CN107374741A - A kind of intervention operation robot is from end device and its operating platform and control method - Google Patents

A kind of intervention operation robot is from end device and its operating platform and control method Download PDF

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Publication number
CN107374741A
CN107374741A CN201710544637.0A CN201710544637A CN107374741A CN 107374741 A CN107374741 A CN 107374741A CN 201710544637 A CN201710544637 A CN 201710544637A CN 107374741 A CN107374741 A CN 107374741A
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CN
China
Prior art keywords
seal wire
conduit
platform
controller
clamp
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Granted
Application number
CN201710544637.0A
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Chinese (zh)
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CN107374741B (en
Inventor
肖楠
郭书祥
包贤强
沈睿
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels

Abstract

The invention discloses a kind of intervention operation robot from end device and its operating platform and control method, belong to interventional surgery technical field.The operating platform includes support platform, by line slideway auxiliary D at least provided with a platform contiguous block in support platform；The platform contiguous block is driven by drive mechanism, and it is used to install catheter controller or guidewire controller；Platform contiguous block is driven by drive mechanism, and it is used to install catheter controller or guidewire controller.The intervention operation robot includes catheter controller, guidewire controller and upper operating platform from end device；The catheter controller and guidewire controller are respectively arranged on a platform contiguous block.Intervention operation robot of the present invention installs catheter controller and guidewire controller on the operational platform from end device, solves the problems, such as that existing robot is difficult to complete to conduit and seal wire cooperating.

Description

A kind of intervention operation robot is from end device and its operating platform and 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 from end device and its operating platform and controlling party 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 from end device and its operating platform and control method, the operating platform Purpose be to solve the problems, such as that prior art is difficult to meet the requirement of catheter guide wire cooperating；The intervention operation robot is from end Device installs catheter controller and guidewire controller on the operational platform, solves existing robot and is difficult to complete to conduit and seal wire The problem of cooperating；This method can control catheter controller and guidewire controller to complete to conduit and seal wire by operating platform Cooperating control.
2nd, technical scheme
To solve the above problems, the present invention adopts the following technical scheme that.
A kind of operating platform, including support platform, by line slideway auxiliary D at least provided with one in described support platform Individual platform contiguous block；The platform contiguous block is driven by drive mechanism, and it is used to install catheter controller or guidewire controller.
As a further improvement, the platform contiguous block has two, it is respectively used to that catheter controller and seal wire control are installed Device processed, each platform contiguous block are individually controlled by a drive mechanism.
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；Rope tension is in two tensioning devices On structure, its connecting platform contiguous block；The motor connects rope sheave, and rope sheave is used to drive cable tie moving platform contiguous block to move It is dynamic.
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 Adjusting bolt Adjusting screw installs screw rod, and screw rod can adjust position of the guide rod in guiding fixed cover, make directive wheel tensioning rope.
A kind of intervention operation robot operates from end device, including catheter controller, guidewire controller and above-mentioned one kind Platform；The catheter controller and guidewire controller are separately mounted on two platform contiguous blocks.
As a further improvement, the catheter controller includes main part, conduit clamp system and seal wire auxiliary clamp Mechanism, conduit clamp system are used to clamp conduit, and seal wire auxiliary clamp mechanism is used to clamp or unclamp seal wire；Described vessel clamp Tight mechanism and seal wire auxiliary clamp mechanism are removably mounted in main part.
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 on housing A, clamp assemblies are removably mounted on lid.
As a further improvement, catheter controller, which also includes conduit, reverses component, it is medical for driving that conduit reverses component The screw-cap of triple valve drives conduit rotation；The conduit, which reverses component, includes motor A, little gear A and gear wheel A；The electricity Machine A is arranged in main part, and it connects little gear A；The gear wheel A 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 A and gear wheel A engaged transmissions.
As a further improvement, catheter controller also includes the conduit dynamometry component for being used to detect the push power of conduit；Institute State dividing plate A, conduit connecting plate and force snesor A that conduit dynamometry component includes being arranged in main part；The conduit connection Plate is used for connecting conduit clamp system, and it is movably arranged by line slideway auxiliary A；Described force snesor A one end connects with dividing plate A Connect, 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 A stirred, switch A are used to 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 A, steering wheel A connection line wheels, wired, line is wound in line wheel One end connection clamping element.
As a further improvement, described guidewire controller includes body portion, the seal wire folder on body portion Tight mechanism and clamping switching mechanism, seal wire clamp system are used to clamp seal wire, clamp switching mechanism and are used to drive seal wire clamping machine Structure unclamps the clamping to seal wire.
As a further improvement, the seal wire clamp system includes seal wire locking sleeve, seal wire locking rod and seal wire locking Device, seal wire locking rod one end installation seal wire lock device after load seal wire locking sleeve in；The seal wire locking sleeve has cone Hole, seal wire lock device have the male cone (strobilus masculinus) that is engaged with the taper hole of seal wire locking sleeve, along week on the male cone (strobilus masculinus) of seal wire lock device To at least two otch are opened up, seal wire lock device clamps seal wire by stress radial contraction；It is cased with cutting on the seal wire locking rod Change spring, switching spring by installed in the lock device press-mounting of end cover of seal wire locking sleeve ends in seal wire locking sleeve.
As a further improvement, the clamping switching mechanism includes steering wheel B, steering wheel B installs rotating disk, is wound with rotating disk Line, the end of line are connected with the switch boards set by line slideway auxiliary C；Lock device arm-tie is installed on the seal wire locking rod, Switch boards are stuck between lock device end cap and lock device arm-tie.
As a further improvement, the guidewire controller also includes being used to drive the seal wire of seal wire locking sleeve rotating to reverse Component；The seal wire reverses the motor B, motor B connection little gears B that component includes being arranged on body portion；Described seal wire The gear wheel B engaged with little gear B is installed on locking sleeve；Described seal wire locking sleeve passes through housing supports modular support It is arranged on body portion；The housing supports component includes positioning base, and seal wire locking sleeve is by bearing installation mounted in fixed In the base of position.
As a further improvement, the guidewire controller also includes being used for the seal wire dynamometry component for detecting seal wire push power； Described seal wire dynamometry component includes dividing plate B, seal wire connector and the force snesor B being arranged in body portion；Described leads Silk connector is used for branch sleeve support component, and it is removably set on dividing plate B by line slideway auxiliary B；The power sensing Device B one end is connected with dividing plate B, and the other end is connected with seal wire connector.
As a further improvement, the bottom of the positioning base is provided with the locking switch that can be stirred by connecting seat；Institute The seal wire connector stated is provided with spliced eye B plugboard B, and stirring locking switch can insert locking switch in spliced eye B, So as to pin seal wire connector.
From the control method of end device, operating platform control catheter controller and seal wire control a kind of intervention operation robot The relative position of device in the direction of movement, complete the collaboration push operation of conduit and seal wire；Wherein, catheter controller is used to control The action of conduit, guidewire controller are used for the action for controlling seal wire.
3rd, beneficial effect
Compared to prior art, beneficial effects of the present invention are：
(1) operating platform of the invention, the axial movement control monorail of conduit and seal wire is arranged, i.e., using a rail The form of the multiple platform contiguous blocks in road, platform contiguous block are used for A/C controller or guidewire controller, due to using multiple Sliding block is run on same track, and the stroke of each sliding block is completely superposed, the difference is that smoothly, such a mode accords with completely successively The practical operation form of doctor's hand is closed, the collaboration push of conduit and seal wire can be completed, meet actual operation operational requirements；
(2) operating platform of the invention, a track is used for catheter controller and the control of the straight line of guidewire controller The form of multiple sliding blocks, avoid the control in the prior art for each linear motion and be required for a set of track and a set of sliding block And causing volume big, the problem of weight is big, the present invention reduces device volume using the form of multiple sliding block common rails, and The weight of device is alleviated, reduces cost, enabling is preferably applied for clinical operation；
(3) operating platform of the invention, can carry out Function Extension as needed, when being needed in surgical procedure to conduit and When seal wire carries out auxiliary operation, and when the axial linear movement of auxiliary operation is asynchronous with the motion of conduit, seal wire, increasing can be passed through Add the quantity of platform contiguous block to complete, carry backup actuating device using increased platform contiguous block, realized to leading The booster action of pipe and seal wire, it can carry out Function Extension, favorable expandability according to specific needs, while its operation is relatively simple It is single；
(4) operating platform of the invention, the control of rectilinear movement is completed using rope driving, and it is same using strainer When play a part of being tensioned and be oriented to, using rope replace traditional rigid structure because rope drives so that its structure is simple Single, mechanism is relatively light, and inertia is small, and the compliance of device is good, will not produce rigid collision or impact, while each platform connection The motion of block is all individually controlled by a motor, for the respective motion of platform contiguous block can Linear Control, simultaneously because It uses pulley to complete to be oriented to so that axial friction is small, and can be tensioned using strainer so that installation is adjusted Section is convenient；
(5) intervention operation robot of the present invention is from end device, by setting catheter controller and seal wire on the operational platform Controller can be completed to meet the various requirement performed the operation to conduit and seal wire cooperating in interventional procedure；
(6) intervention operation robot of the present invention from end device, catheter controller by by conduit clamp system and seal wire Auxiliary clamp mechanism is removably mounted in main part, simple combination, easy disassembly, and conduit clamp system energy Conduit is enough clamped, seal wire auxiliary clamp mechanism clamps or loosens seal wire, and so as to coordinate guidewire controller, catheter guide wire can be achieved Individually or simultaneously push, cooperate；
(7) intervention operation robot of the present invention conduit clamp system from end device, catheter controller uses clamp assemblies The structure type of medical three-way valve is clamped, dismounting combination is simple, enormously simplify clamp structure, and medical three-way valve not only can be with The simple and quick connection of conduit, it is easy to the sterilization of their junctions, and more important is by medical three-way valve, can performing the operation During to intravascular squeeze into contrast agent, radiography, and then the relative position of observable catheter guide wire and blood vessel are carried out to internal blood vessel Put, be easy to the further operation to catheter guide wire, improve the security of operation；, can one in addition, the cost of medical three-way valve is relatively low Secondary property uses, be finished it is i.e. discardable, unlike existing clamping device also needs to repeated disassembled and assembled sterilization；
(8) intervention operation robot of the present invention reverses component by conduit from end device, catheter controller and can realized pair The twist operation of conduit, so as to meet that the angle of conduit head end is controlled in surgical procedure, ensure that conduit in the blood vessels can be suitable Profit promotes to precalculated position；Conduit reverses the form that component uses motor-driven gear, by adjusting little gear and gear wheel Gearratio, the velocity of rotation of conduit is can adjust, and the connecting utricle that connects through of gear wheel and medical three-way valve is realized, can be completed Conduit is simply and easily installed on medical three-way valve by the torsion driving of conduit, and can；Equally, seal wire reverse component there is also Same action effect；
(9) intervention operation robot of the present invention passes through dynamometry component from end device, catheter controller or guidewire controller The push power of conduit or seal wire during push can be detected, reaches the accurate control of conduit or seal wire, improves operation safety Property；Real-time dynamic force feedback is carried out using force snesor, for surgical control push power size；Dynamometry component is arranged on master It is compact-sized inside body portion or body portion, structure relative closure, it can be good at protecting force snesor, and force snesor Dynamometry form it is simple and convenient, intermediate connector is relatively fewer, and the dynamometry degree of accuracy is high；
(10) intervention operation robot of the present invention clamp assemblies of conduit clamp system from end device, catheter controller are Reliable retention simply can be carried out to medical three-way valve, and pass through the switching toggle in clamp assemblies, you can be rapidly completed and lead The dismounting of pepe gripper and conduit connecting plate in dynamometry component, smart structural design；
(11) seal wire auxiliary clamp mechanism is innovatively from end device, catheter controller for intervention operation robot of the present invention The structure type being clamped using servo driving line wheel with moving-wire pulling clamping element to seal wire, the opposition of spring can make Clamping element unclamps seal wire, simple to operate, is easy to control, and the collaboration that conduit clamp system is completed to catheter guide wire can be coordinated to match somebody with somebody Closing operation；
(12) intervention operation robot of the present invention seal wire clamp system from end device, guidewire controller uses seal wire locking The cone match form of device and seal wire locking sleeve, seal wire locking rod, which can extrude seal wire lock device, makes its radial contraction, so as to press from both sides Seal wire is held, this kind of mode is to, all by chucking power, blessing area is big, and clamping is reliable, the damage to seal wire in seal wire whole circumference It is small；
(13) intervention operation robot of the present invention coordinates seal wire from end device, guidewire controller by clamping switching mechanism The structure type of clamp system may be such that seal wire lock device unclamps the clamping to seal wire, clamps in switching mechanism and passes through servo driving Rotating disk rotates, the line winding on rotating disk, and line pulls seal wire locking rod to overcome the elastic force movement of switching spring, so as to from opening to leading The extruding of silk lock device, makes seal wire lock device unclamp seal wire, such a frame mode is simple, and easy switching is reliable, and controllability is strong；
(14) intervention operation robot of the present invention seal wire clamp system from end device, guidewire controller uses positioning base By the structure of bearings seal wire locking sleeve, the clamping to seal wire is neither influenceed, seal wire is nor affected on and reverses Component driver Seal wire locking sleeve rotating
(15) intervention operation robot of the present invention is from end device, and overall structure is simple, catheter controller and guidewire controller Modular Structure Design is used, dismounting combination is easy, compact-sized, and major part can all adopt made of plastic, overall weight Light, manufacturing cost is relatively low.
Brief description of the drawings
Fig. 1 is operating platform of the 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 present invention；
Fig. 4 is the configuration schematic diagram of strainer in operating platform of the present 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 the main structure diagram of body portion in guidewire controller；
Figure 18 is the sectional view of D-D in Figure 17；
Figure 19 is the sectional view of E-E in Figure 18；
Figure 20 is the exploded perspective view of body portion in guidewire controller；
Figure 21 is the main structure diagram of seal wire clamp system in guidewire controller；
Figure 22 is the sectional view of F-F in Figure 21；
Figure 23 is the sectional view of H-H in Figure 22；
Figure 24 is the exploded perspective view of seal wire clamp system in guidewire controller；
Figure 25 is the dimensional structure diagram that switching mechanism is clamped in guidewire controller；
Figure 26 is the explosive view that switching mechanism is clamped in guidewire controller.
In figure：1st, main part；110th, housing A；111st, plate A；120th, upper lid；
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 A；260th, line wheel；
3rd, conduit clamp system；310th, medical three-way valve；320th, clamp assemblies；321st, switch pedestal；322nd, grip block； 323rd, A is switched；324th, connecting utricle；
4th, conduit reverses component；401st, motor A；402nd, little gear A；403rd, gear wheel A；
5th, conduit dynamometry component；510th, dividing plate A；520th, line slideway auxiliary A；530th, supporting plate A；540th, conduit connecting plate； 541st, plugboard A；542nd, spliced eye A；550th, force snesor A；560th, sensor fixation plate A；
6th, body portion；610th, housing B；611st, plate B；620th, cover plate；630th, seal wire reverses component；631st, motor B； 632nd, little gear B；633rd, gear wheel B；
7th, seal wire clamp system；710th, seal wire locking sleeve；720th, seal wire locking rod；730th, seal wire lock device；740th, cut Change spring；750th, pad；760th, lock device end cap；770th, lock device arm-tie；780th, bearing；790th, housing supports component；791、 Positioning base；792nd, locking switch；793rd, connecting seat；794th, bearing plate；795th, positioning pressuring plate；
8th, switching mechanism is clamped；810th, steering engine seat；811st, grafting block；820th, steering wheel B；830th, rotating disk；840th, switch boards； 850th, line slideway auxiliary C；
9th, seal wire dynamometry component；910th, dividing plate B；920th, line slideway auxiliary B；930th, supporting plate B；940th, seal wire connector； 941st, plugboard B；942nd, spliced eye B；950th, force snesor B；960th, sensor fixation plate B.
1110th, support platform；1120th, line slideway auxiliary D；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
As shown in Figure 1 and Figure 2, the present embodiment provides a kind of operating platform, including support platform 1110, platform contiguous block 1130 and drive mechanism 1140；Wherein, platform contiguous block 1130 at least has one, and it is set by line slideway auxiliary D1120 In support platform 1110, the present embodiment has three platform contiguous blocks 1130, and each platform contiguous block 1130 passes through driving Mechanism 1140 is operated alone, and platform contiguous block 1130 is used to install catheter controller, guidewire controller or other support auxiliary knots Structure.Catheter controller and guidewire controller have corresponding construction in the prior art, and catheter controller is used for clamping conduit and to conduit Rotated and push power detection etc., guidewire controller is used for clamping seal wire and seal wire is rotated and pushes power detection etc..
Described each drive mechanism 1140 includes motor 1142, rope 1141 and strainer 1150；Wherein, drive Dynamic 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 block 1130 moves；The strainer 1150 has two, is separately positioned on the both ends of support platform 1110, For support cable 1141, and it is tensioned rope 1141, rope sheave 1143 is wrapped on two strainers 1150, and rope sheave 1143 connects Connect platform contiguous block 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 a kind of intervention operation robot from end device, and it mainly includes catheter controller, seal wire controls Operating platform in device, and embodiment 1, in the present embodiment, operating platform has two platform contiguous blocks 1130, conduit control Device and guidewire controller are separately mounted on two platform contiguous blocks 1130.Operating platform structure is detailed in embodiment 1 Illustrate, the present embodiment is improved to the structure of catheter controller and guidewire controller, below for catheter controller and seal wire The structure of controller is described in detail.
First, the structure of catheter controller
As shown in figure 5, 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 described in detail respectively below.
With reference to shown in Fig. 6 to Fig. 9, main part 1 includes housing A110 and upper lid 120, in the present embodiment, housing A110 The shell-like structure opened for top and rear end, upper lid 120 are arranged on housing A110 top so that are formed in housing A110 relative The space more closed, the installation vacating space of component 4 and conduit dynamometry component 5 is reversed for further conduit.Conduit clamp system 3 Installed in the top of upper lid 120, 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 be grasped accordingly by it Make, for the convenience of installation, a pair of plate A111 are set in housing A110 bottom, and it is corresponding on platform contiguous block 1130 Setting connects hole soon, and plate A111 insertions connect hole, pin-and-hole is set on plate A111 soon, is inserted by pin through platform contiguous block 1130 Enter in pin-and-hole so that plate A111 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 is arranged in housing A110, and it mainly includes dividing plate A510, conduit connecting plate 540 and force snesor A550；Wherein, dividing plate A510 is fixed on housing A110 centre, by housing A110 Interior space is broadly divided into two parts up and down, and dividing plate A510 opposite sides side flips up to form side plate, respectively pacified on two side plates Fill a line slideway auxiliary A520, line slideway auxiliary A520 connecting conduits connecting plate 540, so as to which conduit connecting plate 540 can be relative Dividing plate A510 is moved, and this is also the premise that can subsequently carry out pushing power detection to conduit.In the present embodiment, line slideway auxiliary A520 preferably uses ball line slideway auxiliary, and frictional force is smaller can almost to be ignored, so as to the resistance of motion of conduit connecting plate 540 It is negligible, ensure the high accuracy of catheter propelling power detection.Line slideway auxiliary A520 includes guide rail and sliding block, and guide rail is fixed on dividing plate On A510 side plate, sliding block is attached by supporting plate A530 and conduit connecting plate 540, and conduit connecting plate 540 is used to connect Conduit clamp system 3.One L-shaped sensor fixation plate A560 is also installed on dividing plate A510, the one of force snesor A550 End is connected with conduit connecting plate 540, and the other end is connected with sensor fixation plate A560, and so, the thrust of conduit passes through vessel clamp Tight mechanism 3 is delivered on conduit connecting plate 540, the opposed separators A510 of conduit connecting plate 540 movements, can be by force snesor A550's Conversion element, such as foil gauge sensing, force signal is converted into electric signal and exported, 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 A550, 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 A550, and force snesor A550 dynamometry form is simple and convenient, intermediate connector is relatively fewer, the dynamometry degree of accuracy It 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 plugboard A541 with spliced eye A542, plugboard A541 is set to pass through upper lid out of housing A110 on fishplate bar 540 120, spliced eye A542 is higher by the surface of lid 120, can by its conduit connecting plate 540 and conduit clamp system 3 Quickly connect or pull down.At the same time, to adapt to the structure type of conduit connecting plate 540, to the structure of conduit clamp system 3 Require with specific, 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 A323 that can be stirred is put, switch A323 is used to pinning or unlocking conduit connecting plate 540.Switch clamps of the A323 by level Formed with vertical swinging plate, clamp is slidably arranged in the chute in switch pedestal 321, and swinging plate is passed through on grip block 322 Hole after, for stirring.When conduit clamp system 3 to be installed to the top of lid 120, plugboard A541 insertion grip blocks 322 In the vertical jack formed between switch pedestal 321, by toggle switch A323, it may be such that clamp insertion plugboard A541's Spliced eye A542, 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 clamping device 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 A402 and gear wheel A403；Its In, motor A401 is fixed in housing A110, has good protective effect, motor A401 output axis connection little gear The connecting utricle 324 of A402, gear wheel A403 and A/C connects, little gear A402 and gear wheel A403 engaged transmissions；Use In, motor A401 driving pinions A402 is rotated, and passes through little gear A402 and gear wheel A403 engaged transmissions, gear wheel A403 bands Dynamic connecting utricle 324 rotates, and so as to drive conduit to reverse, can adjust the angle of conduit head end, ensures that conduit in the blood vessels can be smooth Propulsion.The hole that the gear wheel A403 profile of centrally disposed and connecting utricle 324 matches, connecting utricle 324 are inserted in the hole Connecting utricle 324 is connected with gear wheel A403.
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 A403 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 A250, steering wheel A250 connection 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 from And connect clamping element 230.In use, steering wheel A250 drivings line wheel 260 rotates, clamping element 230 is driven to move down compression bullet by line Spring 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 leading The clamping of silk.
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, the device have 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 seal wire clamping and loosen, cooperation to catheter guide wire control, meet the operational requirements of intervention operation, below Corresponding operating procedure is described in detail.
First, main part 1 is installed to connecing soon in hole for platform contiguous block 1130 by plate A111, 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 A403 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 the conduit connecting plate 540 of the upper top of lid 120, pinned in the spliced eye A542 of toggle switch A323 insertion conduits connecting plate 540, So that conduit clamp system 3 is connected with conduit connecting plate 540, now, little gear A402 and gear wheel A403 also engage biography Dynamic 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. steering wheel A250 dead electricity, active force of the clamping element 230 in spring 240 Under, 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 It is dynamic, 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 A250 are obtained electric, and driving line wheel 260 rotates, line wheel 260 Clamping element 230 is pulled down by line, clamping element 230 overcomes the resistance of spring 240 to move downward, until compact heap 231 is by seal wire The surface of support member 220 is pressed on, completes the clamping to seal wire；Platform contiguous block 1130 drives main part 1 to move, and then leads Pipe 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 A402 and gear wheel A403 engaged transmission, drives connecting utricle 324 and medical The screw-cap of triple 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 through dividing plate A510, force snesor A550 and Conduit connecting plate 540 is delivered to conduit clamp system 3, and during push, force snesor A550 receives thrust information, and converts For 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.
2nd, the mechanism of guidewire controller
As shown in figure 16, guidewire controller also mainly includes five parts, respectively body portion 6, seal wire clamp system 7th, switching mechanism 8 is clamped, seal wire reverses component 630 and seal wire dynamometry component 9；Wherein, body portion 6 is other four parts Installation foundation, seal wire clamp system 7 and clamping switching mechanism 8 are removably mounted on body portion 6, seal wire clamp system 7 Positioned at the upside of body portion 6, the rear side that switching mechanism 8 is located at body portion 6 is clamped, seal wire clamp system 7 is led for clamping Silk, clamp switching mechanism 8 and be used to drive seal wire clamp system 7 to unclamp the clamping to seal wire, and seal wire reverses component 630 and has been used for The twist operation of paired seal wire, seal wire dynamometry component 9 are used for the push power for detecting seal wire.The phase interworking that the device passes through each several part Close, the clamping to seal wire can be completed, loosen, push, reversing and dynamometry, it is complete so as to coordinate control of the catheter controller to conduit Into the coordinated in surgical procedure.The concrete structure of each several part is described in detail respectively separately below.
With reference to shown in Figure 17 to Figure 20, the structure of body portion 6 and the structure of main part 1 are essentially identical, mainly including housing B610 and cover plate 620；In the present embodiment, housing B610 is the shell-like structure that top and rear end open, and cover plate 620 is arranged on shell Body B610 top so that the space comparatively closed is formed in housing B610, component 630 and seal wire are reversed for follow-up seal wire The installation vacating space of dynamometry component 9.Seal wire clamp system 7 is arranged on the top of cover plate 620, and clamps switching mechanism 8 and fix In housing B610 rear side, installation site reasonable distribution, the needs that respective function is realized are also complied with.Due to the conduct of body portion 6 Foundation, whole device are to be installed on platform contiguous block 1130 to be operated accordingly by it, convenient for installation Property, a pair of plate B611 are set in housing B610 bottom, and plate B611 insertions connect hole soon, then are fixed by pin.
With reference to shown in Figure 17 to Figure 20, seal wire dynamometry component 9 is arranged in housing B610, its structure and conduit dynamometry component 5 is similar, and it mainly includes dividing plate B910, seal wire connector 940 and force snesor B950；Wherein, dividing plate B910 is arranged on housing B610 centre, space in housing B610 is roughly divided into two parts up and down, two relative dividing plate B910 sides flip up shape Into side plate, respectively one line slideway auxiliary B920 of installation, line slideway auxiliary B920 connections seal wire connect the relative inner side of two side plates Part 940, seal wire connector 940 be used for connect seal wire clamp system 7, so as to seal wire connector 940 can opposed separators B910 slide, This is also the premise that can subsequently carry out pushing power detection to seal wire.In the present embodiment, line slideway auxiliary B920 it is also preferred that using 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 seal wire connector 940, ensured The high accuracy of seal wire push power detection.Line slideway auxiliary B920 includes guide rail and sliding block, and guide rail is fixed on dividing plate B910 side plate On, sliding block is attached by supporting plate B930 and seal wire connector 940.One L-shaped biography is also installed on dividing plate B910 Sensor fixed plate B960, force snesor B950 one end are connected with seal wire connector 940, the other end and sensor fixation plate B960 Connection, so, the thrust of seal wire is delivered on seal wire connector 940 by seal wire clamp system 7, and seal wire connector 940 is relative Dividing plate B910 is moved, and pulling force is produced to force snesor B950, force snesor B950 conversion element, power is produced as foil gauge senses Signal, and force signal is converted into electric signal and exported, so as to obtain the size of power.
Certainly, also for the connection facilitated between seal wire connector 940 and seal wire clamp system 7, the present embodiment is in seal wire A pair of plugboard B941 with spliced eye B942, plugboard B941 is set to pass through cover plate out of housing B610 on connector 940 620, spliced eye B942 is higher by the surface of cover plate 620, can by its seal wire connector 940 and seal wire clamp system 7 Quickly connect or pull down.At the same time, to adapt to the structure type of seal wire connector 940, to the structure of seal wire clamp system 7 Require with specific, can illustrate below.
As shown in Figure 21 to 24, seal wire clamp system 7 includes seal wire locking sleeve 710, seal wire locking rod 720, seal wire lock Only device 730 and housing supports component 790；Wherein, seal wire locking sleeve 710, seal wire locking rod 720 and seal wire lock device 730 be all With the centre bore run through along respective axis, so that seal wire passes through；Seal wire lock device 730 is in similar mushroom-shaped structure, and both ends are big Small to differ, less one end can be inserted into the end of seal wire locking rod 720, and larger one end exposes outside, and has male cone (strobilus masculinus), along outer The circumferencial direction of the conical surface opens up at least two otch, opens up 4 otch in the present embodiment, and tapering point is cut into uniform 4 Part；And the seal wire locking rod 720 for loading seal wire lock device 730 is inserted in seal wire locking sleeve 710, and seal wire locking sleeve 710 It is interior with the taper hole being engaged with the male cone (strobilus masculinus) of seal wire lock device 730.Meanwhile seal wire locking rod 720 is close to seal wire lock device 730 One end there is baffle ring, be cased with seal wire locking rod 720 switch spring 740, switch spring 740 one end it is spacing by baffle ring, then The installation lock device end cap 760 in the end of seal wire locking sleeve 710, seal wire locking sleeve 710 is fitted in by switching spring 740 It is interior, pad 750 is set between the end of lock device end cap 760 and switching spring 740, so that lock device end cap 760 is more preferable Compress switching spring 740.So, the extruding of lock device end cap 760 switching spring 740, switching spring 740 is to seal wire locking rod 720 Apply thrust, and then seal wire locking rod 720 extrudes seal wire lock device 730 so that the male cone (strobilus masculinus) of seal wire lock device 730 is locked with seal wire Only the taper hole surface of sleeve 710 relatively moves, due to the presence of the upper cut of seal wire lock device 730, so as to seal wire lock device 730 have the end meeting radial contraction of the conical surface, clamp seal wire, such a mode in seal wire whole circumference to, all by chucking power, adding It is big to hold area, clamping is reliable, and the damage to seal wire is small.
It should be strongly noted that to meet the connection of above-mentioned seal wire clamp system 7 and seal wire connector 940, Yi Jihou Continuous seal wire torsion component 630 can realize the torsion to seal wire, and the present embodiment is carried out to the supporting construction of seal wire locking sleeve 710 Design, the structure type being arranged on body portion 6 is supported by housing supports component 790 using seal wire locking sleeve 710.Should Housing supports component 790 includes positioning base 791, bearing plate 794 and positioning pressuring plate 795；Wherein, positioning base 791 has U The accommodating chamber of shape, has two bearing necks in accommodating chamber, and a bearing 780 is respectively installed at the both ends of seal wire locking sleeve 710, and two Individual bearing 780 is stuck in bearing neck, and bearing 780 is pushed down above bearing 780 with bearing plate 794, can prevent seal wire locking The axial float of sleeve 710, fixed again by positioning pressuring plate 795 on bearing plate 794, prevent seal wire locking sleeve 710 Radial-play, socket connection mode is used between bearing plate 794 and positioning base 791, inserting is conveniently.In addition, at positioning bottom The both sides of 791 bottoms of seat respectively open up an open slot, are equipped with connecting seat 793 in open slot, and positioning base 791 with The locking switch 792 that can be stirred is set in the space between connecting seat 793, and locking switch 792 is used to pinning or unlocking seal wire Connector 940.Locking switch 792 is made up of the clamp and vertical swinging plate of level, and clamp is slidably arranged on connecting seat 793 Chute in, swinging plate exposes the surface of connecting seat 793, for stirring through the hole on positioning base 791.In seal wire clamping machine When structure 7 is installed to the top of cover plate 620, what is formed between plugboard B941 insertion positioning bases 791 and connecting seat 793 is vertical slotting Kong Zhong, by stirring locking switch 792, in the spliced eye B942 that may be such that clamp insertion plugboard B941, so as to realize seal wire Clamp system 7 is detachably connected with seal wire connector 940.
With reference to shown in Figure 16 to Figure 20, the structure that seal wire reverses component 630 also reverses component 4 similar to conduit, and it includes electricity Machine B631, little gear B632 and gear wheel B633；Wherein, motor B631 is fixed in housing B610, and there is protection well to make With motor B631 output axis connection little gear B632, gear wheel B633 are connected by the front end of key and seal wire locking sleeve 710 Connect, little gear B632 and gear wheel B633 engaged transmissions.In use, motor B631 driving pinions B632 is rotated, pass through size Meshed transmission gear, gear wheel B633 drive seal wire locking sleeve 710 to rotate, on the premise of seal wire clamps, seal wire can root with Seal wire locking sleeve 710 rotates together, so as to the angle of adjustable guidewire tip, ensures that conduit can be pushed away smoothly in the blood vessels Enter.
Twist operation to seal wire can be realized by seal wire torsion component 630, so as to meet in surgical procedure to conductive filament head End angle control, ensure seal wire in conduit, and it is intravascular can smoothly to precalculated position promote；Seal wire reverses component 630 use the form of motor B631 drive gears, by the gearratio for being sized gear, you can adjust the rotation speed of seal wire Degree.
With reference to shown in Figure 25 and Figure 26, clamping switching mechanism 8 includes steering engine seat 810 and steering wheel B820；Wherein, steering engine seat 810 are used to clamping switching mechanism 8 being installed to housing B610, and steering wheel B820 is arranged on steering engine seat 810, steering wheel B820 connections Have a rotating disk 830, and can driving rotating disk 830 rotate, wind wired on rotating disk 830, the free end of line is used to pull seal wire locking rod 720, seal wire locking rod 720 is unclamped the extruding to seal wire lock device 730, so that seal wire lock device 730 is unclamped to seal wire Clamp.In order to realize above-mentioned function, and do not influence the clamping under 7 usual state of seal wire clamp system to seal wire, to line with The attachment structure of seal wire locking rod 720 is designed, and in this embodiment, the end of seal wire locking rod 720 is connected through a screw thread one Individual lock device arm-tie 770, this distance can pass through lock between lock device arm-tie 770 and lock device end cap 760 at a distance Only the screw thread length of fit of device arm-tie 770 and seal wire locking rod 720 is adjusted；Meanwhile pass through line slideway auxiliary on dividing plate B910 C850 is provided with switch boards 840, and switch boards 840 have arc gap, and by the breach, switch boards 840 are stuck in lock device end cap Between 760 and lock device arm-tie 770, rotating disk 830 is reached the standard grade to be connected with switch boards 840, so as to 830 turns of steering wheel B820 driving rotating disks It is dynamic, pull switch boards 840 to be moved rearwards by line, switch boards 840 are locked out device arm-tie 770 and blocked, and drive seal wire locking rod 720 Switching spring 740 is overcome to be moved rearwards, so as to unclamp seal wire.
In addition, being installed to for convenience of that will lead clamping switching mechanism 8 on housing B610, steering engine seat 810, which is provided with, to be used to be pacified A pair of grafting blocks 811 being attached on housing B610, housing B610 rear side is inserted by this grafting block 811, and blending bolt is carried out Fixation can be completed to connect.
Clamping for seal wire and loosening in the prior art is realized by same mechanism, they is not grasped separately Make, cause clamp structure relatively complicated, but when specifically used, seal wire is all to need to clamp in most cases , typically in conduit and seal wire coordinate operation, only reach capacity position, need in conduit clip position and seal wire clip position Just being unclamped when carrying out the adjustment of seal wire clip position needs to unclamp seal wire, and therefore, the present embodiment is considering actual use situation, will The clamping and release of seal wire are separately controlled, and seal wire clamp system 7 is given tacit consent to clamps seal wire always, and when needing to unclamp seal wire, lead to Cross clamping switching mechanism 8 to switch over, unclamp seal wire so that structure is optimized significantly.
In summary illustrate, to the structure and its annexation of intervention operation robot guidewire controller each several part Clear complete statement is carried out, it has the advantages of similar with catheter controller, i.e.,：
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, release, push, torsion and the dynamometry of seal wire can be realized simultaneously, so as to cooperation catheter controller pair Catheter guide wire Collaborative Control operates, and meets the various operational requirements of operation；
3. the structure type more closed, all there is preferably protection to sensor and motor；
The clamping to seal wire can be mainly completed using above-mentioned guidewire controller, loosens, push, reversing and dynamometry, is met The various operational requirements of operation are intervened, its corresponding operating procedure is described in detail below.
First, body portion 6 is inserted into connecing soon in hole to platform contiguous block 1130 by plate B611, and consolidated with pin It is fixed.Then, the front end of seal wire is sequentially passed through into seal wire locking rod 720, seal wire lock device 730, and from seal wire locking sleeve 710 Front end is stretched out, and tightens lock device end cap 760, seal wire lock device 730 is clamped seal wire.Certainly coordinate above-mentioned catheter controller, lead The termination of silk is inserted in conduit through medical three-way valve 310.
After preparation more than, you can seal wire is controlled accordingly, it is specific as follows：
(1) push operation of seal wire
Steering wheel B820 is failure to actuate, and seal wire is clamped by seal wire lock device 730, and platform contiguous block 1130 moves, and is led so as to drive Silk moves forward together, realizes the push of seal wire.
(2) the push power detection of seal wire
During seal wire push, the thrust of seal wire is transferred to force snesor B950, force snesor through seal wire clamp system 7 B950 produces deformation, and force signal is transformed into electric signal output, so as to measure push power size.
(3) twist operation of seal wire
On the premise of seal wire clamps, motor B631 obtain it is electric, by little gear B632 and gear wheel B633 engaged transmission, Driving seal wire locking sleeve 710 rotates, and so as to drive seal wire to rotate, realizes the twist operation of seal wire.
(4) the release operation of seal wire
Steering wheel B820 obtains electric, and driving rotating disk 830 is rotated, and line is wound on rotating disk 830, moves, cuts after first driving switch boards 840 Changing plate 840 pulls seal wire locking rod 720 to move, and seal wire lock device 730 unclamps the clamping to seal wire.
Clamping, release, push, torsion and the push power that can be completed to seal wire by above step detect, between each step Orderly progress can complete the cooperating that seal wire coordinates conduit, so as to meet the various operational requirements in surgical procedure.
For complete machine, control method of the above-mentioned intervention operation robot from end device to catheter guide wire cooperating, It is that the relative position of catheter controller and guidewire controller in the direction of movement is controlled by operating platform, and coordinates conduit to control Device and guidewire controller are to conduit and the control action of seal wire, orderly completion；The clamping of conduit and seal wire can be controlled simultaneously, put Pine, push, torsion or dynamometry, complete the surgical action of complexity；Wherein it should be strongly noted that being led in guidewire controller push When silk is close to catheter controller, now need to move after making guidewire controller, then catheter controller passes through seal wire auxiliary clamp mechanism 2 Seal wire is clamped, and after guidewire controller unclamps seal wire and is pushed back into required position, seal wire clamper clamps seal wire again, now Seal wire auxiliary clamp mechanism 2 can unclamp seal wire, realize the switching action during seal wire push, and such a form ensures switching Seal wire position will not change in journey.
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 (19)

1. a kind of operating platform, including support platform (1110), it is characterised in that：By straight in described support platform (1110) Line guideway D (1120) is at least provided with a platform contiguous block (1130)；The platform contiguous block (1130) passes through driving machine Structure (1140) drives, and it is used to install catheter controller or guidewire controller.
A kind of 2. operating platform according to claim 1, it is characterised in that：The platform contiguous block (1130) has two It is individual, it is respectively used to that catheter controller is installed and guidewire controller, each platform contiguous block (1130) passes through a drive mechanism (1140) individually control.
A kind of 3. operating platform according to claim 2, it is characterised in that：Described each drive mechanism (1140) includes Motor (1142), rope (1141) and the strainer (1150) being fixed in support platform (1110)；The tensioning device Structure (1150) has two, is separately positioned on the both ends of support platform (1110)；Rope (1141) is stretched in two strainers (1150) on, its connecting platform contiguous block (1130)；Motor (1142) the connection rope sheave (1143), rope sheave (1143) are used It is mobile in driving rope (1141) band moving platform contiguous block (1130).
A kind of 4. operating platform according to claim 3, it is characterised in that：The strainer (1150) includes fixed guide Fixed set (1151) and Adjusting bolt Adjusting screw (1152), installation guide rod (1153) in fixed cover (1151) is oriented to, guide rod (1153) One end connection tensioning support (1154), the both ends of tensioning support (1154) are respectively provided with the directive wheel of a support cable (1141) (1155)；Adjusting bolt Adjusting screw (1152) the installation screw rod (1156), screw rod (1156) can adjust guide rod (1153) in fixed guide Position in fixed set (1151), makes directive wheel (1155) tensioning rope (1141).
5. a kind of intervention operation robot is from end device, including catheter controller and guidewire controller, it is characterised in that：Also include A kind of operating platform of any one in claim 2-4；The catheter controller and guidewire controller are separately mounted to two On platform contiguous block (1130).
6. a kind of intervention operation robot according to claim 5 is from end device, it is characterised in that：The catheter controller Including main part (1), conduit clamp system (3) and seal wire auxiliary clamp mechanism (2), conduit clamp system (3) is used to clamp Conduit, seal wire auxiliary clamp mechanism (2) are used to clamp or unclamp seal wire；Described conduit clamp system (3) and seal wire additional lock Tight mechanism (2) is removably mounted in main part (1).
7. a kind of intervention operation robot according to claim 6 is from end device, it is characterised in that：Described conduit clamps Mechanism (3) includes medical three-way valve (310) and clamp assemblies (320)；Described medical three-way valve (310) is used for connecting conduit, It is fixed in main part (1) by clamp assemblies (320)；Described main part (1) includes housing A (110) and installation Upper lid (120) on housing A (110), clamp assemblies (320) are removably mounted on lid (120).
8. a kind of intervention operation robot according to claim 6 is from end device, it is characterised in that：Catheter controller also wraps Include conduit and reverse component (4), conduit reverses component (4) and is used to drive the screw-cap of medical three-way valve (310) to drive conduit rotation； The conduit, which reverses component (4), includes motor A (401), little gear A (402) and gear wheel A (403)；Motor A (401) peace In main part (1), it connects little gear A (402)；The gear wheel A (403) is with being arranged on medical three-way valve (310) Screw-cap on connecting utricle (324) coordinate, connecting utricle (324) is used for A/C；Described little gear A (402) and canine tooth Take turns A (403) engaged transmission.
9. a kind of intervention operation robot according to claim 6 or 7 or 8 is from end device, it is characterised in that：Conduit controls Device also includes the conduit dynamometry component (5) for being used to detect the push power of conduit；The conduit dynamometry component (5) includes being arranged on master Dividing plate A (510), conduit connecting plate (540) and force snesor A (550) in body portion (1)；The conduit connecting plate (540) is used In connecting conduit clamp system (3), it is movably arranged by line slideway auxiliary A (520)；Described force snesor A (550) one end It is connected with dividing plate A (510), the other end is connected with conduit connecting plate (540).
10. a kind of intervention operation robot according to claim 9 is from end device, it is characterised in that：Described medical three Port valve (310) is gripped by two clamp assemblies (320) from both sides, and each clamp assemblies (320) include grip block (322) and the switch pedestal (321) that is fixed on below grip block (322), set between grip block (322) and switch pedestal (321) The switch A (323) that can be stirred is put, switch A (323) is used to pinning or unlocking conduit connecting plate (540).
11. a kind of intervention operation robot according to claim 6 is from end device, it is characterised in that：Described seal wire is auxiliary Clamp system (2) is helped to include support member (220), clamping element (230) and driving element；The clamping element (230) passes through spring (240) support is arranged in support member (220), and the upper end of clamping element (230) has compact heap (231), and driving element can drive Moved under support member (220) in the vertical direction.
12. a kind of intervention operation robot according to claim 11 is from end device, it is characterised in that：Described driving member Part is steering wheel A (250), steering wheel A (250) connection line wheels (260), and wired, one end connection clamping element of line is wound in line wheel (260) (230)。
13. a kind of intervention operation robot according to claim 6 is from end device, it is characterised in that：Described seal wire control Device processed includes body portion (6), the seal wire clamp system (7) on body portion (6) and clamps switching mechanism (8), leads Silk clamp system (7) is used to clamp seal wire, clamps switching mechanism (8) and is used to drive seal wire clamp system (7) to unclamp to seal wire Clamp.
14. a kind of intervention operation robot according to claim 13 is from end device, it is characterised in that：The seal wire clamps Mechanism (7) includes seal wire locking sleeve (710), seal wire locking rod (720) and seal wire lock device (730), seal wire locking rod (720) One end installation seal wire lock device (730) load afterwards in seal wire locking sleeve (710)；The seal wire locking sleeve (710) has Taper hole, seal wire lock device (730) have the male cone (strobilus masculinus) being engaged with the taper hole of seal wire locking sleeve (710), seal wire lock device (730) at least two otch are circumferentially opened up on male cone (strobilus masculinus), seal wire lock device (730) is clamped by stress radial contraction and led Silk；It is cased with switching spring (740) on the seal wire locking rod (720), switching spring (740) passes through installed in seal wire locking sleeve (710) the lock device end cap (760) of end is fitted in seal wire locking sleeve (710).
15. a kind of intervention operation robot according to claim 14 is from end device, it is characterised in that：It is described to clamp switching Mechanism (8) includes steering wheel B (820), and steering wheel B (820) installs rotating disk (830), and wired, the end company of line is wound on rotating disk (830) It is connected to the switch boards (840) set by line slideway auxiliary C (850)；Lock device arm-tie is installed on the seal wire locking rod (720) (770), switch boards (840) are stuck between lock device end cap (760) and lock device arm-tie (770).
16. a kind of intervention operation robot according to claim 15 is from end device, it is characterised in that：The seal wire control The seal wire that device also includes being used to drive seal wire locking sleeve (710) to rotate reverses component (630)；The seal wire reverses component (630) the motor B (631), motor B (631) connection little gear B (632) being arranged on body portion (6) are included；Described leads The gear wheel B (633) engaged with little gear B (632) is installed on silk locking sleeve (710)；Described seal wire locking sleeve (710) it is arranged on by housing supports component (790) support on body portion (6)；The housing supports component (790) includes fixed Position base (791), seal wire locking sleeve (710) are mounted in positioning base (791) by bearing (780) installation.
17. a kind of intervention operation robot according to claim 16 is from end device, it is characterised in that：The seal wire control Device also includes being used for the seal wire dynamometry component (9) for detecting seal wire push power；Described seal wire dynamometry component (9) includes being arranged on base Dividing plate B (910), seal wire connector (940) and force snesor B (950) in body portion (6)；Described seal wire connector (940) For branch sleeve support component (790), it is removably set on dividing plate B (910) by line slideway auxiliary B (920)；It is described Force snesor B (950) one end is connected with dividing plate B (910), and the other end is connected with seal wire connector (940).
18. a kind of intervention operation robot according to claim 17 is from end device, it is characterised in that：The positioning base (791) bottom is provided with the locking switch that can be stirred (792) by connecting seat (793)；Described seal wire connector (940) is set The plugboard B (941) with spliced eye B (942) is put, spliced eye can be inserted by locking switch (792) by stirring locking switch (792) In B (942), so as to pin seal wire connector (940).
A kind of 19. control method of intervention operation robot from end device described in claim 5, it is characterised in that：The operation The relative position of platform courses catheter controller and guidewire controller in the direction of movement, complete the collaboration push of conduit and seal wire Operation；Wherein, catheter controller is used for the action for controlling conduit, and guidewire controller is used for the action for controlling seal wire.
CN201710544637.0A 2017-07-06 2017-07-06 Slave end device of interventional operation robot and operation platform thereof Active CN107374741B (en)

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