CN110101454A - A kind of blood vessel intervention operation robot system - Google Patents
A kind of blood vessel intervention operation robot system Download PDFInfo
- Publication number
- CN110101454A CN110101454A CN201910467263.6A CN201910467263A CN110101454A CN 110101454 A CN110101454 A CN 110101454A CN 201910467263 A CN201910467263 A CN 201910467263A CN 110101454 A CN110101454 A CN 110101454A
- Authority
- CN
- China
- Prior art keywords
- motor
- controller
- encoder
- blood vessel
- intervention operation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- 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
Abstract
The invention discloses a kind of blood vessel intervention operation robot systems, including pedestal, first motor, second motor, first encoder and second encoder, one group of rotating stand and the slide rail between two rotating stands are installed on the pedestal, lead screw is rotatably equipped on rotating stand, first motor wherein is installed on a rotating stand, first encoder is installed in first motor, first motor output end and lead screw end are drivingly connected, cross slide is slidably fitted on the slide rail, bracket is installed on cross slide, pedestal upper end is rotatably equipped with rotating disc, the disk body central axis end of rotating disc is connect by transmission component with the second motor driven on cross slide, second encoder is installed on second motor.Dynamic property of the invention is good, and flexibility is high, adaptable, and control precision is high, and the conduit used in intervention operation can accurately import corresponding position.
Description
Technical field
The present invention relates to blood vessel intervention operation technical field, specially a kind of blood vessel intervention operation robot system.
Background technique
Interventional surgery is the effective ways for treating cardiovascular disease.Interventional surgery is doctor's manipulation
Conduit reaches farther away diseased region in vivo along human vas, and then to the operation that diseased region is treated.With traditional operation
It compares, interventional surgery has many advantages, such as that bleeding is few, wound is small, few intercurrent disease, safe and reliable and post-operative recovery are fast.So
And doctor carry out manually intervention operation there is also clearly disadvantageous: it is more demanding to the technical ability and operating experience of doctor first,
Thus experienced doctor is cultivated to take a long time and energy；Secondly, doctor needs to work long hours in the course of surgery
Under X-ray, doctor's own health is endangered larger；In addition, the maloperation of doctor easily causes blood vessel to pierce in surgical procedure
It wears, endangers the physical and mental health of patient.
How robot technology and blood vessel interventional technique to be organically combined, the conduit used in intervention operation is accurately led
Enter corresponding position, becomes the application problem to be solved.
Summary of the invention
The purpose of the present invention is to provide a kind of blood vessel intervention operation robot systems, to solve to mention in above-mentioned background technique
Out the problem of.
To achieve the above object, the invention provides the following technical scheme:
A kind of blood vessel intervention operation robot system, including pedestal, first motor, the second motor, the first encoder and
Second encoder is equipped with one group of rotating stand and the slide rail between two rotating stands on the pedestal, rotates
It is rotatably equipped with lead screw on support, wherein being equipped with first motor on a rotating stand, the first coding is installed in first motor
Device, first motor output end and lead screw end are drivingly connected, and are slidably fitted with cross slide, cross slide on the slide rail
On bracket is installed, pedestal upper end is rotatably equipped with rotating disc, and the disk body central axis end of rotating disc passes through transmission component and horizontal
The second motor driven on slide connects, and is equipped with second encoder on the second motor, the center of rotating disc, which offers, to be run through
The pipe of disk body central axis is perforated, and rotation side surface is provided with the clamp system for clamping conduit, and rotation side surface is also equipped with
The clamping cylinder of clamp system movement is driven, the air-flow input of clamping cylinder is equipped with cylinder control solenoid valve, the pedestal
On auxiliary stand is installed, auxiliary stand upper end is equipped with guide sleeve, and conduit sequentially passes through pipe perforation and guide sleeve.
It preferably, further include active control device, the first controller and second controller, active control device is respectively with
One controller is connected with second controller signal, includes the first fuzzy controller and the first PID control in first controller
The signal output end of device, the first PID controller is electrically connected with first motor and cylinder control solenoid valve；The second controller
In include the second fuzzy controller and the second PID controller, the signal output end of the second PID controller and the second motor and cylinder
Control solenoid valve electrical connection.
Preferably, the transmission component includes the big belt wheel of the small pulley of the second motor output end, disk body central axis end
And transmission belt, transmission belt are sleeved on small pulley and big belt wheel.
Preferably, the clamp system includes upper fixture block and lower fixture block, and it is vertical that upper fixture block and lower fixture block are respectively connected with first
Bar, the first vertical bar pass through lateral middle brace rod and connect the second vertical bar, and distribution is provided with rack gear on the second vertical bar side wall,
Intermediate gear is engaged between two rack gears, the central axis rotation of intermediate gear is mounted in rotation side surface, rotates side surface
On be also equipped with one group of vertical guide sleeve, the first vertical bar and the second vertical bar are vertically inserted into corresponding vertical guide sleeve,
The output shaft end of the clamping cylinder is connect with the first vertical bar upper end.
Preferably, the free end of the upper fixture block and lower fixture block is provided with improved mat.
Compared with prior art, the beneficial effects of the present invention are: clamping cylinder works, by clamp system by vessel clamp
Tightly, it is ensured that conduit can be moved accurately；First motor controls the axial movement of conduit, and the first encoder is for acquiring the first electricity
The turnning circle of machine, and the axial displacement value of conduit is converted it into, and the data of acquisition are sent in the first controller；The
The rotary motion of two motor control conduits, second encoder are used to acquire the turnning circle of the second motor, and convert it into and lead
The rotation angle of pipe, and the data of acquisition are sent in second controller.Dynamic property of the invention is good, and flexibility is high, fits
Ying Xingqiang, control precision is high, and the conduit used in intervention operation can accurately import corresponding position.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of blood vessel intervention operation robot system；
Fig. 2 is a kind of structural schematic diagram of clamp system in blood vessel intervention operation robot system.
In figure: 100- clamping conduit, 1- pedestal, 2- cross slide, 3- slide rail, 4- first motor, 5- rotating stand,
6- lead screw, 7- bracket, the second motor of 8-, 9- transmission component, 10- auxiliary stand, 11- guide sleeve, 12- disk body central axis, 13- turn
Moving plate, the perforation of 131- pipe, the first vertical bar of 14-, the vertical guide sleeve of 15-, 16- upper fixture block, 17- improved mat, 18- are laterally intermediate
Connecting rod, the second vertical bar of 19-, 191- rack gear, 20- intermediate gear, 21- clamping cylinder.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1~2 are please referred to, the present invention provides a kind of technical solution: a kind of blood vessel intervention operation robot system, including bottom
Seat 1, first motor 4, the second motor 8, the first encoder and second encoder are equipped with one group of rotation branch on the pedestal 1
The seat 5 and slide rail 3 between two rotating stands 5 is rotatably equipped with lead screw 6 on rotating stand 5, wherein a rotation branch
First motor 4 is installed on seat 5, the first encoder is installed in first motor 4,4 output end of first motor and 6 end of lead screw are driven
It is dynamic to connect, it is slidably fitted with cross slide 2 on the slide rail 3, bracket 7 is installed on cross slide 2,7 upper end of bracket turns
Dynamic to be equipped with rotating disc 13,12 end of disk body central axis of rotating disc 13 passes through the second electricity on transmission component 9 and cross slide 2
Machine 8 is drivingly connected, and is equipped with second encoder on the second motor 8, the center of rotating disc 13 is offered through disk body central axis 12
Pipe perforation 131,13 end face of rotating disc is provided with the clamp system for clamping conduit 100, and 13 end face of rotating disc is also equipped with
The clamping cylinder 21 of clamp system movement is driven, the air-flow input of clamping cylinder 21 is equipped with cylinder control solenoid valve, described
Auxiliary stand 10 is installed, 10 upper end of auxiliary stand is equipped with guide sleeve 11, and conduit 100 sequentially passes through pipe perforation 131 on pedestal 1
With guide sleeve 11.
The invention also includes active control device, the first controller and second controller, active control device is respectively with
One controller is connected with second controller signal, includes the first fuzzy controller and the first PID control in first controller
The signal output end of device, the first PID controller is electrically connected with first motor 4 and cylinder control solenoid valve；Second control
Include the second fuzzy controller and the second PID controller in device, the signal output end of the second PID controller and the second motor 8 and
Cylinder controls solenoid valve electrical connection.
The transmission component includes the big belt wheel and biography of the small pulley of 8 output end of the second motor, disk body central axis end
Dynamic band, transmission belt are sleeved on small pulley and big belt wheel.
The clamp system includes upper fixture block 16 and lower fixture block, and upper fixture block 16 and lower fixture block are respectively connected with the first vertical bar
14, the first vertical bar 14 passes through lateral middle brace rod 18 and connects the second vertical bar 19, is distributed and sets on 19 side wall of the second vertical bar
It is equipped with rack gear 191, intermediate gear 20 is engaged between two rack gears 191, the central axis rotation of intermediate gear 20 is mounted on rotation
On 13 end face of disk, one group of vertical guide sleeve 15, the first vertical bar 14 and the second vertical bar 19 are also equipped on 13 end face of rotating disc
It is vertically inserted into corresponding vertical guide sleeve 15, the output shaft end of the clamping cylinder 21 and 14 upper end of the first vertical bar connect
It connects.
The free end of the upper fixture block 16 and lower fixture block is provided with improved mat 17.
Active control device is used to set the expectation axial displacement value of conduit 100 and the expectation rotation angle value of conduit 100,
And the expectation axial displacement value of conduit 100 is sent in the first controller, the expectation rotation angle value of conduit 100 is sent to
In second controller；
First controller subtracts each other for that will it is expected that shift value and actual catheter are axially moved shift value, and the displacement of acquisition is missed
Difference is respectively sent in the first fuzzy controller and the first PID controller inside controller, while by the differential of displacement error
Value is sent in the first fuzzy controller；First fuzzy controller obtains the first proportionality coefficient, first integral by fuzzy reasoning
Above-mentioned coefficient is sent to the first PID controller by coefficient and the first differential coefficient；First PID controller is according to displacement error,
One proportionality coefficient, first integral coefficient and the first differential coefficient obtain the control signal of conduit axial direction moving displacement, and will control
Signal is sent to first motor 4 and carries out bit shift compensation；First motor 4 controls the axial movement of conduit, and the first encoder is for adopting
Collect the turnning circle of first motor 4, and converts it into the axial displacement value of conduit, and the data of acquisition are sent to the first control
In device processed；When first motor 4 works, the first PID controller can control the work of clamping cylinder 21 simultaneously, will be led by clamp system
Pipe 100 clamps, it is ensured that conduit 100 can be moved accurately.
Second controller will be for that will it is expected that rotation angle value is subtracted each other with actual catheter rotation angle value, by the rotation angle of acquisition
Degree error is respectively sent in the second fuzzy controller and the second PID controller inside controller, while rotation angle being missed
The differential value of difference is sent in the second fuzzy controller；Second fuzzy controller by fuzzy reasoning, obtain the second proportionality coefficient,
Above-mentioned coefficient is sent to the second PID controller by second integral coefficient and the second differential coefficient；Second PID controller is according to rotation
Gyration error, the second proportionality coefficient, second integral coefficient and the second differential coefficient obtain the control signal of conduit rotation angle,
And it sends control signals to the second motor 8 and carries out rotation angle compensation；The rotary motion of second motor 8 control conduit, second
Encoder is used to acquire the turnning circle of the second motor 8, and converts it into the rotation angle of conduit, and the data of acquisition are sent out
It send into second controller；When second motor 8 works, the first PID controller can control the work of clamping cylinder 21 simultaneously, pass through folder
Tight mechanism clamps conduit 100, it is ensured that conduit 100 can be moved accurately.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (5)
1. a kind of blood vessel intervention operation robot system, it is characterised in that: including pedestal (1), first motor (4), the second motor
(8), the first encoder and second encoder are equipped with one group of rotating stand (5) on the pedestal (1) and are located at two rotations
Slide rail (3) between support (5) is rotatably equipped with lead screw (6) on rotating stand (5), wherein pacifying on a rotating stand (5)
Equipped with first motor (4), the first encoder, first motor (4) output end and lead screw (6) end are installed in first motor (4)
It is drivingly connected, is slidably fitted with cross slide (2), is equipped on cross slide (2) bracket (7) on the slide rail (3), prop up
Frame (7) upper end is rotatably equipped with rotating disc (13), disk body central axis (12) end of rotating disc (13) by transmission component (9) with
The second motor (8) on cross slide (2) is drivingly connected, and is equipped with second encoder on the second motor (8), rotating disc (13)
Center offers the pipe perforation (131) through disk body central axis (12), and rotating disc (13) end face is provided with for clamping conduit
(100) clamp system, rotating disc (13) end face are also equipped with the clamping cylinder (21) of driving clamp system movement, clamping cylinder
(21) air-flow input is equipped with cylinder control solenoid valve, is equipped with auxiliary stand (10), auxiliary stand on the pedestal (1)
(10) upper end is equipped with guide sleeve (11), and conduit (100) sequentially passes through pipe perforation (131) and guide sleeve (11).
2. a kind of blood vessel intervention operation robot system according to claim 1, it is characterised in that: further include active control
Device, the first controller and second controller, active control device are connect with the first controller and second controller signal respectively,
In first controller include the first fuzzy controller and the first PID controller, the signal output end of the first PID controller with
First motor (4) and cylinder control solenoid valve electrical connection；It include the second fuzzy controller and second in the second controller
PID controller, the signal output end of the second PID controller are electrically connected with the second motor (8) and cylinder control solenoid valve.
3. a kind of blood vessel intervention operation robot system according to claim 1, it is characterised in that: the transmission component packet
The small pulley of the second motor (8) output end, the big belt wheel and transmission belt of disk body central axis end are included, transmission belt is sleeved on small band
On wheel and big belt wheel.
4. a kind of blood vessel intervention operation robot system according to claim 1, it is characterised in that: the clamp system packet
Upper fixture block (16) and lower fixture block are included, upper fixture block (16) and lower fixture block are respectively connected with the first vertical bar (14), the first vertical bar (14)
The second vertical bar (19) are connected by lateral middle brace rod (18), distribution is provided with rack gear on the second vertical bar (19) side wall
(191), it is engaged with intermediate gear (20) between two rack gears (191), the central axis rotation of intermediate gear (20) is mounted on rotation
On disk (13) end face, one group of vertical guide sleeve (15), the first vertical bar (14) and second are also equipped on rotating disc (13) end face
Vertical bar (19) is vertically inserted into corresponding vertical guide sleeve (15), and the output shaft end of the clamping cylinder (21) and first are erected
It is connected to bar (14) upper end.
5. a kind of blood vessel intervention operation robot system according to claim 4, it is characterised in that: the upper fixture block (16)
Improved mat (17) are provided with the free end of lower fixture block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910467263.6A CN110101454A (en) | 2019-05-31 | 2019-05-31 | A kind of blood vessel intervention operation robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910467263.6A CN110101454A (en) | 2019-05-31 | 2019-05-31 | A kind of blood vessel intervention operation robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110101454A true CN110101454A (en) | 2019-08-09 |
Family
ID=67493166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910467263.6A Pending CN110101454A (en) | 2019-05-31 | 2019-05-31 | A kind of blood vessel intervention operation robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110101454A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111856942A (en) * | 2020-08-03 | 2020-10-30 | 天津理工大学 | Time lag and error improvement method of remote intervention operation control system |
| CN115137489A (en) * | 2022-09-05 | 2022-10-04 | 深圳市爱博医疗机器人有限公司 | Slender type medical instrument driving device |
| CN115153859A (en) * | 2022-09-05 | 2022-10-11 | 深圳市爱博医疗机器人有限公司 | Slender type medical instrument driving device |
-
2019
- 2019-05-31 CN CN201910467263.6A patent/CN110101454A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111856942A (en) * | 2020-08-03 | 2020-10-30 | 天津理工大学 | Time lag and error improvement method of remote intervention operation control system |
| CN111856942B (en) * | 2020-08-03 | 2022-05-20 | 深圳市爱博医疗机器人有限公司 | Time lag and error improvement method for remote intervention operation control system |
| CN115137489A (en) * | 2022-09-05 | 2022-10-04 | 深圳市爱博医疗机器人有限公司 | Slender type medical instrument driving device |
| CN115153859A (en) * | 2022-09-05 | 2022-10-11 | 深圳市爱博医疗机器人有限公司 | Slender type medical instrument driving device |
| CN115153859B (en) * | 2022-09-05 | 2022-11-25 | 深圳市爱博医疗机器人有限公司 | Slender type medical instrument driving device |
| WO2024050966A1 (en) * | 2022-09-05 | 2024-03-14 | 深圳市爱博医疗机器人有限公司 | Slender medical instrument driving apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110101454A (en) | A kind of blood vessel intervention operation robot system | |
| US11154689B2 (en) | Vascular interventional instrument control device with double guide wires or balloons | |
| CN105287002A (en) | Flexible multi-joint operation micro instrument for robot-assisted minimally invasive surgery | |
| CN106725650A (en) | One kind is used for minimally invasive surgical operation robot quick-changing mechanism | |
| CN110327116A (en) | The catheter delivery device of blood vessel intervention operation robot | |
| CN109171904A (en) | One kind being exclusively used in medicine cardiovascular-interventional therapeutic equipment device | |
| CN209137698U (en) | A kind of catheter controller | |
| CN106175917A (en) | Intersection of sliding perspective orthopaedics pedicle screw inserts auxiliary equipment | |
| CN110711618A (en) | Subassembly is got to transfer of neurosurgery blood test tube clamp | |
| CN205814428U (en) | A kind of pose mechanical conditioning type moveable platform | |
| CN108720938A (en) | A kind of blood collection auxiliary device for blood internal medicine | |
| CN213098064U (en) | Auxiliary device for general surgery department operation | |
| CN208114855U (en) | A kind of fixed device of dialysis catheter for nephrology department | |
| CN113633388B (en) | From end seal wire pipe controlling means of intervention operation robot | |
| CN206630633U (en) | One kind is used for minimally invasive surgical operation robot quick-changing mechanism | |
| CN106308826A (en) | C type arm of C-arm X-ray machine | |
| CN102973322B (en) | Palm rest fixing support for radial artery puncture | |
| CN108744227A (en) | A kind of Internal Medicine-Oncology clinical intervention treatment catheter anchoring system | |
| CN108392231A (en) | A kind of operation intervention auxiliary device of Mechanical course | |
| CN210932521U (en) | Instrument clamping device for minimally invasive surgery | |
| CN204951153U (en) | Operation system of robot with interactive path planning function | |
| CN114699172A (en) | Tube and wire driving device of vascular intervention surgical robot | |
| CN107823739A (en) | Dialyzer clamping device and hemodialysis apparatus | |
| CN208726381U (en) | A kind of fixed device of Breast Surgery post-operative care Special drainage tube | |
| CN203519350U (en) | Detector for medical scanning instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| DD01 | Delivery of document by public notice |
Addressee: Shanghai Maoyuan Electronic Technology Co.,Ltd. Document name: Notification of Publication of the Application for Invention |
|
| DD01 | Delivery of document by public notice | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190809 |
|
| WD01 | Invention patent application deemed withdrawn after publication |