CN107744406A - A kind of robot manipulation's platform and its operating method - Google Patents
A kind of robot manipulation's platform and its operating method Download PDFInfo
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- 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
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
-
- 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
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Molecular Biology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Robotics (AREA)
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- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot manipulation's platform and its control method, the platform is used to intervene operation or training of doctors or radiography uses, and belongs to minimally-invasive vascular medical instruments field.The operating platform includes support platform, platform contiguous block, line slideway auxiliary, drive component, displacement measurement component, IP cameras and height adjustable base.The present invention's installs catheter controller and guidewire controller for intervening on operation or robot manipulation's platform of training or radiography, solve existing robot to be difficult to complete to conduit and the problem of seal wire cooperating, simultaneously provided with force feedback system, camera, doctor's hand is set to perceive strength used, whole camera record, realization more accurately operate.Height adjustable base is set, and regulation operating platform is adapted to requirement of the different doctors to height.
Description
Technical field
The invention belongs to interventional surgery technical field, is related to a kind of robot manipulation's platform and control method.
Robot manipulation's platform can be used for radiography, interventional surgery virtual reality surgery training and operation practical operation
In.
Background technology
Disease of cardiovascular system is the most commonly seen a kind of disease of the mankind, is a big cause of the death of current world population, seriously
Threaten human health.Cardiovascular and cerebrovascular disease has become one of three dead big reasons of human diseases, and the whole world has 16,700,000 every year
People dies from cardiovascular and cerebrovascular disease, accounts for the 29.2% of all mortalities, in the annual Patients with Cardiovascular/Cerebrovascular Diseases of China 9,000,000 just
There are 2,500,000 people dead.
The minimally invasive interventional therapy of cardiovascular and cerebrovascular is the essential therapeutic arsenals for cardiovascular and cerebrovascular disease, and it is set in medical image
Under standby guiding, by means of tube chamber arrival diseased region farther out of the interposing catheter along blood vessel, such as coronary artery, brain, liver
It is intravascular with kidney, a kind of emerging medical operating of minimally-invasive treatment is then carried out diseased region.Traditional craniotomy can be reduced, opened
Chest is performed the operation the wound and pain brought to patient, and post-operative recovery time is short, can effectively improve medical resource utilization rate.However,
The apparatuses such as conduit, seal wire and support are sent into patient by traditional cardiovascular and cerebrovascular intervention operation manually by doctor.On the one hand, hand
During art, because radioactive ray influence, doctor's physically-draining is very fast, and notice and stability decrease, and cause performance accuracy
Decline, Yi Fashengyin push power it is improper caused by blood vessel internal membrane damage, vascular puncture rupture etc. accident.On the other hand, long-term X
The accumulation injury of line irradiation can significantly increase doctor's illness probability." eating line " problem have become infringement Doctors ' Occupational life,
Restrict the problem of intervention operation development is very important.The operation method energy of conduit, seal wire remote operating is carried out by robot technology
This problem is enough successfully managed, the precision and stability of operation technique can be greatly improved, while can effectively reduce radioactive ray pair
The injury of operating doctor, reduce the occurrence probability of accident in art.Therefore, cardiovascular and cerebrovascular intervention operation auxiliary robot is more and more
It is of interest by people, be increasingly becoming various countries medical robot field emphasis research and develop 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, Shanghai Communications University, BJ University of Aeronautics ＆ Astronautics and Harbin Institute of Technology
Deng.
Blood vessel intervention operation robot is isolated doctor with radioactive ray mainly using principal and subordinate end operation structure at present, e.g.,
The Application No. of BJ University of Aeronautics ＆ Astronautics's application：201210510169.2 patent of invention, disclose 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 application：A kind of catheter robot system for intravascular minimally invasive intervention operation, steerable catheter is employed, can be obtained controllable
The posture information of guiding-tube bend controllable segment, ensure the flexibility of steerable catheter front end and the navigability of intubation operation, simultaneously
Control principal and subordinate's intervention device to realize the pushing away of steerable catheter by main hand handle, draw, rotate and flexure operation, and operating room can be obtained
Steerable catheter conveys force information, ensures the accuracy and stability of intubation.The Application No. of Beijing Institute of Technology's application：
201610119761.8, disclose a kind of principal and subordinate's interventional surgery robot from end, including from end controlling organization and from
Mobile platform is held, mobile platform is made up of slide unit motor, nut screw pair, slide unit, base from end, motor and nut screw pair
Screw mandrel end is connected, and the slide unit nut end secondary with nut screw is connected, and is connected from the frame (1) of end controlling organization with slide unit, it is special
Sign is, is controlled from end controlling organization by clamping drive component (I), thrust feedback mechanism (II), lossless clamping device (III), clamping
Mechanism (IV) composition processed.Program structure is relative complex, and property easy to assemble does not have too big raising yet, and only seal wire is clamped, and
And clamping device is complicated, sterilization dismounting is not easy, wire catheter can not synchronizing moving.
Such scheme be the country for the relatively advanced research of blood vessel intervention operation robot, but they all exist it is following several
Aspect problem：(1) seal wire or conduit can only individually be pushed, it is impossible to collaboration push conduit and seal wire in surgical procedure, it is impossible to complete
The operational motion of full simulation doctor, and need wire catheter at some while coordinate the position of advance to be difficult to operate, Jin Erzao
Into performance accuracy is low, surgical inefficiency, it is low to the auxiliary degree of doctor, certain potential safety hazard be present；(2) support platform and
Controller architecture is complicated, and not only manufacturing cost is high, and influences performance accuracy；(3) dismounting of catheter guide wire is inconvenient, is not easy to
Catheter guide wire is changed in operation, it has not been convenient to which carry out disinfection processing to conduit, seal wire and interface；(4) conduit can not be known in performing the operation
The relative position of seal wire in the blood vessels, operation risk are higher.
By can be seen that to prior art analysis, in the operation of actual operation, it usually needs conduit, seal wire and auxiliary
Mechanism, linear motion each in the axial direction can be arbitrarily realized, and generally require catheter guide wire cooperating, cooperated
Advance.And there is problems with prior art：(1) volume weight is big：Due to using two sets of slide rails come manipulate respectively conduit and
Seal wire, device volume is big, floor space is big, weight is big, therefore is not suitable for being positioned over operating room progress clinical operation operation；(2)
The actual act of doctor's operation by human hand can not be reproduced：The control of conduit and seal wire is completed using two sets of slide rails, because it is used together
Axle is arranged so that the movement travel of conduit and seal wire is not occured simultaneously, i.e., seal wire control slide rail position in the axial direction is all the time much
The position of conduit control slide rail in the axial direction is lagged behind, and in actual mechanical process, doctor operates the hand of conduit and seal wire
Distance be arbitrary, thus it can not reproduce the actual act of doctor's operation by human hand, it is impossible to complete the collaboration of conduit and seal wire
Push, does not meet actual operation operational requirements；(3) autgmentability is poor：, it is necessary to carry out auxiliary behaviour to conduit and seal wire in surgical procedure
Make, and, it is necessary to increase slide rail when the axial linear movement of auxiliary operation is asynchronous with the motion of conduit, seal wire, and use is existing
The form of line slide rail, arrange that respective stroke does not occur simultaneously, therefore can not complete to its function using slide rail axis
Extension.(4) body interior in operating, what the contact force between blood vessel and conduit can not be detected.Doctor is in master in Minimally Invasive Surgery
End operation, it is impossible to which direct feeling receives information to from terminal tool and tissue.In Minimally Invasive Surgery, doctor is due to lacking
Tactile data and cause operation add danger, may be because of misoperation or the too quickly organ for having damaged patient.(5) highly can not
Adjust, different doctor's demands can not be adapted to.At present, need offer one kind to realize catheter guide wire cooperating in a hurry, and have
The operating robot operating platform of tactile visual information visual feedback.The application is total to by Beijing Institute of Technology and Tiantan Hospital
Same joint study, develop it is a kind of be applied to intervention operation or radiography or the structure that uses of exercise is simple, control can be operated simultaneously
Catheter guide wire processed, and robot manipulation's platform with direct feel.
The content of the invention
The defects of for prior art, it is an object of the present invention to provide a kind of robot manipulation's platform and control method, the behaviour
That makees platform is to solve the problems, such as that prior art is difficult to meet the requirement of catheter guide wire cooperating, while can not be as traditional operation
The problem of operating the same direct feel tactile visual information.This is used for the robot manipulation for intervening operation, radiography, training or teaching
On platform, catheter controller and guidewire controller are being installed from end device so that conduit and seal wire can operate control simultaneously
System, and has tactile, vision and Displacement Feedback information, can adjust height, solve existing robot be difficult to complete to conduit with
Seal wire cooperating and can not direct feel operation technique and the problem of different doctors can not be adapted to, improve intervention operation or radiography
Security and operability, simple in construction easily to realize, while the device can also be used to operative training and training.
The present invention is achieved by the following technical solutions：
A kind of operating platform, including support platform (1110), platform contiguous block (1130), line slideway auxiliary D (1020), drive
Dynamic component (1140), displacement measurement component (1170), IP cameras (1180) and height adjustable base (1101), described support
Platform contiguous block (1130) is provided with by line slideway auxiliary D (1020) on platform (1110)；The platform contiguous block (1130)
Driven by drive component (1140), the platform contiguous block has two or more, and the platform contiguous block is arranged on always
On line guideway D (1020), realize and rectilinear movement control is carried out on same rectilinear orbit to catheter controller and guidewire controller
System, the height adjustable base 1101 are arranged on below support platform 1110, and the height adjustable base is by two lifting platform structures
Into institute's displacement measurement component 1170 is used for the displacement for measuring conduit, seal wire, and by the axial displacement collected and rotates position
Move, send computer to and carry out calculating analysis；Institute's displacement measurement component is located on the platform contiguous block 1130, the displacement
Measurement assembly uses laser mouse displacement transducer, the IP cameras collection site realtime graphic.
The platform contiguous block 1130 is two, installs catheter controller and guidewire controller respectively.
The platform contiguous block 1130 is more than three, installs catheter controller and guidewire controller and other auxiliary respectively
Mechanism, other described auxiliary body's preferred displacement measurement assemblies.
Control is operated alone by a drive component in each platform contiguous block 1130.Drive component quantity and platform
It is consistent to connect number of blocks.
Described drive component 1140 includes motor 1142, rope 1141 and the tensioning device being fixed in support platform
Structure 1150.
The strainer has two, is separately positioned on the both ends of support platform 1110；Rope 1141 is stretched in two
On strainer 1150, rope connecting platform contiguous block 1130；The motor 1142 connects rope sheave 1143, and rope sheave 1143 is used
Moved in driving rope 1141 with moving platform contiguous block 1130.
The strainer 1150 includes being oriented to fixed cover 1151 and Adjusting bolt Adjusting screw 1152, is oriented in fixed cover 1151 and installs
Guide rod 1153, one end connection tensioning support 1154 of guide rod 1153, the both ends of tensioning support 1154 are respectively provided with a support
The directive wheel 1155 of rope 1141；The Adjusting bolt Adjusting screw 1152 installs screw rod 1156, and screw rod 1156 can adjust guide rod 1153 and exist
The position being oriented in fixed cover 1151, makes the tensioning rope 1141 of directive wheel 1155.
Catheter controller includes conduit control main part (1), conduit clamp system (3) and seal wire auxiliary clamp mechanism
(2).Conduit clamp system is 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.
Described guidewire controller include seal wire control matrix (6), the seal wire clamp system (7) on matrix (6),
Switching mechanism (8) and six-dimensional force dynamometry component (9) are clamped, seal wire clamp system (7) is used to clamp seal wire, clamps switching mechanism
(8) it is used to drive seal wire clamp system (7) to unclamp the clamping to seal wire.
Institute's displacement measurement component 1170 is to be arranged on the grating scale 1171 of the side of support platform 1110 and be fixed on platform
Grating ruler reading head 1172 on contiguous block 1130 forms.Set on the grating ruler reading head 1172 along the direction of motion of platform contiguous block
It is equipped with two reverse limit sensors.
The lifting platform is made up of lifting platform bottom plate, threaded rod, axle A, axle B, lifting platform top plate and lifting platform support bar；Its
In, the lifting platform support bar lower end is arranged on lifting platform bottom plate, upper end support lifting platform top plate；The axle A is as lifting
The rotary shaft of platform support bar；The axle B is the rotary shaft of lifting platform support bar；The threaded rod passes through axle A and axle B, and with axle A
It is in opposite direction with axle B connection screw thread；Two lifting platforms have an identical structure, mounting bracket on lifting platform top plate 1-5, support with
Support platform 1110 is connected, and two lifting platforms are separately mounted to the both sides of support platform 1110.
The conduit clamp system 3 includes medical three-way valve 310 and clamp assemblies 320, medical three-way valve include three-way body,
Control valve and screw-cap, screw-cap can rotate relative to three-way body.Conduit is first coupled on connecting utricle 324, then again by connecting utricle
324 are threadedly coupled with screw-cap, so as to connect the conduit on medical three-way valve 310, and can relatively rotate.Clamp assemblies
320 be for being gripped to medical three-way valve 310, and fixed is the three-way body of medical three-way valve 310, and it has two
It is individual, gripped from the both sides of medical three-way valve 310, it includes grip block 322, the one side of grip block 322 have with
The neck that the profile of the three-way body half of medical three-way valve 310 fastens, the neck of two grip blocks 322 is combined can group
A card chamber is synthesized, the three-way body of medical three-way valve 310 can reliably be clamped, while do not influence the rotation of screw-cap.Pass through
Medical three-way valve 310, from triple valve upper end entrance, contrast agent is squeezed into intravascular in surgical procedure, at conduit head end
Internal blood vessel carry out radiography, observe the relative position of catheter guide wire and blood vessel.
A kind of control operation platform tele-control system, including main side part and from end part, main side part passes through wireless
Or wire communication mode is connected from end part, it is characterised in that：The main side part receives operation signal, controls from end transfer
Make, and receive the feedback signal from end part；The operation signal that main side part is tapped by and performed from end and is sent.It is described
Main side part includes main side control computer, main side control platform, described from end point includes support platform (1110), platform connects
Connect block (1130), line slideway auxiliary D (1020), drive component (1140), displacement measurement component (1170), IP cameras (1180)
With height adjustable base (1101).
The operating platform is used to impart knowledge to students or simulated training.
Beneficial effect
Compared to prior art, beneficial effects of the present invention are：
(1) operating platform of the invention, using the form of the multiple platform contiguous blocks of a track, platform contiguous block is used for solid
Determine catheter controller or guidewire controller, the axial movement control monorail of conduit and seal wire is arranged, due to using multiple cunnings
Block is run on same track, and the operation distance of each sliding block is completely superposed, and such a mode complies fully with the reality of doctor's hand
Border operation format, the collaboration push front and rear on the same track of conduit and seal wire, continuous, accurately propulsion and rotation can be completed
Transduction pipe and seal wire, as needed simultaneously successively or individually conduit and seal wire are controlled respectively, meet actual operation grasp
Make demand, simulate doctor's practical operation completely, effectively improve procedure efficiency, reduce the time that medical personnel contact radiation device；
(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 floor space is big, weight is big, the present invention is reduced using the form of multiple sliding block common rails
Device volume, and the weight of device is alleviated, reduce cost, enabling be 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, it can be completed by increasing the quantity of platform contiguous block, be held using increased platform contiguous block
Backup actuating device is carried, is realized the booster action to conduit and seal wire, it can carry out Function Extension according to specific needs,
Favorable expandability, while its operation is relatively easy；
(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, using pulley
To complete to be oriented to so that axial friction is small, and can be tensioned using strainer so that installation and adjustment are convenient；
(5) operating platform of the invention has visual feedback and Displacement Feedback device, and doctor is according to Displacement Feedback and vision
Feedback performs operation decision-making, and the security of operation can effectively improve.
(6) operating platform of the present invention has force feedback system, can allow for doctor to go to operate as traditional operation, can be with
Conduit and seal wire are operated simultaneously, and intervention action can be completed according to the operation information of doctor, and resistance can be detected, will
Real-time tactile data intuitively feeds back to doctor, improves the security and operability of intervention operation, simple in construction easily to realize.
(7) by the way that conduit clamp system and seal wire auxiliary clamp mechanism are removably installed in catheter controller of the present invention
In main part, this clamp system is simple in construction, overcomes the defects of being not easy to sterilize in the prior art, facilitates dismounting and change to disappear
Poison, and coordinate guidewire controller, can be achieved conduit, seal wire is individually or simultaneously pushed, and doctor can be copied to assist manually
Biconditional operation；
(8) in catheter controller of the present invention conduit clamp system it is creative clamp medical three-way valve using clamp assemblies
Structure type, dismounting combination is simple, enormously simplify clamp structure, the company that medical three-way valve not only can be simple and quick with conduit
Connect, be easy to the sterilization of their junctions, and more important is by medical three-way valve, can be beaten in surgical procedure to intravascular
Enter contrast agent, radiography, and then the relative position of observable catheter guide wire and blood vessel are carried out to internal blood vessel, is easy to catheter guide wire
Further operation, improve the security of operation；In addition, the cost of medical three-way valve is relatively low, and can be disposable, it is finished
Abandon, it is not necessary to as existing clamping device repeated disassembled and assembled sterilizes；
(9) seal wire clamp system uses special seal wire lock device and seal wire locking sleeve in guidewire controller of the present invention
Cone match form, seal wire locking rod, which can extrude seal wire lock device, makes its radial contraction, and so as to clamp seal wire, this mode is to leading
All by chucking power in silk whole circumference, blessing area is big, and clamping is reliable, and the damage to seal wire is small；
(10) operating platform of the invention, overall structure is simple, and catheter controller and guidewire controller use modularization
Structure design, dismounting combination is easy, compact-sized, and it is most of can all adopt made of plastic, overall weight is light, manufacturing cost
Relatively low, platform has height adjustable base, can adapt to different doctor's demands, and practicality is stronger.
Brief description of the drawings
Fig. 1 is operating platform dimensional structure diagram viewed from above；
Fig. 2 is dimensional structure diagram of the operating platform from downside；
Fig. 3 is the structural representation of displacement measurement component
Fig. 4 is the dimensional structure diagram of strainer in operating platform；
Fig. 5 is the configuration schematic diagram of strainer in operating platform；
Fig. 6 is the dimensional structure diagram of catheter controller；
Fig. 7 is the main structure diagram of main part in catheter controller；
Fig. 8 is A-A sectional views in Fig. 7；
Fig. 9 is B-B sectional views in Fig. 8；
Figure 10 is the explosive view of main part in catheter controller；
Figure 11 is the main structure diagram of conduit clamping device in catheter controller；
Figure 12 is C-C sectional views in Figure 11；
Figure 13 is the dimensional structure diagram of conduit clamping device in catheter controller；
Figure 14 is the explosive view of conduit clamping device in catheter controller；
Figure 15 is the dimensional structure diagram of seal wire auxiliary clamp mechanism in catheter controller；
Figure 16 is the explosive view of seal wire auxiliary clamp mechanism in catheter controller；
Figure 17 is the dimensional structure diagram of guidewire controller in the present invention；
Figure 18 is the main structure diagram of matrix in guidewire controller；
Figure 19 is the sectional view of D-D in Figure 18；
Figure 20 is the sectional view of E-E in Figure 19；
Figure 21 is the exploded perspective view of matrix in guidewire controller；
Figure 22 is the main structure diagram of seal wire clamp system in guidewire controller；
Figure 23 is the sectional view of F-F in Figure 22；
Figure 24 is the sectional view of H-H in Figure 23；
Figure 25 is the exploded perspective view of seal wire clamp system in guidewire controller；
Figure 26 is the dimensional structure diagram that switching mechanism is clamped in guidewire controller；
Figure 27 is the explosive view that switching mechanism is clamped in guidewire controller.
Figure 28 is Height Adjustable base schematic diagram
In accompanying drawing：Catheter controller main part 1, seal wire auxiliary clamp mechanism 2, conduit clamp system 3, conduit torsion group
Part 4 and conduit dynamometry component 5
1 catheter controller main part；110 housing A；111 plate A；Covered on 120；
2 seal wire auxiliary clamp mechanisms；210 pedestals；211 inserted blocks；220 support members；221 spring cavitys；230 clamping elements；231 pressures
Tight block；240 springs；250 steering wheel A；260 line wheels；
3 conduit clamp systems；310 medical three-way valves；320 clamp assemblies；321 switch pedestals；322 grip blocks；323 switches
A；324 connecting utricles；
4 conduits reverse component；401 motor A；402 little gear A；403 gear wheel A；
5 conduit dynamometry components；510 dividing plate A；520 line slideway auxiliary A；530 supporting plate A；540 conduit connecting plates；541 insert
Fishplate bar A；542 spliced eye A；550 force snesor A；560 sensor fixation plate A；
6 guidewire controller matrixes；610 housing B；611 plate B；620 cover plates；630 seal wires reverse component；631 motor B；
632 little gear B；633 gear wheel B；
7 seal wire clamp systems；710 seal wire locking sleeves；720 seal wire locking rods；730 seal wire lock devices；740 switching bullets
Spring；750 pads；760 lock device end caps；770 lock device arm-ties；780 bearings；790 housing supports components；791 positioning bases；
792 locking switch；793 connecting seats；794 bearing plates；795 positioning pressuring plates；
8 clamp switching mechanism；810 steering engine seats；811 grafting blocks；820 steering wheel B；830 rotating disks；840 switch boards；850 straight lines
Guideway C；
9 seal wire six-dimensional force dynamometry components；910 dividing plate B；920 line slideway auxiliary B；930 supporting plate B；940 seal wire connectors；
941 plugboard B；942 spliced eye B；950 force snesor B；960 sensor fixation plate B.
1110 support platforms；1120 line slideway auxiliary D；1130 platform contiguous blocks；1140 drive components；1141 ropes；
1142 motors；1143 rope sheaves；1150 strainers；1151 are oriented to fixed cover；1152 Adjusting bolt Adjusting screws；1153 guide rods；
1154 tensioning supports；1155 directive wheels；1156 screw rods；1170 displacement measurement components；1171 grating scales；1172 grating ruler reading heads；
1180IP cameras；1101 height adjustable bases；1-1 lifting platform bottom plates；1-2 threaded rods；1-3 axle A, 1-4 axles B；1-5 lifting platforms
Top plate；1-6 lifting platform support bars
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 for controlling catheter guide wire rectilinear movement control, including
Support platform 1110, platform contiguous block 1130 and drive component 1140；Wherein, platform contiguous block 1130 at least have two with
On, it is arranged in support platform 1110 by line slideway auxiliary 1020, preferably has three platform contiguous blocks 1130, each
Platform contiguous block 1130 is all operated alone by drive component 1140, and drive component quantity is consistent with platform connection number of blocks, puts down
Platform contiguous block 1130 is respectively used to install catheter controller, guidewire controller or other support supplementary structures.It is preferred that two platforms
Contiguous block 1130, catheter controller and guidewire controller are installed respectively, more select three platform contiguous blocks 1130, installation respectively is led
Tube controller, guidewire controller and other support auxiliary bodies.Catheter controller is used for clamping conduit and rotating conduit
With push power detection etc., guidewire controller be used for clamp seal wire and seal wire is rotated and push power detection etc..
Described each drive component 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.
Strainer 1150 includes being oriented to fixed cover 1151 and Adjusting bolt Adjusting screw 1152, is oriented in fixed cover 1151 and installs guiding
Bar 1153, one end connection tensioning support 1154 of guide rod 1153, the both ends of tensioning support 1154 are respectively provided with a support cable
1141 directive wheel 1155；The Adjusting bolt Adjusting screw 1152 installs screw rod 1156, and screw rod 1156 can adjust guide rod 1153 and be oriented to
Position in fixed cover 1151, make the tensioning rope 1141 of directive wheel 1155.
Institute displacement measurement component A1170 is to be arranged on the grating scale 1171 of the side of support platform 1110 and be fixed on platform
Grating ruler reading head 1171 on contiguous block 1130 forms.Set on the grating ruler reading head 1172 along the direction of motion of platform contiguous block
It is equipped with two reverse limit sensors.
The height adjustable base 1101 is made up of two lifting platforms；Lifting platform by lifting platform bottom plate 1-1, threaded rod 1-2,
Axle A1-3, axle B1-4, lifting platform top plate 1-5 and lifting platform support bar 1-6 are formed；Wherein, the lifting platform support bar 1-6 lower ends
On lifting platform bottom plate 1-1, upper end support lifting platform top plate 1-5；Rotations of the axle A1-3 as lifting platform support bar 1-6
Rotating shaft；The axle B1-4 is lifting platform support bar 1-6 rotary shaft；The threaded rod 1-2 passes through axle A1-3 and axle B1-4, and with
Axle A1-3 and axle B1-4 connection screw thread are in opposite direction.Two lifting platforms have identical structure, and branch is installed on lifting platform top plate 1-5
Frame, support are connected with support platform 1110, and two lifting platforms are separately mounted to the both sides of support platform 1110.
When being operated, the requirement for height according to different doctors to operator, first manually regulation lifting platform A and
Lifting platform B；Described lifting platform A, have positive/negative thread on threaded rod, can make when rotating threaded rod manually axle A and axle B draw close or
Person separates, and so as to adjust the distance between lifting platform bottom plate and lifting platform top plate, plays the effect of lifting；
The output end of the IP cameras is connected by Internet with master PC；It is described directly logical from side PC and master PC
Network connection is crossed, the realtime graphic that IP cameras are sent back, is showing doctor after correcting in the form of image window
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 is by devising support platform 1110, platform contiguous block 1130, driving
The mutual cooperation of dynamic component 1140, strainer 1150 and height adjustable base 1101, using the form of a track multi-slide, come
Complete to catheter controller and guidewire controller simultaneously, on same rectilinear orbit, to carry out rectilinear movement control, and can carry out
Descending operation；Force feedback system, displacement measurement component and IP cameras are installed simultaneously, the effect of doctor's operation by human hand can be fed back
Power, visual information and displacement information, have installation and adjustment convenient, control accuracy is high, and conduit and seal wire can cooperate with push simultaneously,
The advantages of power for feeding back the intervention machinery such as wire catheter feels sense and visual impression, and feel is true.
Embodiment 2
The present embodiment provides a kind of intervention operation robot from end device, and conduit is included on the operating platform of embodiment 1
Controller and guidewire controller, in the present embodiment, operating platform has two platform contiguous blocks 1030, catheter controller and seal wire
Controller is separately mounted on two platform contiguous blocks 1030.The structure of catheter controller and guidewire controller is carried out specifically
It is bright.
First, the structure of catheter controller
Catheter controller mainly includes five parts, respectively catheter controller main part 1, seal wire auxiliary clamp mechanism
2nd, conduit clamp system 3, conduit reverse component 4, conduit dynamometry component 5；Wherein, main part 1 is the peace of other five parts
Dress basis, conduit clamp system 3 and seal wire auxiliary clamp mechanism 2 are removably mounted in main part 1, seal wire additional lock
Tight 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 used
In completing the twist operation to conduit, conduit dynamometry component 5 is 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, dynamometry and the ranging to conduit, and to the auxiliary clamp of seal wire or loosen, from
And the coordinated of conduit and seal wire can be realized, complete the demand of operation.
Main part 1 includes housing A110 and upper lid 120, and in the present embodiment, housing A110 is that top and rear end open
Shell-like structure, upper lid 120 is arranged on the top of housing 110 so that the space comparatively closed is formed in housing A110, is
The creation space that conduit reverses component 4 and conduit dynamometry component 5 is installed.Conduit clamp system 3 is arranged on the top of upper lid 120,
And seal wire auxiliary clamp mechanism 2 is fixed on the rear end of housing 110, installation site reasonable distribution.Based on main part 1
Part, whole device are to be installed on platform contiguous block 1130 to be operated accordingly by it, for the convenience of installation,
Housing 110A bottom sets a pair of plates 111, and corresponding set on platform contiguous block 1130 connects hole soon, and plate 111 inserts
Hole is connect soon, pin-and-hole is set on plate 111, is inserted by pin through platform contiguous block 1130 in pin-and-hole so that plate 111 is with putting down
Platform contiguous block 1130 is reliably connected, and convenient dismounting.
Conduit dynamometry component 5 is arranged in housing A110, and it mainly includes dividing plate A510, conduit connecting plate 540 and power and passed
Sensor A550；Wherein, dividing plate A510 is fixed on housing A110 centre, and space in housing A110 is broadly divided into two up and down
Point, dividing plate A510 opposite sides side flips up to form side plate, a line slideway auxiliary A520 is respectively installed on two side plates, directly
Line guideway A520 connecting conduits connecting plate 540, so as to conduit connecting plate 540 can opposed separators A510 movement, this is also follow-up
The premise of power detection can be carried out pushing to conduit.In the present embodiment, line slideway auxiliary A520 preferably uses ball line slideway
Pair, frictional force is smaller can almost to be ignored, and can be neglected so as to the resistance of motion of conduit connecting plate 540, ensure the inspection of catheter propelling power
The high accuracy of survey.Line slideway auxiliary A520 includes guide rail and sliding block, and guide rail is fixed on dividing plate A510 side plate, and sliding block is by holding
Supporting plate 530 is attached with conduit connecting plate 540, and conduit connecting plate 540 is used for connecting conduit clamp system 3.In dividing plate A510
On a L-shaped sensor fixation plate A560 is also installed, one end of force snesor 550 is connected with conduit connecting plate 540, another
End is connected with sensor fixation plate A560, and so, the thrust of conduit is delivered to conduit connecting plate 540 by conduit clamp system 3
On, the opposed separators A510 of conduit connecting plate 540 moves the sensing element of force snesor 550, so as to measure conduit and blood vessel in real time
Resistance and the moment of resistance between wall.
From the foregoing, it will be observed that resistance of the conduit during push can be detected by conduit dynamometry component 5, reach the essence of conduit
Really control, improve operation safety；Real-time dynamic force feedback is carried out using force snesor 550, for surgical control push
Power size；The conduit dynamometry component 5 is arranged in housing A110, compact-sized, structure relative closure, can be good at protection
Sensor 550, and the dynamometry form of force snesor 550 is simple and convenient, intermediate connector is relatively fewer, and the dynamometry degree of accuracy is high.
In order to facilitate the connection between conduit connecting plate 540 and conduit clamp system 3, the present embodiment, in conduit connecting plate
A pair of plugboard A541 with spliced eye A542, plugboard A541 is set to pass through upper lid 120 out of housing A110, make on 540
Spliced eye A542 is higher by the surface of lid 120, can quickly be connected with conduit clamp system 3 by its conduit connecting plate 540
Connect or pull down.At the same time, to adapt to the structure type of conduit connecting plate 540, also there is spy to the structure of conduit clamp system 3
Fixed requirement.
Conduit clamp system 3 includes medical three-way valve 310 and clamp assemblies 320；Wherein, medical three-way valve 310 is used to connect
Conduit is connect, it is the existing medical instruments clinically commonly used, but never uses it for minimally-invasive vascular intervention in the prior art
Field of surgery, innovatively it is used in herein in the clamping control of conduit, it mainly includes three-way body, control valve and spiral
Cap, screw-cap can rotate relative to three-way body.When in use, conduit is first coupled on connecting utricle 324, then again by connecting utricle 324
It is threadedly coupled with screw-cap, so as to connect the conduit on medical three-way valve 310, and can relatively rotates.Clamp assemblies 320 are
For being gripped to medical three-way valve 310, fixed is the three-way body of medical three-way valve 310, and it has two, takes up a job as a doctor
Gripped with the both sides of triple valve 310, it includes grip block 322, and the one side of grip block 322 has and Medical tee joint
The neck that the profile of the three-way body half of valve 310 fastens, the neck of two grip blocks 322, which is combined, is combined into one
Card chamber, the three-way body of medical three-way valve 310 can reliably be clamped, while not influence the rotation of screw-cap.Certainly, in adaptation
The attachment structure of conduit connecting plate 540 is stated, herein, there is open slot in the downside of grip block 322, be equipped with open slot
Switch pedestal 321, and the switch A323 that can be stirred is set between grip block 322 and switch pedestal 321, switch A323 is used for
Pin or unlock conduit connecting plate 540.Switch A323 is made up of the clamp and vertical swinging plate of level, and clamp is slidably arranged in
In chute in switch pedestal 321, after swinging plate passes through the hole on grip block 322, for stirring.Pacify by conduit clamp system 3
When being attached to the top of lid 120, plugboard 541 is inserted between grip block 322 and switch pedestal 321 in the vertical jack formed,
By toggle switch 323, the spliced eye 542 of clamp insertion plugboard 541 is may be such that, so as to realize conduit connecting plate 540 with leading
Pipe clamp system 3 is detachably connected.
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.
Conduit, which reverses component 4, includes motor A401, little gear A402 and gear wheel A403；Wherein, motor A401 is fixed on
In housing A110, there is good protective effect, motor A401 output axis connection little gear A402, gear wheel A403 and fixation
The connecting utricle 324 of conduit connects, little gear A402 and gear wheel A403 engaged transmissions；In use, motor A401 driving pinions
A402 is rotated, and by little gear A402 and gear wheel A403 engaged transmissions, gear wheel A403 drives connecting utricle 324 to rotate, so as to
Drive conduit to reverse, can adjust the angle of conduit head end, ensure that conduit can be promoted smoothly in the blood vessels.In gear wheel A403
The heart sets the hole to match with the profile of connecting utricle 324, and connecting utricle 324 inserts can be by connecting utricle 324 and gear wheel in the hole
A403 connections.
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, can complete the torsion driving of conduit, and can simply and easily pacifies conduit
It is attached to 310 on medical three-way valve.
Seal wire auxiliary clamp mechanism 2 includes pedestal 210, support member 220, clamping element 230 and driving element；Wherein, pedestal
210 are used to seal wire auxiliary clamp mechanism 2 being installed to housing A110, and support member 220 and driving element are all arranged on pedestal 210
On, clamping element 230 is arranged in support member 220 by the support of spring 240, and it can in the vertical direction by driving element driving
Lower movement, is clamped or unclamps to seal wire.There is accommodating chamber, spring 240 is located in accommodating chamber on support member 220；Clamping element
230 be rod-like structure, and its upper end has compact heap 231, and its lower end has an aperture, and lower end is from the top through support member 220
Insert in accommodating chamber, through after spring 240, the lower section through support member 220 is stretched out, and connects driving element.As long as driving element energy
Enough clamping element 230 is driven to move up and down, but the present embodiment driving element uses steering wheel A250, steering wheel A250 connection line wheels
260, wind in line wheel 260 wired, one end of line penetrates the aperture of the lower end of clamping element 230 so as to connect clamping element 230.Use
When, steering wheel A250 drivings line wheel 260 rotates, and drives clamping element 230 to move down compression spring 240 by line, the upper end of clamping element 230
Compact heap 231 moves down the upper surface that seal wire is pressed on to support member 220, so as to realize the clamping to seal wire.
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.
Displacement measurement component B1170 can also be arranged on the 3rd platform contiguous block, including：Laser mouse displacement sensing
Device 51, intervention apparatus guide pipe 52, guide pipe fixed seat 53, guide rail 54.Laser mouse displacement transducer 51 is fixed on platform company
Connect on block 1130, two pipe fixed seats 53 are located at the both ends of laser mouse displacement transducer 51 respectively, its bottom by lozenges with
Guide rail 54 is coordinated, and guide rail 54 is screwed on platform contiguous block 1130, and intervention apparatus guide pipe 52 is fixed on guiding
In pipe fixed seat 53.
Conduit and seal wire pass through the measured zone of laser mouse displacement transducer 51 along intervention apparatus guide pipe 52, go forward side by side
Enter guide pipe 52, now, laser mouse displacement transducer 51 measures the axial displacement and swing offset of conduit and seal wire in real time, and
Displacement signal is sent into computer to be handled；Guide pipe fixed seat 53, position can be adjusted along guide rail 54.
In summary illustrate, catheter controller device has advantages below：
1. overall structure is simple, comparatively independent between each several part using modular structure design, by simple
Combination can be completed to assemble, and dismounting is all convenient, and compact-sized small volume；Most of modular construction is simple, and can use plastics
Product is made, in light weight, and substantially reduces manufacturing cost；
2. the clamping of conduit, push, torsion, the detection displacement of dynamometry, and the auxiliary clamp of seal wire can be realized simultaneously
Or loosen, so as to coordinate guidewire controller to complete to control the cooperating of catheter guide wire, meet the various operation need of operation
Ask；
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
Turn, dynamometry and detection displacement, and seal wire clamping and loosen, cooperation to catheter guide wire control, meet the behaviour of intervention operation
Make demand, corresponding operating procedure is described in detail below.
First, main part 1 is installed to connecing soon in hole for platform contiguous block 1130 by plate 111, and consolidated by pin
It is fixed.
Then, conduit clamp system 3 clamps conduit and installation, is specially：The tail end of conduit is first connected to connection
On sheath 324, gear wheel 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 is through dividing plate A510, force snesor 550 and leads
Pipe connecting plate 540 is delivered to conduit clamp system 3, and during push, force snesor 550 receives thrust information, and is converted into
Electric signal output, and then the push power detection of conduit.
Clamping, push, torsion and the push power that can be completed to conduit by above step detect, and the additional lock of seal wire
Tightly and loosen, orderly work between each step, and coordinate guidewire controller to complete the cooperating to catheter guide wire, from
And the various operational requirements in surgical procedure can be met.Guidewire controller is described in detail below.
2nd, the mechanism of guidewire controller
Guidewire controller also mainly includes five parts, respectively matrix 6, seal wire clamp system 7, clamp switching mechanism 8,
Seal wire reverses component 630 and seal wire six-dimensional force dynamometry component 9；Wherein, matrix 6 is the installation foundation of other four parts, seal wire
Clamp system 7 and clamping switching mechanism 8 are removably mounted on matrix 6, and seal wire clamp system 7 is located at the upside of matrix 6, folder
Tight switching mechanism 8 is located at the rear side of matrix 6, and seal wire clamp system 7 is used to clamp seal wire, clamps switching mechanism 8 and is used to drive to lead
Silk clamp system 7 unclamps the clamping to seal wire, and seal wire reverses component 630 and is used to complete the twist operation to seal wire, seal wire six
Axle dynamometry component 9 is used for the push power for detecting seal wire.The device can complete the folder to seal wire by the mutual cooperation of each several part
Tightly, loosen, push, reversing and dynamometry, so as to coordinate control of the catheter controller to conduit, the collaboration completed in surgical procedure is matched somebody with somebody
Close.The concrete structure of each several part is described in detail respectively separately below.
The structure of matrix 6 mainly includes housing B610 and cover plate 620；In the present embodiment, housing B610 is top and rear end
Open shell-like structure, cover plate 620 are arranged on housing B610 top so that the sky comparatively closed is formed in housing B610
Between, for follow-up seal wire torsion component 630 and the installation vacating space of seal wire dynamometry component 9.Seal wire clamp system 7 is arranged on cover plate
620 top, and the rear side that switching mechanism 8 is fixed on housing B610 is clamped, installation site reasonable distribution, also comply with respective function
The needs of realization.Due to part based on matrix 6, whole device is to be installed on platform contiguous block 1130 to carry out phase by it
The operation answered, for the convenience of installation, a pair of plates 611 being set in housing B610 bottom, plate 611 inserts connects hole soon,
Fixed again by pin.
Seal wire dynamometry component 9 is arranged in housing B610, mainly includes dividing plate B910, seal wire connector 940 and six-dimensional force
Sensor 950；Wherein, dividing plate B910 is arranged on housing B610 centre, and space in housing B610 is roughly divided into two up and down
Point, two relative dividing plate B910 sides flip up to form side plate, and a line slideway is respectively installed in the relative inner side of two side plates
Secondary B920, line slideway auxiliary B920 connection seal wire connector 940, seal wire connector 940 are used to connect seal wire clamp system 7, from
And seal wire connector 940 can opposed separators B910 slide, this be also seal wire can subsequently be carried out push power detection premise.This
In embodiment, line slideway auxiliary B920 is it is also preferred that using ball line slideway auxiliary, and frictional force is smaller can almost to be ignored, so as to lead
The resistance of motion of silk connector 940 can be neglected, and ensure the high accuracy of seal wire push power detection.Line slideway auxiliary B920 includes guide rail
And sliding block, guide rail are fixed on dividing plate B910 side plate, sliding block is attached by supporting plate B930 and seal wire connector 940.
One L-shaped sensor fixation plate B960 is also installed on dividing plate B910, one end of six-dimension force sensor 950 is connected with seal wire
Part 940 is connected, and the other end is connected with sensor fixation plate B960, and so, the thrust of seal wire is delivered to by seal wire clamp system 7
On seal wire connector 940, the opposed separators B910 of seal wire connector 940 movements, pulling force is produced to six-dimension force sensor 950, so as to
Obtain the size of power.
In order to facilitate the connection between seal wire connector 940 and seal wire clamp system 7, the present embodiment is in seal wire connector
A pair of plugboard B941 with spliced eye B942, plugboard B941 is set to pass through cover plate 620 out of housing B610, make on 940
Spliced eye B942 is higher by the surface of cover plate 620, can quickly be connected with seal wire clamp system 7 by its seal wire connector 940
Connect or pull down.At the same time, to adapt to the structure type of seal wire connector 940, also there is spy to the structure of seal wire clamp system 7
Fixed requirement, it can illustrate below.
Seal wire clamp system 7 includes seal wire locking sleeve 710, seal wire locking rod 720, seal wire lock device 730 and sleeve branch
Support component 790；Wherein, seal wire locking sleeve 710, seal wire locking rod 720 and seal wire lock device 730 all have and passed through along respective axis
The centre bore worn, so that seal wire passes through；Seal wire lock device 730 is in similar mushroom-shaped structure, and both ends are not of uniform size, less one end
The end of seal wire locking rod 720 is can be inserted into, larger one end exposes outside, and has male cone (strobilus masculinus), is opened along the circumferencial direction of male cone (strobilus masculinus)
If at least two otch, 4 otch are opened up in the present embodiment, and tapering point is cut into uniform 4 parts；And load seal wire locking
The seal wire locking rod 720 of device 730 is inserted in seal wire locking sleeve 710, and is had and seal wire lock device in seal wire lock device 730
The taper hole that 730 male cone (strobilus masculinus) is engaged.Meanwhile seal wire locking rod 720 has baffle ring close to one end of seal wire locking rod 720, leads
It is cased with switching spring 740 on silk locking rod 720, one end of switching spring 740 is spacing by baffle ring, then in seal wire locking sleeve 710
End installation lock device end cap 760, switching spring 740 is fitted in seal wire locking sleeve 710, in lock device end cap 760
Pad 750 is set between the end of switching spring 740, so that lock device end cap 760 preferably compresses switching spring 740.This
Sample, the extruding switching spring 740 of lock device end cap 760, switching spring 740 applies thrust to seal wire locking rod 720, and then seal wire is locked
Only bar 720 extrudes seal wire lock device 730 so that the male cone (strobilus masculinus) of seal wire lock device 730 and the taper hole surface of seal wire locking sleeve 710
Relatively move, due to the presence of the upper cut of seal wire lock device 730, so as to which seal wire lock device 730 has the end meeting of the conical surface
Radial contraction, seal wire is clamped, such a mode is to, all by chucking power, blessing area is big, and clamping is reliable, right in seal wire whole circumference
The damage of 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, using structure type of the seal wire locking sleeve 710 by the support of housing supports component 790 setting on substrate 6.The sleeve
Support component 790 includes positioning base 791, bearing plate 794 and positioning pressuring plate 795；Wherein, positioning base 791 has U-shaped
Accommodating chamber, accommodating chamber is interior to have two bearing necks, and a bearing 780, two axles are respectively installed in the both ends of seal wire locking sleeve 710
Hold 780 to be stuck in bearing neck, push down bearing above bearing 780 with bearing plate 794, seal wire locking sleeve 710 can be prevented
Axial float, fixed again by positioning pressuring plate 795 in bearing plate 794, prevent the radial-play of seal wire locking sleeve 710,
Socket connection mode is used between bearing plate 794 and positioning base 791, inserting is conveniently.In addition, in the bottom of positioning base 791
Both sides respectively open up an open slot, connecting seat 793 is equipped with open slot, and in positioning base 791 and connecting seat 793
Between space in the locking switch 792 that can stir is set, 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 in the chute on connecting seat 793,
Swinging plate passes through the hole on positioning base 791, exposes the surface of connecting seat 793, for stirring.It is installed in seal wire clamp system 7
During the top of cover plate 620, in the vertical jack formed between plugboard B941 insertion positioning bases 791 and connecting seat 793, pass through
Locking switch 792 is stirred, in the spliced eye B942 that may be such that clamp insertion plugboard B941, so as to realize seal wire clamp system 7
With being detachably connected for seal wire connector 940.
The structure that seal wire reverses component 630 includes motor B631, little gear B632 and gear wheel B633；Wherein, motor
B631 is fixed in housing B610, has good protective effect, motor B631 output axis connection little gear B632, gear wheel
B633 is connected by key with the front end of seal wire locking sleeve 710, little gear B632 and gear wheel B633 engaged transmissions.In use,
Motor B631 driving pinions B632 is rotated, and by size meshed transmission gear, gear wheel B633 drives seal wire locking sleeve 710
Rotate, on the premise of seal wire clamps, seal wire can root rotated with seal wire locking sleeve 710, so as to adjustable guidewire tip
Angle, ensure conduit can smoothly promote in the blood vessels.
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.
Clamping switching mechanism 8 includes steering engine seat 810 and steering wheel B820；Wherein, steering engine seat 810 is used to that switching mechanism will to be clamped
8 are installed on housing B610, and steering wheel B820 is arranged on steering engine seat 810, and steering wheel B820 is connected with rotating disk 830, and can be driven and be turned
Disk 830 rotates, and winds wired on rotating disk 830, and the free end of line is used to pull seal wire locking rod 720, makes the pine of seal wire locking rod 720
The extruding to seal wire lock device 730 is opened, so that seal wire lock device 730 unclamps the clamping to seal wire.It is above-mentioned in order to realize
Function, and the clamping under the usual state of seal wire to seal wire is not influenceed, the attachment structure of line and seal wire locking rod 720 is set
Meter, in this embodiment, the end of seal wire locking rod 720 is connected through a screw thread a lock device arm-tie 770, lock device arm-tie 770
Between lock device end cap 760 at a distance, this distance can pass through lock device arm-tie 770 and seal wire locking rod 720
Screw thread length of fit is adjusted；Meanwhile switch boards 840, switch boards 840 are provided with by line slideway auxiliary C850 on dividing plate B910
With arc gap, by the breach, switch boards 840 are stuck between lock device end cap 760 and lock device arm-tie 770, rotating disk 830
Reach the standard grade and be connected with switch boards 840, so as to which steering wheel B820 driving rotating disks 830 rotate, 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 to overcome switching spring 740 to be moved rearwards, so as to pine
Convince silk by patient analysis.
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, matrix 6 is inserted into connecing soon in hole to platform contiguous block 1130 by plate B611, and fixed with pin.So
Afterwards, the front end of seal wire is sequentially passed through into seal wire locking rod 720, seal wire lock device 730, and from the front end of seal wire locking sleeve 710
Stretch out, tighten lock device end cap 760, seal wire lock device 730 is clamped seal wire.Certainly above-mentioned catheter controller is coordinated, seal wire
Termination 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 six-dimension force sensor 950 through seal wire clamp system 7, and power passes
Sensor 950 passes the power and torque of seal wire back in real time, so that operating personnel can remotely perceive caused resistance during wire feed.
(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, the controlling party from end operation device to catheter guide wire cooperating of above-mentioned robot platform
Method, 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
Controller and guidewire controller are to conduit and the control action of seal wire, orderly completion；The folder of conduit and seal wire can be controlled simultaneously
Tightly, loosen, push, reversing, dynamometry or force feedback pass fall, complete complexity surgical action；Wherein it should be strongly noted that
When guidewire controller pushes seal wire close to catheter controller, now need to move after making guidewire controller, then catheter controller passes through
Seal wire auxiliary clamp mechanism 2 clamps seal wire, and after guidewire controller unclamps seal wire and is pushed back into required position, seal wire clamper
Again seal wire is clamped, now seal wire auxiliary clamp mechanism 2 can unclamp seal wire, realize the switching action during seal wire push, this
Kind form ensures that seal wire position will not change in handoff procedure.
Example of the present invention is only that the preferred embodiment of the present invention is described, not to present inventive concept and
Scope is defined, on the premise of design philosophy of the present invention is not departed from, technology of this area engineers and technicians to the present invention
The various modifications and improvement that scheme is made, all should fall into protection scope of the present invention.
Claims (12)
1. one kind is used for operating platform, including support platform (1110), platform contiguous block (1130), line slideway auxiliary D (1020),
Drive component (1140), displacement measurement component (1170), IP cameras (1180) and height adjustable base (1101), described branch
Platform contiguous block (1130) is provided with by line slideway auxiliary D (1020) on support platform (1110)；The platform contiguous block
(1130) driven by drive component (1140), the platform contiguous block has two or more, and the platform contiguous block is arranged on
On same line slideway auxiliary D (1020), realize and straight line is carried out on same rectilinear orbit to catheter controller and guidewire controller
Mobile control；The height adjustable base (1101) is arranged on support platform (1110) below, the height adjustable base
(1101) it is made up of two lifting platforms, institute's displacement measurement component (1170) is used for the displacement for measuring conduit, seal wire, and will collection
The axial displacement and swing offset arrived, send computer to and carry out calculating analysis, IP cameras (1180) collection site is real
When image, control is operated alone by a drive component in each platform contiguous block (1130).Drive component quantity connects with platform
It is consistent to connect number of blocks.
A kind of 2. operating platform according to claim 1, it is characterised in that the platform contiguous block (1130) is two,
Catheter controller and guidewire controller are installed respectively.
A kind of 3. operating platform according to claim 1, it is characterised in that the platform contiguous block (1130) be three with
On, catheter controller and guidewire controller and other auxiliary bodies are installed respectively.
4. a kind of operating platform according to claim 1, it is characterised in that described drive component (1140) includes fixing
Motor (1142), rope (1141) and strainer (1150) in support platform.
5. a kind of operating platform according to claim 5, it is characterised in that the strainer has two, sets respectively
Put at the both ends of support platform (1110)；Rope (1141) is stretched on two strainers (1150), and rope connecting platform connects
Connect block (1130)；Motor (1142) the connection rope sheave (1143), rope sheave (1143) are used to drive rope (1141) to drive
Platform contiguous block (1130) is mobile.
6. a kind of operating platform according to claim 5, 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).
7. a kind of operating platform according to claim 1, it is characterised in that catheter controller includes conduit control main part
Divide (1), conduit clamp system (3) and seal wire auxiliary clamp mechanism (2), conduit clamp system is used to clamp conduit, seal wire auxiliary
Clamp system is used to clamp or unclamp seal wire, and described conduit clamp system and seal wire auxiliary clamp mechanism are removably mounted at
In main part.
8. a kind of operating platform according to claim 1, it is characterised in that described guidewire controller controls including seal wire
Matrix (6), the seal wire clamp system (7) on matrix (6), switching mechanism (8) and six-dimensional force dynamometry component (9) are clamped,
Seal wire 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
Clamping.
9. a kind of operating platform according to claim 1, it is characterised in that institute's displacement measurement component (1170) is setting
Grating scale (1171) and the grating ruler reading head that is fixed on platform contiguous block (1130) in support platform (1110) side
(1172) form, the direction of motion of platform contiguous block is provided with two reverse spacing biographies on the grating ruler reading head (1172)
Sensor.
10. according to a kind of operating platform described in claim any one of 1-9, it is characterised in that lifting platform A (11) is by lifting platform
Bottom plate (1-1), threaded rod (1-2), axle A (1-3), axle B (1-4), lifting platform top plate (1-5) and lifting platform support bar (1-6) structure
Into；Wherein, lifting platform support bar (1-6) lower end is arranged on lifting platform bottom plate (1-1), upper end support lifting platform top plate
(1-5)；Rotary shafts of the axle A as lifting platform support bar；The axle B is the rotary shaft of lifting platform support bar；The screw thread
Bar passes through axle A and axle B, and, lifting platform top plate (1-5) on mounting bracket in opposite direction with axle A and axle B connection screw thread, support
It is connected with support platform (1110).
11. the operating platform tele-control system described in a kind of any one of claim 1-10, including main side part and from end
Point, main side part is connected from end part by wirelessly or non-wirelessly communication modes, it is characterised in that：The main side part receives operation
Signal, control from end partial act, and receive the feedback signal from end part；It is described to be tapped by from end and perform main side part
The operation signal sent.The main side part includes main side control computer, main side control platform, described to include branch from end point
Support platform (1110), platform contiguous block (1130), line slideway auxiliary D (1020), drive component (1140), displacement measurement component
(1170), IP cameras (1180) and height adjustable base (1101).
A kind of 12. operating platform described in any one of claim 1-10, it is characterised in that the operating platform be used for impart knowledge to students or
Simulated training.
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| CN201710762877.8A CN107744406A (en) | 2017-08-30 | 2017-08-30 | A kind of robot manipulation's platform and its operating method |
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| CN201710762877.8A CN107744406A (en) | 2017-08-30 | 2017-08-30 | A kind of robot manipulation's platform and its operating method |
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| CN108305522A (en) * | 2018-04-09 | 2018-07-20 | 西南石油大学 | A kind of training equipment for blood vessel intervention operation operation guide |
| CN109159115A (en) * | 2018-08-17 | 2019-01-08 | 哈尔滨工业大学 | A kind of tactile communication device towards science popularization |
| CN110856660A (en) * | 2018-08-23 | 2020-03-03 | 武汉联影智融医疗科技有限公司 | Surgical robot and puncture mechanism thereof |
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| CN113855253A (en) * | 2021-10-15 | 2021-12-31 | 中国科学院长春光学精密机械与物理研究所 | Interventional operation system and control method and system thereof |
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| CN108305522A (en) * | 2018-04-09 | 2018-07-20 | 西南石油大学 | A kind of training equipment for blood vessel intervention operation operation guide |
| CN108305522B (en) * | 2018-04-09 | 2023-09-01 | 西南石油大学 | Training equipment for guiding vascular interventional operation |
| CN109159115A (en) * | 2018-08-17 | 2019-01-08 | 哈尔滨工业大学 | A kind of tactile communication device towards science popularization |
| CN110856660B (en) * | 2018-08-23 | 2021-12-21 | 武汉联影智融医疗科技有限公司 | Surgical robot and puncture mechanism thereof |
| CN110856660A (en) * | 2018-08-23 | 2020-03-03 | 武汉联影智融医疗科技有限公司 | Surgical robot and puncture mechanism thereof |
| CN111047937A (en) * | 2019-12-14 | 2020-04-21 | 上海工程技术大学 | Operation training system based on magnetorheological fluid |
| CN111539266A (en) * | 2020-04-02 | 2020-08-14 | 威迈(宁波)医疗科技有限公司 | Medical instrument identification device and method and blood vessel intervention training equipment |
| CN112546396A (en) * | 2020-12-04 | 2021-03-26 | 北京理工大学 | Guide rail direct-push type vascular interventional surgical robot and guide wire delivery method thereof |
| CN113441465A (en) * | 2021-05-27 | 2021-09-28 | 成都飞机工业（集团）有限责任公司 | Cleaning device for linear grating ruler and using method thereof |
| CN113808464A (en) * | 2021-09-24 | 2021-12-17 | 山东静禾医疗科技有限公司 | Interventional operation simulation platform |
| CN113808464B (en) * | 2021-09-24 | 2023-03-21 | 山东静禾医疗科技有限公司 | Interventional operation simulation platform |
| CN113855253A (en) * | 2021-10-15 | 2021-12-31 | 中国科学院长春光学精密机械与物理研究所 | Interventional operation system and control method and system thereof |
| CN113855253B (en) * | 2021-10-15 | 2023-09-15 | 中国科学院长春光学精密机械与物理研究所 | Interventional operation system and control method and system thereof |
| CN114391952A (en) * | 2022-01-07 | 2022-04-26 | 易度河北机器人科技有限公司 | Be suitable for clinical vascular intervention surgical robot dibit drive and feedback device |
| CN114795411A (en) * | 2022-04-15 | 2022-07-29 | 哈尔滨理工大学 | Flexible needle puncture mechanism with slotting support |
| CN115800153A (en) * | 2022-09-29 | 2023-03-14 | 嘉兴市恒光电力建设有限责任公司 | Anti-theft clamp device for high-voltage cable return cable |
| CN116899107A (en) * | 2023-06-21 | 2023-10-20 | 南京伟思医疗科技股份有限公司 | Intelligent follow-up weight-reduction treatment mechanical arm, control method and treatment bracket |
| CN116899107B (en) * | 2023-06-21 | 2024-02-13 | 南京伟思医疗科技股份有限公司 | Intelligent follow-up weight-reduction treatment mechanical arm, control method and treatment bracket |
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Effective date of registration: 20210721 Address after: 100160 119 South 4th Ring Road West, Fengtai District, Beijing Applicant after: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Address before: 100050 Tiantan Xili 6, Dongcheng District, Beijing Applicant before: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Applicant before: Li Youxiang Applicant before: Jiang Yuhua |
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Application publication date: 20180302 Assignee: Beijing wansi Medical Technology Co.,Ltd. Assignor: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Contract record no.: X2024980004749 Denomination of invention: A robot operation platform and its operation method Granted publication date: 20190524 License type: Exclusive License Record date: 20240422 |