CN108158656B - 血管腔内介入手术机器人导丝/导管操作扭矩检测装置 - Google Patents
血管腔内介入手术机器人导丝/导管操作扭矩检测装置 Download PDFInfo
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- CN108158656B CN108158656B CN201711205950.8A CN201711205950A CN108158656B CN 108158656 B CN108158656 B CN 108158656B CN 201711205950 A CN201711205950 A CN 201711205950A CN 108158656 B CN108158656 B CN 108158656B
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- 238000001514 detection method Methods 0.000 title claims abstract description 22
- 230000002792 vascular Effects 0.000 title claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims description 17
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 14
- 229910052742 iron Inorganic materials 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- 238000013152 interventional procedure Methods 0.000 claims 1
- 230000000149 penetrating effect Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000002526 effect on cardiovascular system Effects 0.000 description 4
- 208000024172 Cardiovascular disease Diseases 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 208000026106 cerebrovascular disease Diseases 0.000 description 2
- 230000036541 health Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
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- 210000001503 joint Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
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- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
Classifications
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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
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/14—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft
- G01L3/1407—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs
- G01L3/1428—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs using electrical transducers
- G01L3/1457—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs using electrical transducers involving resistance strain gauges
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201711205950.8A CN108158656B (zh) | 2017-11-27 | 2017-11-27 | 血管腔内介入手术机器人导丝/导管操作扭矩检测装置 |
Applications Claiming Priority (1)
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CN201711205950.8A CN108158656B (zh) | 2017-11-27 | 2017-11-27 | 血管腔内介入手术机器人导丝/导管操作扭矩检测装置 |
Publications (2)
Publication Number | Publication Date |
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CN108158656A CN108158656A (zh) | 2018-06-15 |
CN108158656B true CN108158656B (zh) | 2024-02-27 |
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CN201711205950.8A Active CN108158656B (zh) | 2017-11-27 | 2017-11-27 | 血管腔内介入手术机器人导丝/导管操作扭矩检测装置 |
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Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112702971A (zh) * | 2018-09-17 | 2021-04-23 | 柯惠Lp公司 | 手术机器人系统 |
CN112169136A (zh) * | 2018-10-08 | 2021-01-05 | 万海伟 | 用于脑血管介入的调节式微导管及其使用方法 |
CN109481022A (zh) * | 2018-11-14 | 2019-03-19 | 李兴国 | 一种主从操作血管介入手术机器人的主手端操作机构 |
CN109602504A (zh) * | 2019-01-10 | 2019-04-12 | 南京感控通化工产品经营部 | 一种细长体器械的力检测装置 |
CN110165838B (zh) * | 2019-04-11 | 2020-12-22 | 广东省智能制造研究所 | 一种弹性力矩控制装置 |
CN110169826B (zh) * | 2019-06-17 | 2023-06-02 | 辽宁科技大学 | 一种柔性减振手术机器人导丝递送装置及方法 |
CN110236684B (zh) * | 2019-07-10 | 2024-02-27 | 北京唯迈医疗设备有限公司 | 一种介入手术机器人从端推进装置及其控制方法 |
CN111035453A (zh) * | 2019-11-27 | 2020-04-21 | 北京理工大学 | 一种用于血管腔内介入手术机器人的导管体外防弯曲装置 |
CN112932675B (zh) * | 2021-03-15 | 2022-12-20 | 上海交通大学 | 一种多维力觉反馈的管线操纵装置 |
CN113749782B (zh) * | 2021-08-10 | 2023-05-16 | 深圳市爱博医疗机器人有限公司 | 一种具有防护隔离功能的介入手术机器人从端驱动装置 |
CN113769238B (zh) * | 2021-09-15 | 2022-05-03 | 天津大学 | 一种微创血管介入手术机器人导管近端力扭矩检测装置 |
CN114451998B (zh) * | 2021-10-11 | 2024-04-19 | 上海微创微航机器人有限公司 | 医疗导管及其形状控制系统、方法和手术机器人 |
CN114159673B (zh) * | 2021-12-08 | 2023-11-07 | 上海神玑医疗科技有限公司 | 血管用导管介入装置 |
CN115005992B (zh) * | 2022-05-06 | 2024-03-19 | 河北工业大学 | 一种用于血管介入手术机器人的电容传感器及监测系统 |
Citations (5)
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---|---|---|---|---|
CN102462536A (zh) * | 2010-11-18 | 2012-05-23 | 无锡佑仁科技有限公司 | 一种用于血管介入手术机器人的导管推进操作装置 |
CN103976766A (zh) * | 2014-05-16 | 2014-08-13 | 天津理工大学 | 一种主从微创血管介入手术辅助系统 |
KR20160133048A (ko) * | 2015-05-11 | 2016-11-22 | 전남대학교산학협력단 | 카테터 삽입 장치 및 카테터 시스템 |
CN107106155A (zh) * | 2017-04-01 | 2017-08-29 | 中国科学院深圳先进技术研究院 | 血管介入手术机器人的导管推送控制方法及导管推送设备 |
CN208693445U (zh) * | 2017-11-27 | 2019-04-05 | 北京理工大学 | 血管腔内介入手术机器人导丝/导管操作扭矩检测装置 |
-
2017
- 2017-11-27 CN CN201711205950.8A patent/CN108158656B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102462536A (zh) * | 2010-11-18 | 2012-05-23 | 无锡佑仁科技有限公司 | 一种用于血管介入手术机器人的导管推进操作装置 |
CN103976766A (zh) * | 2014-05-16 | 2014-08-13 | 天津理工大学 | 一种主从微创血管介入手术辅助系统 |
KR20160133048A (ko) * | 2015-05-11 | 2016-11-22 | 전남대학교산학협력단 | 카테터 삽입 장치 및 카테터 시스템 |
CN107106155A (zh) * | 2017-04-01 | 2017-08-29 | 中国科学院深圳先进技术研究院 | 血管介入手术机器人的导管推送控制方法及导管推送设备 |
CN208693445U (zh) * | 2017-11-27 | 2019-04-05 | 北京理工大学 | 血管腔内介入手术机器人导丝/导管操作扭矩检测装置 |
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Effective date of registration: 20200813 Address after: 518000 Guangdong city of Shenzhen province Qianhai Shenzhen Hong Kong cooperation zone before Bay Road No. 1 building 201 room A Applicant after: Frontier Industrial Design Research (Shenzhen) Co.,Ltd. Address before: 100081 No. 5, Zhongguancun South Street, Haidian District, Beijing Applicant before: BEIJING INSTITUTE OF TECHNOLOGY |
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Effective date of registration: 20200907 Address after: Room 1401-1406, building 12, zhonghisense innovation industry city, No. 12, Ganli Road, gankeng community, Jihua street, Longgang District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Aibo medical robot Co.,Ltd. Address before: 518000 Guangdong city of Shenzhen province Qianhai Shenzhen Hong Kong cooperation zone before Bay Road No. 1 building 201 room A Applicant before: Frontier Industrial Design Research (Shenzhen) Co.,Ltd. |
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Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant after: Shenzhen Aibo medical robot Co.,Ltd. Address before: 1401-1406, building 12, China Hisense innovation industry city, No. 12, ganliliu Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong 518000 Applicant before: Shenzhen Aibo medical robot Co.,Ltd. |
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Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant before: Shenzhen Aibo medical robot Co.,Ltd. |
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