the physical strength, the operation accuracy is reduced, and accidents such as vascular intima injury, vascular perforation and rupture and the like caused by improper pushing force are easy to occur, so that the life of patients is dangerous. On the other hand, cumulative damage from prolonged ionizing radiation can greatly increase the chance of developing leukemia, cancer and acute cataracts in the operator. The problem of thread eating has become a non-negligible problem in damaging the professional lives of doctors and restricting the development of interventional procedures. The surgical method for teleoperation of the catheter and the guide wire by means of the robot technology can effectively solve the problem, can greatly improve the precision and stability of surgical operation, can effectively reduce the damage of radioactive rays to a doctor of a main knife and can reduce the occurrence probability of accidents in the operation. Therefore, the auxiliary robots for cardiovascular and cerebrovascular intervention operation are more and more focused, and become the key research and development objects of the present science and technology in the field of medical robots.

Foreign vascular interventional surgery robots have been studied relatively early, but clinical applications have not yet been fully realized. The related research in China starts later, mainly comprises university of Beijing and Tianjin and university of Beijing aviation aerospace university, university of Harbin industry and the like.

At present, a vascular intervention operation robot mainly adopts a master-slave end operation structure to isolate doctors from radioactive rays, for example, the application number of Tianjin university application is: 201410206956.7, publication date: the invention patent of 2014, 9 and 17 discloses a slave manipulator device of a master-slave minimally invasive vascular interventional operation auxiliary system, which comprises an axial pushing unit, a rotating unit, a clamping unit, an operation catheter, an operation force detecting unit and an inclination angle adjustable base, and the working method comprises signal detection, transmission, processing and action. The advantages are that: the interventional operation action of a doctor can be simulated, the operation precision is high, and the operation safety is effectively improved; different therapists or different intervention positions can be guaranteed to be adjusted to angles expected by operators; the whole device is made of aluminum alloy materials, and has small size and light weight. The invention can well complete the pushing of the guide wire, and adopts the magnetorheological fluid to realize force feedback, and has the advantages of small inertia of moving parts, sensitive feedback and the like. As another example, the application number of the Beijing aviation aerospace university application is: 201210510169.2, publication date: patent literature of 2014, 9 and 17 discloses a master-slave teleoperation vascular interventional operation robot, which comprises a master-end control mechanism, a slave-end propulsion mechanism and a PMAC controller; the main end control mechanism is used as an operation end of a doctor; the slave end propulsion mechanism is used as an actuating mechanism of the robot, and replaces doctors to hold the catheter in an operating room to finish the motion function of the catheter; the PMAC control box is used for realizing information transmission between the master end control mechanism and the slave end propelling mechanism, so that the slave end catheter propelling mechanism moves according to the movement information of the master end control mechanism, a master-slave teleoperation mode is adopted to assist a doctor in carrying out operation, and the slave end propelling mechanism realizes axial feeding and circumferential rotation movement of the catheter. For another example, the name of the catheter robot system for the endovascular minimally invasive interventional operation is applied from the Harbin university of industry on 1 month 17 of 2011, a main hand handle and a computer host are arranged in a control room, a control cabinet, the catheter handle, a main-slave interventional device, a magnetic field generator and a controllable catheter are arranged in an operating room, a main hand handle pose signal is processed by the computer host and then is transmitted to the control cabinet, a motion control card and a driver are arranged in the control cabinet, the motion control card receives a command and sends a command to the driver, the driver transmits a control signal to each motor of the main-slave interventional device, the interventional device is further controlled to realize pushing/pulling, rotating and bending operations of the controllable catheter, the pose sensor acquires pose information of the controllable bending section, and the pose signal is transmitted to the computer host through the motion control card for signal processing. The technical scheme adopts the controllable catheter, can obtain the pose information of the bending controllable section of the controllable catheter, ensures the flexibility of the front end of the controllable catheter and the maneuverability of the intubation operation, simultaneously controls the master-slave interventional device through the master hand handle to realize the pushing/pulling, rotating and bending actions of the controllable catheter, can obtain the conveying force information of the controllable catheter in an operating room, and ensures the accuracy and the stability of the intubation.

The above schemes are advanced research on vascular interventional operation robots in China, but all have the following problems: (1) The guide wire or the guide wire can be pushed only, the guide wire and the guide wire can not be pushed cooperatively in the operation process, so that the operation action of a doctor can not be completely simulated, and the guide wire can not be operated easily at some parts which need to be matched with the guide wire at the same time, so that the operation precision is low, the operation efficiency is low, the assistance degree to the doctor is low, and certain potential safety hazards exist; (2) The structure is relatively bulkier and complex, the manufacturing cost is high, and the operation precision is affected; (3) The catheter guide wire is inconvenient to assemble and disassemble, and is not easy to replace in the operation, so that the catheter guide wire is sterilized; (4) The relative position of the catheter guidewire within the vessel is not known during surgery, and the risk of surgery is high.

The inventors have made an effort to study this and have previously filed related patents such as chinese patent application No.: 201510064919.1, publication date: patent literature of 2015, 5 and 20 discloses a measuring device for an interventional operation robot, wherein a base of the measuring device is connected with an upper cover through a hinge; the upper cover is provided with a concave limiting plate and a pushing block, when the upper cover is closed, the concave limiting plate compresses the column gear, the driving wheel and the idle wheel to limit the vertical displacement, the pushing block pushes the left U-shaped baffle to the right, and the guide wire driving auxiliary piece is clamped by the right U-shaped baffle and the left U-shaped baffle; the base is mounted on the slider of the linear drive assembly. The scheme can effectively reduce the loss of pushing force in the transmission process and reduce larger errors caused by assembly or vibration and the like, but is only used for driving the guide wire and cannot finish the cooperative operation of the guide wire of the catheter; moreover, although the assembly and disassembly of the guide wire is improved over the previous designs, there is still an improvement; in addition, it is also not possible to know the relative position of the guidewire within the vessel, between the guidewire tip and the vessel wall during surgery.

After that, the inventors continued to study the technique of the interventional operation robot, and filed the application number of 2016, 3 and 3: 201610119761.8, the name is: the invention discloses a slave end of a master-slave minimally invasive vascular interventional surgical robot and a control method thereof, wherein the slave end comprises a slave end control mechanism and a slave end moving platform, the slave end control mechanism consists of a clamping driving mechanism I, a thrust feedback mechanism II, a nondestructive clamping mechanism III and a clamping control mechanism IV, and the control method of the slave end control mechanism is also provided. According to the technical scheme, the nondestructive clamping mechanism, the clamping control mechanism, the clamping driving mechanism and the thrust feedback mechanism are designed to finish the operations of clamping, loosening, rotating, pushing force measurement and the like of the guide wire in the operation process, the accuracy of pushing force measurement is improved, the reliability of clamping the guide wire is improved, the structure is relatively complex, the disassembly and assembly easiness is not greatly improved, and meanwhile, the problem of the relative position between the head end of the guide tube or the guide wire and the blood vessel wall in the pushing process is not solved well.

It should be noted that, the clamping mechanisms of the catheter and the guide wire are all pushed on the moving platform, and the current moving platform generally adopts the motion of the screw driving clamping mechanisms, so that the moving platform can be only marginally suitable for pushing the catheter or the guide wire clamping mechanisms, but the precision is relatively low, and more importantly, in the surgical robot for cooperatively operating the catheter and the guide wire, the platform is difficult to meet the operation requirement, and for using the situation, the current moving platform of the surgical robot for cooperatively operating the catheter and the guide wire is also needed to be provided.

Disclosure of Invention

1. Problems to be solved

The invention provides a slave end of an interventional operation robot, a mobile platform and a control method thereof, and the mobile platform aims to solve the problem that the prior art is difficult to meet the requirement of the cooperative operation of a catheter and a guide wire; the catheter controller and the guide wire controller are arranged on the mobile platform from the end of the interventional operation robot, so that the problem that the conventional robot is difficult to finish the cooperative operation of the catheter and the guide wire is solved; the method can control the catheter controller and the guide wire controller through the mobile platform to complete the cooperative control of the catheter and the guide wire.

2. Technical proposal

In order to solve the problems, the invention adopts the following technical scheme.

The mobile platform comprises a platform main beam, wherein a platform connecting block is arranged on the platform main beam through a linear guide rail pair D; the platform connecting block is driven by a platform driving mechanism and is used for installing a catheter controller or a guide wire controller.

As a further improvement, the number of the platform connecting blocks is two, and the two platform connecting blocks are respectively used for installing a catheter controller and a guide wire controller, and each platform connecting block is independently controlled through one platform driving mechanism.

As a further improvement, the platform driving mechanism comprises a platform motor and a synchronous belt; the platform motor is arranged at one end of the platform girder, the platform motor is connected with a main synchronous wheel, a secondary synchronous wheel is arranged at the other end of the platform girder, the main synchronous wheel is connected with the secondary synchronous wheel through a synchronous belt in a transmission manner, and the platform connecting block is connected with the synchronous belt.

As a further improvement, the device also comprises a position detection mechanism for detecting the displacement of the platform connecting block on the platform main beam.

As a further improvement, the position detection mechanism comprises a grating ruler arranged on one side of the platform main beam and a grating ruler reading head fixed on the platform connecting block.

As a further improvement, two opposite limit sensors are arranged on the grating ruler reading head along the movement direction of the platform connecting block.

An interventional operation robot slave end comprises a catheter controller, a guide wire controller and a mobile platform; the catheter controller and the guide wire controller are respectively arranged on the two platform connecting blocks.

As a further improvement, the catheter controller includes a main body portion, a catheter clamping mechanism for clamping a catheter, and a guidewire auxiliary clamping mechanism for clamping or unclamping a guidewire; the catheter clamping mechanism and the guide wire auxiliary clamping mechanism are detachably arranged on the main body part.

As a further improvement, the catheter clamping mechanism comprises a medical three-way valve and a clamping assembly; the medical three-way valve is used for connecting a catheter and is fixed on the main body part through the clamping component; the main body part includes casing A and installs the upper cover on casing A, and the clamping assembly can dismantle the installation on the upper cover.

As a further improvement, the catheter controller also comprises a catheter torsion assembly, wherein the catheter torsion assembly is used for driving the screw cap of the medical three-way valve to drive the catheter to rotate; the catheter torsion assembly comprises a motor A, a pinion A and a gearwheel A; the motor A is arranged in the main body part and is connected with the pinion A; the large gear A is matched with a connecting sheath arranged on a screw cap of the medical three-way valve, and the connecting sheath is used for fixing a catheter; the pinion A and the large gear A are meshed for transmission.

As a further improvement, the catheter controller further comprises a catheter force measuring assembly for detecting a pushing force of the catheter; the catheter force measuring assembly comprises a baffle A, a catheter connecting plate and a force sensor A, wherein the baffle A, the catheter connecting plate and the force sensor A are arranged in the main body part; the guide pipe connecting plate is used for connecting a guide pipe clamping mechanism and is movably arranged through a linear guide rail pair A; one end of the force sensor A is connected with the partition plate A, and the other end of the force sensor A is connected with the conduit connecting plate.

As a further improvement, the medical three-way valve is clamped and fixed from two sides through two clamping assemblies, each clamping assembly comprises a clamping block and a switch base fixed below the clamping block, a switch A capable of being toggled is arranged between the clamping block and the switch base, and the switch A is used for locking or unlocking the conduit connecting plate.

As a further improvement, the guide wire auxiliary clamping mechanism comprises a supporting piece, a clamping piece and a driving element; the clamping piece is supported and arranged in the supporting piece through a spring, the upper end of the clamping piece is provided with a compression block, and the driving element can drive the supporting piece to move up and down in the vertical direction.

As a further improvement, the driving element is a steering engine A, the steering engine A is connected with a wire wheel, a wire is wound on the wire wheel, and one end of the wire is connected with the clamping piece.

As a further improvement, the guide wire controller comprises a base body part, a guide wire clamping mechanism and a clamping switching mechanism, wherein the guide wire clamping mechanism is arranged on the base body part and used for clamping a guide wire, and the clamping switching mechanism is used for driving the guide wire clamping mechanism to loosen the clamping of the guide wire.

As a further improvement, the guide wire clamping mechanism comprises a guide wire locking sleeve, a guide wire locking rod and a guide wire locking device, wherein one end of the guide wire locking rod is provided with the guide wire locking device and then is arranged in the guide wire locking sleeve; the guide wire locking sleeve is provided with a taper hole, the guide wire locking device is provided with an outer conical surface matched with the taper hole of the guide wire locking sleeve, at least two cuts are formed in the outer conical surface of the guide wire locking device along the circumferential direction, and the guide wire locking device radially contracts and clamps the guide wire through stress; the guide wire locking rod is sleeved with a switching spring, and the switching spring is pressed into the guide wire locking sleeve through a locker end cover arranged at the end part of the guide wire locking sleeve.

As a further improvement, the clamping switching mechanism comprises a steering engine B, wherein the steering engine B is provided with a turntable, wires are wound on the turntable, and the end parts of the wires are connected with a switching plate arranged through a linear guide rail pair C; and the guide wire locking rod is provided with a locker pulling plate, and the switching plate is clamped between the locker end cover and the locker pulling plate.

As a further improvement, the guidewire controller further comprises a guidewire twisting assembly for driving the guidewire locking sleeve to rotate; the guide wire torsion assembly comprises a motor B arranged on the base body part, and the motor B is connected with a pinion B; a large gear B meshed with the small gear B is arranged on the guide wire locking sleeve; the guide wire locking sleeve is supported and arranged on the base body part through the sleeve supporting component; the sleeve support assembly comprises a positioning base, and the guide wire locking sleeve is installed in the positioning base through a bearing.

As a further improvement, the guide wire controller further comprises a guide wire force measuring assembly for detecting the guide wire pushing force; the guide wire force measuring assembly comprises a partition plate B, a guide wire connecting piece and a force sensor B, wherein the partition plate B, the guide wire connecting piece and the force sensor B are arranged in the base body part; the guide wire connecting piece is used for connecting the sleeve supporting component and is movably arranged on the partition board B through the linear guide rail pair B; one end of the force sensor B is connected with the partition board B, and the other end of the force sensor B is connected with the guide wire connecting piece.

As a further improvement, the bottom of the positioning base is provided with a toggle locking switch through a connecting seat; the guide wire connecting piece is provided with a plugboard B with a plughole B, and the locking switch can be inserted into the plughole B by pulling the locking switch, so that the guide wire connecting piece is locked.

A control method of the slave end of an interventional operation robot comprises the steps that a moving platform controls the relative positions of a catheter controller and a guide wire controller in the moving direction, and the cooperative pushing operation of the catheter and the guide wire is completed; the catheter controller is used for controlling the action of the catheter, and the guide wire controller is used for controlling the action of the guide wire.

3. Advantageous effects

Compared with the prior art, the invention has the beneficial effects that:

(1) The moving platform can drive the catheter controller and the guide wire controller to act at the same time, so that the requirement of the cooperative operation of the catheter and the guide wire can be met; the synchronous belt and synchronous wheel transmission mode is further adopted, so that the transmission precision is higher, the structure is simple, the weight is light, and the synchronous belt and synchronous wheel transmission mechanism is suitable for clinical use;

(2) The movable platform is provided with the position detection mechanism, and the grating ruler information is read through the grating ruler reading head, so that the displacement of the catheter controller and the guide wire controller can be accurately known, and the pushing distance of the catheter and the guide wire is controlled; the limit sensor is arranged, so that the limit positions of the catheter controller and the guide wire controller can be detected, and the relative positions between the catheter controller and the guide wire controller can be detected, thereby achieving the effect of cooperative cooperation of the catheter and the guide wire;

(3) According to the interventional operation robot, the catheter controller and the guide wire controller are arranged on the moving platform, so that the catheter and the guide wire can be cooperatively operated in the interventional operation process, and various requirements of an operation are met;

(4) According to the invention, the catheter clamping mechanism and the guide wire auxiliary clamping mechanism are detachably arranged on the main body part in the catheter controller, so that the catheter is convenient to assemble and disassemble in a simple combination mode, the catheter clamping mechanism can clamp a catheter, and the guide wire auxiliary clamping mechanism clamps or loosens a guide wire, so that the independent pushing or simultaneous pushing of the guide wire of the catheter can be realized by matching with the guide wire controller;

(5) The invention intervenes from the end of the operation robot, the conduit clamping mechanism in the conduit controller adopts the structure form that the clamping component clamps the medical three-way valve, the disassembly and assembly are simple, the clamping structure is greatly simplified, the medical three-way valve can be simply and quickly connected with the conduit, the disinfection of the connection parts of the medical three-way valve and the conduit is facilitated, more importantly, the medical three-way valve can be used for injecting contrast medium into the blood vessel in the operation process to contrast the blood vessel, and further the relative position of the conduit guide wire and the blood vessel can be observed, the further operation of the conduit guide wire is facilitated, and the operation safety is improved; in addition, the medical three-way valve has lower cost, can be used once, can be discarded after being used up, and does not need repeated disassembly and sterilization unlike the existing clamping mechanism;

(6) The invention can realize the twisting operation of the catheter through the catheter twisting component in the catheter controller at the slave end of the interventional operation robot, thereby meeting the angle control of the catheter head end in the operation process and ensuring that the catheter can be smoothly propelled to a preset position in a blood vessel; the catheter torsion assembly adopts a motor driving gear mode, the rotation speed of the catheter can be adjusted by adjusting the transmission ratio of the pinion and the large gear, and the large gear is connected with the medical three-way valve through the connecting sheath, so that the torsion driving of the catheter can be completed, and the catheter can be simply and conveniently mounted on the medical three-way valve; likewise, the guide wire torsion assembly has the same action and effect;

(7) According to the invention, the pushing force of the catheter or the guide wire in the pushing process can be detected through the force measuring component in the catheter controller or the guide wire controller at the slave end of the interventional operation robot, so that the accurate control of the catheter or the guide wire is achieved, and the operation safety is improved; a force sensor is adopted to carry out real-time dynamic force feedback, so as to control the pushing force for the doctor operation; the force measuring assembly is arranged in the main body part or the matrix part, has a compact structure, relatively closed structure, can well protect the force sensor, has simple and convenient force measuring form, relatively fewer intermediate connecting pieces and high force measuring accuracy;

(8) The invention intervenes in the operation robot from the end, the clamping component of the catheter clamping mechanism in the catheter controller can simply and reliably clamp the medical three-way valve, and the disassembly and assembly of the catheter clamp holder and the catheter connecting plate in the force measuring component can be rapidly completed by stirring the switch in the clamping component, so that the structural design is ingenious;

(9) The auxiliary guide wire clamping mechanism in the catheter controller innovatively adopts a structural form that a steering engine drives a wire wheel to drive a wire to pull a clamping piece to clamp the guide wire, the reverse acting force of a spring can enable the clamping piece to loosen the guide wire, the operation is simple and convenient, the control is convenient, and the cooperative operation on the guide wire of the catheter can be completed by cooperating with the catheter clamping mechanism;

(10) The guide wire clamping mechanism in the guide wire controller adopts a conical surface matching mode of the guide wire locking device and the guide wire locking sleeve, and the guide wire locking rod can extrude the guide wire locking device to radially shrink so as to clamp the guide wire;

(11) According to the invention, the slave end of the interventional operation robot is provided with the guide wire locking device, the guide wire controller is matched with the guide wire clamping mechanism in a structural form, so that the guide wire locking device can loosen the guide wire, the clamping switching mechanism drives the rotary table to rotate through the steering engine, the wire on the rotary table is wound, the wire pulls the guide wire locking rod to overcome the elastic force of the switching spring to move, so that the guide wire locking device is extruded from the slave end, and the guide wire locking device releases the guide wire;

(12) The guide wire clamping mechanism in the guide wire controller adopts a structure that the guide wire locking sleeve is supported by the positioning base through the bearing, so that the clamping of the guide wire is not affected, and the guide wire torsion assembly is not affected to drive the guide wire locking sleeve to rotate

(13) The interventional operation robot has the advantages that the slave end of the interventional operation robot is simple in integral structure, the catheter controller and the guide wire controller are both of modularized structural design, the dismounting and the combination are simple and convenient, the structure is compact, most of the interventional operation robot can be made of plastics, the integral weight is light, and the manufacturing cost is low.

Drawings

FIG. 1 is a schematic perspective view of a mobile platform according to the present invention;

FIG. 2 is an enlarged schematic view of a portion of a platform connection block of the mobile platform according to the present invention;

FIG. 3 is a schematic view of a perspective structure of a slave end of the interventional operation robot of the present invention;

FIG. 4 is a schematic perspective view of a catheter controller according to the present invention;

FIG. 5 is a schematic diagram of the front view of the main body portion of the catheter controller;

FIG. 6 is a cross-sectional view A-A of FIG. 5;

FIG. 7 is a cross-sectional view B-B of FIG. 6;

FIG. 8 is an exploded view of a main body portion of the catheter controller;

FIG. 9 is a schematic diagram of the front view of the catheter clamping mechanism in the catheter controller;

FIG. 10 is a cross-sectional view of C-C of FIG. 9;

FIG. 11 is a schematic perspective view of a catheter clamping mechanism in a catheter controller;

FIG. 12 is an exploded view of the catheter gripping device in the catheter controller;

FIG. 13 is a schematic perspective view of a guidewire assist grip in a catheter controller;

FIG. 14 is an exploded view of a guidewire assist grip in a catheter controller;

FIG. 15 is a schematic perspective view of a guidewire controller according to the present invention;

FIG. 16 is a schematic diagram of a front view of a base portion of a guidewire controller;

FIG. 17 is a cross-sectional view of D-D of FIG. 16;

FIG. 18 is a cross-sectional view of E-E of FIG. 17;

FIG. 19 is an exploded view of a base portion of a guidewire controller;

FIG. 20 is a schematic diagram of a front view of a guidewire clamping mechanism in a guidewire controller;

FIG. 21 is a cross-sectional view of F-F in FIG. 20;

FIG. 22 is a cross-sectional view of H-H of FIG. 21;

FIG. 23 is an exploded schematic view of a guidewire clamping mechanism in a guidewire controller;

FIG. 24 is a schematic perspective view of a clamp switching mechanism in a guidewire controller;

fig. 25 is an exploded view of the clamp switching mechanism in the guidewire controller.

In the figure: 1. a main body portion; 110. a housing A; 111. a plugboard A; 120. an upper cover;

2. a guide wire auxiliary clamping mechanism; 210. a base; 211. inserting blocks; 220. a support; 221. a spring cavity; 230. a clamping member; 231. a compaction block; 240. a spring; 250. steering engine A; 260. a wire wheel;

3. A conduit gripping mechanism; 310. a medical three-way valve; 320. a clamping assembly; 321. a switch base; 322. a clamping block; 323. a switch A; 324. a connecting sheath;

4. a catheter twist assembly; 401. a motor A; 402. a pinion A; 403. a large gear A;

5. a catheter force measurement assembly; 510. a partition plate A; 520. a linear guide rail pair A; 530. a bearing plate A; 540. a conduit connection plate; 541. a plugboard A; 542. a plug hole A; 550. a force sensor A; 560. a sensor fixing plate A;

6. a base portion; 610. a housing B; 611. a plugboard B; 620. a cover plate; 630. a guidewire twisting assembly; 631. a motor B; 632. a pinion B; 633. a large gear B;

7. a guide wire clamping mechanism; 710. a guidewire locking sleeve; 720. a guidewire lock rod; 730. a guidewire lock; 740. a switching spring; 750. a gasket; 760. a latch end cap; 770. a latch pull plate; 780. a bearing; 790. a sleeve support assembly; 791. positioning a base; 792. a locking switch; 793. a connecting seat; 794. a bearing pressing plate; 795. positioning a pressing plate;

8. a clamping switching mechanism; 810. a rudder mount; 811. a plug block; 820. steering engine B; 830. a turntable; 840. a switching board; 850. a linear guide rail pair C;

9. A guidewire force measurement assembly; 910. a partition board B; 920. a linear guide rail pair B; 930. a bearing plate B; 940. a guidewire connector; 941. a plugboard B; 942. a plug hole B; 950. a force sensor B; 960. sensor fixing plate B.

1010. A platform girder; 1020. a linear guide rail pair D; 1030. a platform connecting block; 1031. a quick connection hole; 1040. a platform driving mechanism; 1041. a platform motor; 1042. a master synchronizing wheel; 1043. a slave synchronizing wheel; 1044. a synchronous belt; 1050. a position detecting mechanism; 1051. a grating ruler; 1052. a grating scale reading head; 1053. and a limit sensor.

Detailed Description

The invention is further described below in connection with specific embodiments and the accompanying drawings.

Example 1

As shown in fig. 1 and 2, the present embodiment provides a mobile platform, which includes a platform girder 1010, a platform connection block 1030, a platform driving mechanism 1040, and a position detecting mechanism 1050; the platform connecting block 1030 is arranged on the platform main beam 1010 through a linear guide rail pair D1020, the linear guide rail pair D1020 comprises a sliding rail arranged on the platform main beam 1010 and a sliding block matched with the sliding rail, the platform connecting block 1030 is arranged on the sliding block, and the platform connecting block 1030 is used for installing a catheter controller or a guide wire controller; the catheter controller and the guide wire controller have corresponding structures in the prior art, the catheter controller is used for clamping a catheter and detecting rotation and pushing force of the catheter, and the guide wire controller is used for clamping a guide wire and detecting rotation and pushing force of the guide wire. In this embodiment, in order to enable cooperative engagement of the catheter controller and the guidewire controller, the platform connection blocks 1030 have two, and each of the two platform connection blocks 1030 is individually controlled by one platform driving mechanism 1040.

Each platform driving mechanism 1040 comprises a platform motor 1041 and a synchronous belt 1044; the platform motor 1041 is disposed at one end of the platform girder 1010, and is connected with a master synchronizing wheel 1042, a slave synchronizing wheel 1043 is mounted at the other end of the platform girder 1010, the master synchronizing wheel 1042 and the slave synchronizing wheel 1043 are in transmission connection through a synchronous belt 1044, and the platform connecting block 1030 is connected with the synchronous belt 1044, so that the platform motor 1041 can drive the platform connecting block 1030 to slide along the linear guide rail pair D1020 through the synchronous belt 1044.

The position detection mechanism 1050 is used for detecting the displacement of the platform connecting block 1030 on the platform girder 1010, and comprises a grating ruler 1051 arranged on one side of the platform girder 1010 and a grating ruler reading head 1052 fixed on the platform connecting block 1030, and the displacement of the catheter controller and the guide wire controller can be accurately known by reading the information of the grating ruler 1051 through the grating ruler reading head 1052, so that the pushing distance of the catheter and the guide wire is controlled. In addition, two opposite limit sensors 1053 are arranged on the grating ruler reading head 1052 along the movement direction of the platform connecting blocks 1030, so that the limit positions of the catheter controller and the guide wire controller can be detected, meanwhile, the relative positions between the catheter controller and the guide wire controller can be detected, the movement overstroke of the platform connecting blocks 1030 is avoided, the collision between the two platform connecting blocks 1030 is prevented, and the better cooperative operation of the catheter guide wire is achieved.

From the above, the moving platform can drive the catheter controller and the guide wire controller to act at the same time, so that the requirement of the cooperative operation of the catheter and the guide wire can be met; the synchronous belt and synchronous wheel transmission mode is adopted, so that the transmission precision is higher, the structure is simple, the weight is light, and the device is suitable for clinical use.

Example 2

As shown in fig. 3, this embodiment provides an interventional operation robot slave, which mainly includes a catheter controller, a guide wire controller, and the moving platform in embodiment 1, the catheter controller and the guide wire controller are respectively mounted on two platform connection blocks 1030. The structure of the mobile platform has been described in detail in embodiment 1, which improves the structures of the catheter controller and the guidewire controller, and the structures of the catheter controller and the guidewire controller are described in detail below.

1. Structure of catheter controller

As shown in fig. 4, the catheter controller mainly comprises five parts, namely a main body part 1, a guide wire auxiliary clamping mechanism 2, a catheter clamping mechanism 3, a catheter torsion assembly 4 and a catheter force measuring assembly 5; the main body part 1 is the installation basis of other four parts, and pipe clamping mechanism 3 and the supplementary clamping mechanism of seal wire 2 are all detachable to be installed on main body part 1, and supplementary clamping mechanism of seal wire 2 is used for carrying out supplementary clamp to the seal wire or loosen, and pipe clamping mechanism 3 is used for the centre gripping pipe, and pipe torsion subassembly 4 is used for accomplishing the torsion operation to the pipe, and pipe force measurement subassembly 5 is then used for detecting the propelling movement power of pipe. The device can complete clamping, pushing, twisting and force measurement of the catheter and auxiliary clamping or loosening of the guide wire through mutual matching of the parts, so that the cooperative matching of the catheter and the guide wire can be realized, and the operation requirement is met. The specific structures of the respective parts will be described in detail below.

As shown in connection with fig. 5 to 8, the main body portion 1 includes a housing a110 and an upper cover 120, in this embodiment, the housing a110 is a shell-like structure with an open top and a rear end, and the upper cover 120 is mounted on the top of the housing a110, so that a relatively closed space is formed in the housing a110, and space is made for mounting of the subsequent catheter torsion assembly 4 and catheter force measuring assembly 5. The catheter clamping mechanism 3 is arranged above the upper cover 120, and the guide wire auxiliary clamping mechanism 2 is fixed at the rear end of the shell A110, so that the installation positions are distributed reasonably. Because the main body portion 1 is used as a base portion, the whole device is mounted on the platform connection block 1030 through the main body portion 1 to perform corresponding operation, for convenience of mounting, a pair of inserting plates A111 are arranged at the bottom of the shell A110, quick connecting holes 1031 are correspondingly formed in the platform connection block 1030, the inserting plates A111 are inserted into the quick connecting holes 1031, pin holes are formed in the inserting plates A111, and the inserting plates A111 are inserted into the pin holes through the platform connection block 1030 by pins, so that the inserting plates A111 are reliably connected with the platform connection block 1030, and the disassembling is convenient.

As still shown in connection with fig. 5-8, the catheter force measurement assembly 5 is mounted within a housing a110, and it basically includes a diaphragm a510, a catheter attachment plate 540 and a force sensor a550; the partition board a510 is fixed in the middle of the casing a110, the space in the casing a110 is mainly divided into an upper part and a lower part, two opposite side edges of the partition board a510 are turned upwards to form side boards, two side boards are respectively provided with a linear guide rail pair a520, the linear guide rail pair a520 is connected with the conduit connection board 540, and therefore the conduit connection board 540 can move relative to the partition board a510, which is also a premise that the pushing force of the conduit can be detected subsequently. In this embodiment, the linear guide pair a520 is preferably a ball linear guide pair, and the friction force is small and almost negligible, so that the movement resistance of the catheter attachment plate 540 is negligible, and high accuracy of catheter pushing force detection is ensured. The linear guide rail pair a520 includes a guide rail fixed to a side plate of the partition plate a510, and a slider connected to a guide pipe attachment plate 540 through a support plate a530, the guide pipe attachment plate 540 being used to attach the guide pipe clamping mechanism 3. The baffle A510 is also provided with an L-shaped sensor fixing plate A560, one end of the force sensor A550 is connected with the conduit connection plate 540, and the other end of the force sensor A550 is connected with the sensor fixing plate A560, so that the pushing force of the conduit is transmitted to the conduit connection plate 540 through the conduit clamping mechanism 3, the conduit connection plate 540 moves relative to the baffle A510 and can be sensed by a conversion element, such as a strain gauge, of the force sensor A550 to convert a force signal into an electric signal and output the electric signal, and the force is obtained.

From the above, the pushing force of the catheter in the pushing process can be detected through the catheter force measuring assembly 5, so that the accurate control of the catheter is achieved, and the operation safety is improved; the force sensor A550 is adopted to carry out real-time dynamic force feedback, so as to control the pushing force for the doctor operation; the catheter force measuring assembly 5 is arranged in the shell A110, is compact in structure and relatively closed, can well protect the force sensor A550, is simple and convenient in force measuring form of the force sensor A550, is relatively less in middle connecting pieces, and is high in force measuring accuracy.

Of course, in order to facilitate the connection between the conduit connection plate 540 and the conduit clamping mechanism 3, in this embodiment, a pair of plug boards a541 having plug holes a542 are provided on the conduit connection plate 540, the plug boards a541 pass through the upper cover 120 from within the housing a110, and the plug holes a542 are raised above the surface of the upper cover 120, by which the conduit connection plate 540 and the conduit clamping mechanism 3 can be quickly connected or disconnected. Meanwhile, to accommodate the structural form of the conduit attachment plate 540, there are specific requirements on the structure of the conduit gripping mechanism 3, as will be described in detail below.

Referring to fig. 9 to 12, the catheter clamp mechanism 3 includes a medical three-way valve 310 and a clamp assembly 320; the medical three-way valve 310 is used for connecting a catheter, is an existing medical appliance commonly used in clinic, is innovatively used for clamping and controlling the catheter, and mainly comprises a three-way body, a control valve and a screw cap, wherein the screw cap can rotate relative to the three-way body. In use, the catheter is first connected to the connecting sheath 324, and then the connecting sheath 324 is threaded with the screw cap, thereby connecting the catheter to the medical three-way valve 310 and being capable of relative rotation; the connecting sheath 324 serves as an intermediate connecting element, as is well known in the art, and will not be described in detail here. The clamping assembly 320 is used for clamping and fixing the medical three-way valve 310, of course, the three-way body of the medical three-way valve 310 is fixed, two clamping and fixing are provided on two sides of the medical three-way valve 310, the clamping assembly comprises clamping blocks 322, one side surface of each clamping block 322 is provided with a clamping groove which is clamped with the half of the three-way body of the medical three-way valve 310, the clamping grooves of the two clamping blocks 322 can be combined together to form a clamping cavity, the three-way body of the medical three-way valve 310 can be reliably clamped, and the rotation of the screw cap is not influenced. Of course, in order to adapt to the connection structure of the above-mentioned conduit connection plate 540, here, an open slot is provided at the lower side of the clamping block 322, a switch base 321 is disposed in the open slot, and a switch a323 capable of being toggled is disposed between the clamping block 322 and the switch base 321, where the switch a323 is used for locking or unlocking the conduit connection plate 540. Switch A323 comprises horizontal cardboard and vertical board of stirring, and the cardboard slides and sets up in the spout on switch base 321, and after stirring the board and passing the hole on the grip block 322, supplies to stir. When the catheter clamping mechanism 3 is mounted above the upper cover 120, the insertion plate a541 is inserted into a vertical insertion hole formed between the clamping block 322 and the switch base 321, and the clamp plate is inserted into the insertion hole a542 of the insertion plate a541 by pulling the switch a323, so that the detachable connection between the catheter connection plate 540 and the catheter clamping mechanism 3 is realized.

From the above, the catheter clamping mechanism 3 adopts the structure form that the clamping assembly 320 clamps the medical three-way valve 310, so that the disassembly and assembly are simple, and the clamping structure is greatly simplified. The medical three-way valve 310 is innovatively adopted to connect the catheter, so that the catheter can be simply and quickly connected with the catheter, the disinfection of the connection parts is facilitated, more importantly, the contrast agent can be injected into the blood vessel in the operation process through the medical three-way valve 310, the contrast is carried out on the inside of the blood vessel at the head end of the catheter, the relative position of the catheter guide wire and the blood vessel can be observed, the further operation of the catheter guide wire is facilitated, and the operation safety is improved; in addition, the medical three-way valve 310 has lower cost, can be used once, can be discarded after being used up, and does not need repeated disassembly, assembly and disinfection like the existing clamping mechanism.

As shown in connection with fig. 4-8, catheter twist assembly 4 includes motor a401, pinion a402, and bull gear a403; the motor A401 is fixed in the shell A110, has a good protection effect, an output shaft of the motor A401 is connected with the pinion A402, the large gear A403 is connected with the connecting sheath 324 of the fixed catheter, and the pinion A402 and the large gear A403 are meshed for transmission; in use, the motor A401 drives the pinion A402 to rotate, and the pinion A402 and the large gear A403 are meshed for transmission, and the large gear A403 drives the connecting sheath 324 to rotate, so that the catheter is driven to twist, the angle of the head end of the catheter can be adjusted, and the catheter can be smoothly propelled in a blood vessel. The center of the large gear a403 is provided with a hole matching the shape of the connecting sheath 324, and the connecting sheath 324 is inserted into the hole to connect the connecting sheath 324 with the large gear a 403.

The catheter torsion assembly 4 can realize the torsion operation of the catheter, thereby meeting the angle control of the head end of the catheter in the operation process and ensuring that the catheter can be smoothly pushed to a preset position in a blood vessel; the catheter torsion assembly 4 adopts a form of a motor A401 driving gear, the rotation speed of the catheter can be adjusted by adjusting the transmission ratio of the big gear and the small gear, and the connection between the big gear A403 and the medical three-way valve 310 is realized through the connecting sheath 324, so that the torsion driving of the catheter can be completed, and the catheter can be simply and conveniently installed on the medical three-way valve 310.

As shown in connection with fig. 13 and 14, the guidewire auxiliary clamping mechanism 2 includes a base 210, a support 220, a clamping member 230, and a driving element; wherein the base 210 is used for mounting the guide wire auxiliary clamping mechanism 2 on the housing a110, the supporting member 220 and the driving element are both mounted on the base 210, the clamping member 230 is supported in the supporting member 220 by the spring 240, and is driven by the driving element to move up and down in the vertical direction to clamp or unclamp the guide wire. The support 220 has a spring cavity 221 thereon, and the spring 240 is positioned in the spring cavity 221; the clamping member 230 has a rod-shaped structure having a pressing block 231 at an upper end thereof and a small hole at a lower end thereof, and is inserted into the spring chamber 221 from above the supporting member 220, passes through the spring 240, and then protrudes through a lower portion of the supporting member 220 to be coupled to the driving member. The driving element can only drive the clamping member 230 to move up and down, but the driving element in this embodiment adopts a steering engine a250, the steering engine a250 is connected with a wire wheel 260, the wire wheel 260 is wound with a wire, and one end of the wire penetrates into a small hole at the lower end of the clamping member 230 so as to be connected with the clamping member 230. When the guide wire clamping device is used, the steering engine A250 drives the wire wheel 260 to rotate, the clamping piece 230 is driven to move downwards to compress the spring 240 through the wire, and the compression block 231 at the upper end of the clamping piece 230 moves downwards to compress the guide wire on the upper surface of the supporting piece 220, so that the guide wire is clamped.

In order to facilitate the attachment of the guide wire auxiliary clamping mechanism 2 to the housing a110, the base 210 is provided with a pair of insertion blocks 211 for attaching the guide wire auxiliary clamping mechanism to the housing a110, and the rear side of the housing a110 may be inserted through the pair of insertion blocks 211 and fastened by bolts.

In view of the above description, the structure of each part of the catheter controller and the connection relation thereof have been clearly and completely described, and the device has the following advantages:

(1) the whole structure is simple, the modularized structural design is adopted, all parts are relatively independent, the assembly can be completed through simple combination, the disassembly and assembly are convenient, and the structure is compact and the volume is small; most parts have simple structures, can be made of plastic products, have light weight and greatly reduce the manufacturing cost;

(2) the clamping, pushing, twisting and force measuring of the catheter and the auxiliary clamping or loosening of the guide wire can be realized simultaneously, so that the cooperative operation control of the guide wire of the catheter can be completed by matching with a guide wire controller, and various operation requirements of an operation are met;

(3) the sensor and the motor are well protected in a relatively closed structural form;

(4) in the operation process, the angiography of the vascular at the head end of the catheter can be conveniently realized, so that the relative position relation of the vascular of the catheter guide wire is known, and the operation safety is improved.

The catheter and the guide wire are controlled by the catheter controller, clamping, pushing, twisting and force measuring of the catheter and clamping and loosening of the guide wire are mainly completed, the matched control of the guide wire of the catheter is realized, the operation requirement of interventional operation is met, and the corresponding operation steps are described in detail below.

First, the main body portion 1 is mounted into the quick-connect hole 1031 of the platform connection block 1030 through the insert plate a111, and fixed by pins.

Then, the catheter clamping mechanism 3 clamps the catheter and installs, specifically: firstly, the tail end of the catheter is connected and installed on the connecting sheath 324, and in the step, the large gear A403 and the connecting sheath 324 are simultaneously matched and installed to prepare for the transmission of the subsequent catheter torsion assembly 4; the connecting sheath 324 is then screwed onto the screw cap of the medical three-way valve 310; then clamping and fixing the medical three-way valve 310 from two sides through the clamping blocks 322 of the clamping assembly 320; finally, the clamping assembly 320 after clamping the medical three-way valve 310 is inserted into the conduit connecting plate 540 above the upper cover 120, and the toggle switch A323 is inserted into the insertion hole A542 of the conduit connecting plate 540 to be locked, so that the conduit clamping mechanism 3 is fixedly connected with the conduit connecting plate 540, and at the moment, the pinion A402 and the large gear A403 are also meshed and connected in a transmission way; the clamping of the catheter by the catheter clamping mechanism 3 is completed and mounted to the body portion 1.

Then, after the guide wire is clamped by the guide wire controller, the head end of the guide wire is penetrated into the catheter through the medical three-way valve 310, so that the guide wire behind the medical three-way valve 310 is ensured to pass through the space between the supporting piece 220 and the pressing block 231 of the clamping piece 230 in the guide wire auxiliary clamping mechanism 2, and the guide wire is installed in place.

After the preparation, the catheter controller can correspondingly control the catheter and the guide wire, and the catheter controller is specifically as follows:

first, when separate control of the catheter is required

The guide wire auxiliary clamping mechanism 2 releases the guide wire, namely the steering engine A250 is powered off, and the clamping piece 230 is far away from the surface of the supporting piece 220 by the acting force of the spring 240, so that the clamping piece 231 cannot clamp the guide wire; the platform connecting block 1030 moves to drive the main body part 1 to move, so as to drive the catheter clamping mechanism 3 to move, and control the catheter to move independently, thereby completing pushing.

(II) when simultaneous control of catheter and guidewire is desired

The guide wire auxiliary clamping mechanism 2 is used for auxiliary clamping of the guide wire, namely, the steering engine A250 is powered on, the wire wheel 260 is driven to rotate, the wire wheel 260 pulls the clamping piece 230 downwards through wires, the clamping piece 230 overcomes the resistance of the spring 240 to move downwards until the compression block 231 compresses the guide wire on the surface of the supporting piece 220, and the clamping of the guide wire is completed; the platform connecting block 1030 drives the main body part 1 to move, and then the catheter clamping mechanism 3 drives the catheter to move, and meanwhile, the guide wire auxiliary clamping mechanism 2 drives the guide wire to synchronously move, so that synchronous pushing of the catheter and the guide wire is realized.

(III) when it is desired to control the wires individually

The moving platform stops moving, the catheter clamping mechanism 3 is not moved, the guide wire auxiliary clamping mechanism 2 loosens the guide wire, and the guide wire controller drives the guide wire to push the guide wire independently.

(IV) torsion control of catheter

The motor A401 acts, and drives the connecting sheath 324 to rotate together with the screw cap of the medical three-way valve 310 through the meshing transmission of the pinion A402 and the large gear A403, so as to drive the catheter to twist, complete the twisting operation of the catheter and realize the angle adjustment of the head end of the catheter.

Fifth, detection of catheter push force

The moving platform acts to drive the main body part 1 to push forwards, the pushing force is transmitted to the catheter clamping mechanism 3 through the baffle A510, the force sensor A550 and the catheter connecting plate 540, and in the pushing process, the force sensor A550 receives the pushing force information and converts the pushing force information into an electric signal to be output, so that the pushing force detection of the catheter is achieved.

The clamping, pushing, twisting and pushing force detection of the catheter and the auxiliary clamping and loosening of the guide wire can be completed through the steps, orderly work among the steps can be completed, and the cooperation of the guide wire controller and the catheter guide wire can be completed, so that various operation requirements in the operation process can be met. The guidewire controller is described in detail below.

2. Mechanism of guide wire controller

As shown in fig. 15, the guide wire controller also mainly includes five parts, namely a base part 6, a guide wire clamping mechanism 7, a clamping switching mechanism 8, a guide wire torsion assembly 630 and a guide wire force measuring assembly 9; the base portion 6 is an installation foundation of other four portions, the guide wire clamping mechanism 7 and the clamping switching mechanism 8 are detachably installed on the base portion 6, the guide wire clamping mechanism 7 is located on the upper side of the base portion 6, the clamping switching mechanism 8 is located on the rear side of the base portion 6, the guide wire clamping mechanism 7 is used for clamping guide wires, the clamping switching mechanism 8 is used for driving the guide wire clamping mechanism 7 to loosen clamping of the guide wires, the guide wire torsion assembly 630 is used for completing torsion operation of the guide wires, and the guide wire force measuring assembly 9 is used for detecting pushing force of the guide wires. The device can complete clamping, loosening, pushing, twisting and force measuring of the guide wire through mutual matching of all parts, thereby matching with the control of the catheter by the catheter controller and completing cooperative matching in the operation process. The specific structures of the respective parts will be described in detail below.

As shown in fig. 16 to 19, the base portion 6 has substantially the same structure as the main body portion 1, and mainly includes a housing B610 and a cover 620; in this embodiment, the housing B610 is a shell-like structure with an open top and a rear end, and the cover 620 is mounted on the top of the housing B610, so that a relatively closed space is formed in the housing B610, and room is made for mounting the subsequent guide wire torsion assembly 630 and the guide wire force measuring assembly 9. The guide wire clamping mechanism 7 is arranged above the cover plate 620, and the clamping switching mechanism 8 is fixed at the rear side of the shell B610, so that the installation positions are reasonably distributed, and the requirements of respective function implementation are met. Since the base portion 6 serves as a base portion through which the entire apparatus is mounted to the platform connection block 1030 to perform a corresponding operation, a pair of insert plates B611 are provided at the bottom of the housing B610 for convenience of mounting, and the insert plates B611 are inserted into the quick-connect holes 1031 and then fixed by pins.

As shown in connection with fig. 16-19, the guidewire force measurement assembly 9 is mounted within a housing B610, which is similar in construction to the catheter force measurement assembly 5, and which basically includes a spacer B910, a guidewire connector 940 and a force sensor B950; the partition board B910 is installed in the middle of the casing B610, the space in the casing B610 is approximately divided into an upper part and a lower part, two opposite sides of the partition board B910 are turned upwards to form side boards, two opposite inner sides of the two side boards are respectively provided with a linear guide rail pair B920, the linear guide rail pair B920 is connected with a guide wire connecting piece 940, the guide wire connecting piece 940 is used for connecting a guide wire clamping mechanism 7, and therefore the guide wire connecting piece 940 can slide relative to the partition board B910, which is also a premise of detecting the pushing force of a guide wire subsequently. In this embodiment, the linear guide pair B920 is also preferably a ball linear guide pair, and the friction force is small and almost negligible, so that the movement resistance of the guide wire connector 940 is negligible, and high accuracy of the detection of the guide wire pushing force is ensured. The linear guide pair B920 includes a guide rail fixed to a side plate of the partition board B910 and a slider connected to the guide wire connector 940 through a support board B930. The baffle B910 is also provided with an L-shaped sensor fixing plate B960, one end of the force sensor B950 is connected with the guide wire connecting piece 940, and the other end of the force sensor B950 is connected with the sensor fixing plate B960, so that the thrust of the guide wire is transmitted to the guide wire connecting piece 940 through the guide wire clamping mechanism 7, the guide wire connecting piece 940 moves relative to the baffle B910 to generate tension force on the force sensor B950, and a conversion element of the force sensor B950 senses a force signal, such as a strain gauge, converts the force signal into an electric signal and outputs the electric signal, thereby acquiring the force.

Of course, also for facilitating the connection between the wire connector 940 and the wire clamping mechanism 7, in this embodiment, a pair of plug boards B941 having plug holes B942 are provided on the wire connector 940, and the plug boards B941 pass through the cover 620 from the housing B610, so that the plug holes B942 are higher than the surface of the cover 620, and by this, the wire connector 940 can be quickly connected to or disconnected from the wire clamping mechanism 7. Meanwhile, to accommodate the structural form of the guide wire connector 940, specific requirements are imposed on the structure of the guide wire clamping mechanism 7, as will be described in detail below.

As shown in fig. 20-23, the guidewire clamping mechanism 7 includes a guidewire lock sleeve 710, a guidewire lock rod 720, a guidewire lock 730, and a sleeve support assembly 790; wherein the wire locking sleeve 710, the wire locking lever 720, and the wire lock 730 all have a central bore therethrough along respective axes for passage of a wire; the guide wire locking device 730 has a mushroom-like structure, two ends of the guide wire locking device have different sizes, a smaller end of the guide wire locking device can be inserted into the end part of the guide wire locking rod 720, a larger end of the guide wire locking device is exposed outside and is provided with an outer conical surface, at least two cuts are formed along the circumferential direction of the outer conical surface, in the embodiment, 4 cuts are formed, and the conical end is cut into 4 parts uniformly; and the wire locking rod 720 fitted into the wire locker 730 is inserted into the wire locking sleeve 710, and the wire locking sleeve 710 has a tapered hole therein to be matched with the outer tapered surface of the wire locker 730. Meanwhile, one end of the wire locking rod 720, which is close to the wire locker 730, is provided with a stop ring, the wire locking rod 720 is sleeved with a switching spring 740, one end of the switching spring 740 is limited by the stop ring, a locker end cover 760 is installed at the end of the wire locking sleeve 710, the switching spring 740 is pressed into the wire locking sleeve 710, and a gasket 750 is arranged between the locker end cover 760 and the end of the switching spring 740, so that the locker end cover 760 can better press the switching spring 740. Thus, the locker end cap 760 presses the switching spring 740, the switching spring 740 applies a pushing force to the wire locking lever 720, and the wire locking lever 720 presses the wire locker 730, so that the outer conical surface of the wire locker 730 and the surface of the taper hole of the wire locking sleeve 710 relatively move, and the end part of the wire locker 730, which is provided with the conical surface, radially contracts to clamp the wire due to the existence of the notch on the wire locker 730, and the clamping force is applied to the whole circumference of the wire in such a way that the clamping area is large, the clamping is reliable, and the damage to the wire is small.

It should be noted that, to satisfy the connection between the guide wire clamping mechanism 7 and the guide wire connecting member 940 and the torsion of the guide wire by the subsequent guide wire torsion assembly 630, the support structure of the guide wire locking sleeve 710 is designed in this embodiment, and the guide wire locking sleeve 710 is supported by the sleeve support assembly 790 and is disposed on the base portion 6. The sleeve support assembly 790 includes a positioning base 791, a bearing platen 794, and a positioning platen 795; the positioning base 791 has a U-shaped accommodating cavity, two bearing clamping grooves are formed in the accommodating cavity, two bearings 780 are respectively arranged at two ends of the guide wire locking sleeve 710 and clamped in the bearing clamping grooves, the bearings are pressed from above the bearings 780 by the bearing pressing plate 794, the guide wire locking sleeve 710 can be prevented from moving axially, the guide wire locking sleeve 710 is fixed on the bearing pressing plate 794 through the positioning pressing plate 795, radial movement of the guide wire locking sleeve 710 is prevented, and the bearing pressing plate 794 and the positioning base 791 are connected in a plugging connection mode, so that the guide wire locking sleeve is convenient to plug. In addition, an open slot is respectively provided at two sides of the bottom of the positioning base 791, a connecting seat 793 is provided in the open slot in a matching way, and a locking switch 792 which can be moved is provided in the space between the positioning base 791 and the connecting seat 793, and the locking switch 792 is used for locking or unlocking the guide wire connecting piece 940. The locking switch 792 is composed of a horizontal clamping plate and a vertical poking plate, wherein the clamping plate is arranged in a sliding groove on the connecting seat 793 in a sliding manner, and the poking plate penetrates through a hole on the positioning base 791 to expose the surface of the connecting seat 793 for poking. When the wire clamping mechanism 7 is mounted above the cover 620, the plug board B941 is inserted into a vertical insertion hole formed between the positioning base 791 and the connection base 793, and the clamping plate is inserted into the insertion hole B942 of the plug board B941 by pulling the locking switch 792, so that the wire clamping mechanism 7 is detachably connected with the wire connecting piece 940.

As shown in connection with fig. 15-19, the guidewire twisting assembly 630 is also structured like the catheter twisting assembly 4, and includes a motor B631, a pinion gear B632, and a bull gear B633; the motor B631 is fixed in the housing B610, and has a good protection effect, an output shaft of the motor B631 is connected with the pinion B632, the large gear B633 is connected with the front end of the wire locking sleeve 710 through a key, and the pinion B632 and the large gear B633 are in meshed transmission. In use, the motor B631 drives the pinion B632 to rotate, and the large gear B633 drives the guide wire locking sleeve 710 to rotate through the meshing transmission of the pinion, so that the guide wire can rotate along with the guide wire locking sleeve 710 under the premise of clamping the guide wire, the angle of the guide wire end can be adjusted, and the smooth pushing of the catheter in the blood vessel is ensured.

The guide wire twisting assembly 630 can realize the twisting operation of the guide wire, thereby meeting the angle control of the head end of the guide wire in the operation process, ensuring that the guide wire can be smoothly pushed to a preset position in a catheter and a blood vessel; the guide wire torsion assembly 630 adopts a form of a motor B631 driving gear, and the rotation speed of the guide wire can be adjusted by adjusting the transmission ratio of the big gear and the small gear.

As shown in fig. 24 and 25, the clamp switching mechanism 8 includes a rudder mount 810 and a steering engine B820; the steering engine base 810 is used for installing the clamping switching mechanism 8 on the shell B610, the steering engine B820 is installed on the steering engine base 810, the steering engine B820 is connected with the rotary table 830 and can drive the rotary table 830 to rotate, the wire is wound on the rotary table 830, the free end of the wire is used for pulling the guide wire locking rod 720, the guide wire locking rod 720 is enabled to release the extrusion of the guide wire locking device 730, and therefore the guide wire locking device 730 is enabled to release the clamping of the guide wire. In order to achieve the above function and not affect the clamping of the guide wire in the normal state of the guide wire clamping mechanism 7, the connection structure of the wire and the guide wire locking rod 720 is designed, in this embodiment, the end of the guide wire locking rod 720 is connected with a latch pull plate 770 through threads, and a distance is formed between the latch pull plate 770 and the latch end cap 760, and the distance can be adjusted through the threaded matching length of the latch pull plate 770 and the guide wire locking rod 720; meanwhile, a switching plate 840 is arranged on the partition board B910 through a linear guide rail pair C850, the switching plate 840 is provided with an arc notch, the switching plate 840 is clamped between the locker end cover 760 and the locker pulling plate 770 through the notch, the rotary table 830 is connected with the switching plate 840 in an upper line, the steering engine B820 drives the rotary table 830 to rotate, the switching plate 840 is pulled to move backwards through the line, the switching plate 840 is blocked by the locker pulling plate 770, and the guide wire locking rod 720 is driven to move backwards against the switching spring 740, so that a guide wire is loosened.

In addition, in order to facilitate the installation of the guide clamping switching mechanism 8 to the housing B610, the steering engine block 810 is provided with a pair of insertion blocks 811 for installing it to the housing B610, and the connection can be completed by inserting the insertion blocks 811 into the rear side of the housing B610 and fixing it with bolts.

In the prior art, the clamping and loosening of the guide wires are realized through the same mechanism, the guide wires are not separated, so that the clamping structure is relatively complex, but in the specific use, the guide wires are required to be clamped in most cases, and in the matched operation of the guide tube and the guide wires, the guide wires are required to be loosened only when the clamping position of the guide tube and the clamping position of the guide wires reach the limit position and the clamping position of the guide wires are required to be adjusted, so that the clamping and loosening of the guide wires are controlled separately, the guide wire clamping mechanism 7 always clamps the guide wires by default in consideration of the actual use condition, and when the guide wires are required to be loosened, the guide wires are loosened through switching by the clamping switching mechanism 8, so that the structure is greatly optimized.

In view of the above description, the structure of each part of the guide wire controller for the interventional operation robot and the connection relation thereof have been clearly and completely described, which has advantages similar to those of the catheter controller, namely:

(2) the clamping, loosening, pushing, twisting and force measuring of the guide wire can be realized at the same time, so that the cooperative control operation of the guide wire of the catheter is matched with the catheter controller, and various operation requirements of the operation are met;

the guide wire controller can be used for mainly completing clamping, loosening, pushing, twisting and force measurement of the guide wire, meets various operation requirements of interventional operation, and details corresponding operation steps are described below.

First, the base portion 6 is inserted into the quick-connect hole 1031 of the platform connection block 1030 through the insert plate B611 and fixed with pins. The front end of the guidewire is then passed through the guidewire lock rod 720, the guidewire lock 730, and out the front end of the guidewire lock sleeve 710, tightening the lock end cap 760, causing the guidewire lock 730 to grip the guidewire. Of course, in combination with the catheter controller described above, the tip of the guidewire is inserted into the catheter through the medical three-way valve 310.

After the preparation, the guide wire can be correspondingly controlled, and the method concretely comprises the following steps:

push operation of (one) guide wire

Steering engine B820 does not act, and the guide wire is clamped by guide wire locking device 730, and platform connecting block 1030 moves, so that the guide wire is driven to move forwards together, and pushing of the guide wire is achieved.

Push force detection of guide wire

In the guide wire pushing process, the pushing force of the guide wire is transmitted to the force sensor B950 through the guide wire clamping mechanism 7, the force sensor B950 deforms, and a force signal is converted into an electric signal to be output, so that the pushing force is measured.

(III) twisting operation of the guide wire

On the premise of clamping the guide wire, the motor B631 is powered on, and the guide wire locking sleeve 710 is driven to rotate through the meshing transmission of the pinion gear B632 and the large gear B633, so that the guide wire is driven to rotate, and the twisting operation of the guide wire is realized.

(IV) wire unwinding operation

The steering engine B820 is powered to drive the turntable 830 to rotate, the wire is wound on the turntable 830, the switching plate 840 is driven to move backwards, the switching plate 840 pulls the guide wire locking rod 720 to move, and the guide wire locking device 730 releases the clamping of the guide wire.

The clamping, loosening, pushing, twisting and pushing force detection of the guide wire can be completed through the steps, and the cooperative operation of the guide wire and the catheter can be completed through orderly execution among the steps, so that various operation requirements in the operation process can be met.

For the whole machine, the control method of the interventional operation robot from the end to the catheter guide wire is to control the relative positions of the catheter controller and the guide wire controller in the moving direction through the moving platform and to orderly finish the control actions of the catheter controller and the guide wire controller on the catheter and the guide wire; the clamping, loosening, pushing, twisting or force measuring of the catheter and the guide wire can be controlled simultaneously, so that complex operation actions are completed; it should be noted that, when the guide wire controller pushes the guide wire to approach the guide wire controller, the guide wire controller needs to be moved backward at this time, the guide wire controller clamps the guide wire by the guide wire auxiliary clamping mechanism 2, and after the guide wire controller loosens the guide wire and pushes the guide wire to a desired position backward, the guide wire clamp clamps the guide wire again, at this time, the guide wire auxiliary clamping mechanism 2 can loosen the guide wire, so that a switching action in the guide wire pushing process is realized, and the position of the guide wire is ensured not to be changed in the switching process.

The examples of the present invention are merely for describing the preferred embodiments of the present invention, and are not intended to limit the spirit and scope of the present invention, and those skilled in the art should make various changes and modifications to the technical solution of the present invention without departing from the spirit of the present invention.

Claims

1. The utility model provides an intervention operation robot is from end, includes pipe controller, seal wire controller and moving platform, its characterized in that:

the mobile platform comprises a platform main beam (1010), wherein two platform connecting blocks (1030) are arranged on the platform main beam (1010) through a linear guide rail pair D (1020); each platform connection block (1030) is driven by a platform driving mechanism (1040); the catheter controller and the guide wire controller are respectively arranged on two platform connecting blocks (1030); the platform driving mechanism (1040) comprises a platform motor (1041) and a synchronous belt (1044); the platform motor (1041) is arranged at one end of the platform girder (1010), and is connected with a main synchronizing wheel (1042), a secondary synchronizing wheel (1043) is arranged at the other end of the platform girder (1010), the main synchronizing wheel (1042) and the secondary synchronizing wheel (1043) are in transmission connection through a synchronous belt (1044), and a platform connecting block (1030) is connected with the synchronous belt (1044);

the catheter controller comprises a main body part (1), a catheter clamping mechanism (3) and a guide wire auxiliary clamping mechanism (2), wherein the catheter clamping mechanism (3) is used for clamping a catheter, and the guide wire auxiliary clamping mechanism (2) is used for clamping or loosening a guide wire; the catheter clamping mechanism (3) and the guide wire auxiliary clamping mechanism (2) are detachably arranged on the main body part (1); the catheter clamping mechanism (3) comprises a medical three-way valve (310) and a clamping assembly (320); the medical three-way valve (310) is used for connecting a catheter and is fixed on the main body part (1) through the clamping component (320); the main body part (1) comprises a shell A (110) and an upper cover (120) arranged on the shell A (110), and the clamping assembly (320) is detachably arranged on the upper cover (120);

The guide wire controller comprises a base body part (6), a guide wire clamping mechanism (7) and a clamping switching mechanism (8), wherein the guide wire clamping mechanism (7) is arranged on the base body part (6), the guide wire clamping mechanism (7) is used for clamping a guide wire, and the clamping switching mechanism (8) is used for driving the guide wire clamping mechanism (7) to loosen the clamping of the guide wire; the guide wire clamping mechanism (7) comprises a guide wire locking sleeve (710), a guide wire locking rod (720) and a guide wire locking device (730), wherein one end of the guide wire locking rod (720) is provided with the guide wire locking device (730) and then is arranged in the guide wire locking sleeve (710); the guide wire locking sleeve (710) is provided with a taper hole, the guide wire locking device (730) is provided with an outer conical surface matched with the taper hole of the guide wire locking sleeve (710), at least two cuts are formed in the outer conical surface of the guide wire locking device (730) along the circumferential direction, and the guide wire locking device (730) radially contracts under stress to clamp the guide wire; the guide wire locking rod (720) is sleeved with a switching spring (740), and the switching spring (740) is pressed into the guide wire locking sleeve (710) through a locker end cover (760) arranged at the end part of the guide wire locking sleeve (710);

the clamping switching mechanism (8) comprises a steering engine B (820), wherein the steering engine B (820) is provided with a turntable (830), wires are wound on the turntable (830), and the end parts of the wires are connected with a switching plate (840) arranged through a linear guide rail pair C (850); the wire locking rod (720) is provided with a locker pulling plate (770), and the switching plate (840) is clamped between the locker end cover (760) and the locker pulling plate (770).

2. An interventional procedure robot slave according to claim 1, characterized in that: the catheter controller also comprises a catheter torsion assembly (4), and the catheter torsion assembly (4) is used for driving a screw cap of the medical three-way valve (310) to drive the catheter to rotate; the catheter torsion assembly (4) comprises a motor A (401), a pinion A (402) and a large gear A (403); said motor a (401) is mounted in the body part (1), it connects pinion a (402); the large gear A (403) is matched with a connecting sheath (324) arranged on a screw cap of the medical three-way valve (310), and the connecting sheath (324) is used for fixing a catheter; the pinion A (402) and the large gear A (403) are meshed for transmission.

3. An interventional procedure robot slave according to claim 1 or 2, characterized in that: the catheter controller further comprises a catheter force measuring assembly (5) for detecting a pushing force of the catheter; the catheter force measuring assembly (5) comprises a baffle A (510), a catheter connection plate (540) and a force sensor A (550) which are arranged in the main body part (1); the conduit connection plate (540) is used for connecting a conduit clamping mechanism (3) and is movably arranged through the linear guide rail pair A (520); one end of the force sensor A (550) is connected with the baffle A (510), and the other end is connected with the conduit connection plate (540).

4. An interventional procedure robot slave according to claim 3, characterized in that: the medical three-way valve (310) is clamped and fixed from two sides through two clamping assemblies (320), each clamping assembly (320) comprises a clamping block (322) and a switch base (321) fixed below the clamping block (322), a switch A (323) capable of being poked is arranged between the clamping block (322) and the switch base (321), and the switch A (323) is used for locking or unlocking the conduit connecting plate (540).

5. An interventional procedure robot slave according to claim 1, characterized in that: the guide wire auxiliary clamping mechanism (2) comprises a supporting piece (220), a clamping piece (230) and a driving element; the clamping piece (230) is supported and arranged in the supporting piece (220) through a spring (240), a pressing block (231) is arranged at the upper end of the clamping piece (230), and the driving element can drive the supporting piece (220) to move up and down in the vertical direction.

6. An interventional procedure robot slave according to claim 5, characterized in that: the driving element is steering wheel A (250), steering wheel A (250) is connected with wire wheel (260), wire is wound on wire wheel (260), and one end of wire is connected with clamping piece (230).

7. An interventional procedure robot slave according to claim 1, characterized in that: the guidewire controller further includes a guidewire twisting assembly (630) for driving the guidewire lock sleeve (710) in rotation; the guide wire torsion assembly (630) comprises a motor B (631) arranged on the base body part (6), and the motor B (631) is connected with a pinion B (632); the guide wire locking sleeve (710) is provided with a large gear B (633) meshed with the small gear B (632); the guide wire locking sleeve (710) is supported and arranged on the base body part (6) through a sleeve supporting component (790); the sleeve support assembly (790) includes a positioning base (791) with a guidewire lock sleeve (710) mounted in the positioning base (791) by a bearing (780).

8. An interventional procedure robot slave according to claim 7, characterized in that: the guide wire controller also comprises a guide wire force measuring assembly (9) for detecting the pushing force of the guide wire; the guide wire force measuring assembly (9) comprises a baffle B (910), a guide wire connecting piece (940) and a force sensor B (950) which are arranged in the base body part (6); the guide wire connecting piece (940) is used for connecting the sleeve supporting component (790) and is movably arranged on the partition board B (910) through the linear guide rail pair B (920); one end of the force sensor B (950) is connected with the baffle B (910), and the other end is connected with the guide wire connecting piece (940).

9. An interventional procedure robot slave according to claim 8, characterized in that: the bottom of the positioning base (791) is provided with a toggle locking switch (792) through a connecting seat (793); the guide wire connecting piece (940) is provided with a plugboard B (941) with a plughole B (942), and the locking switch (792) can be inserted into the plughole B (942) by pulling the locking switch (792), so that the guide wire connecting piece (940) is locked.