CN110840565A - Automatic clamping and opening device for catheter of interventional operation robot - Google Patents
Automatic clamping and opening device for catheter of interventional operation robot Download PDFInfo
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- CN110840565A CN110840565A CN201911082518.3A CN201911082518A CN110840565A CN 110840565 A CN110840565 A CN 110840565A CN 201911082518 A CN201911082518 A CN 201911082518A CN 110840565 A CN110840565 A CN 110840565A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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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
- 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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Abstract
The invention discloses an automatic clamping and opening device for a catheter of an interventional operation robot, which comprises a catheter clamping end and a detection end, wherein the catheter clamping end comprises a base and a clamping head, and the detection end comprises a base and a clamping head, the base comprises a base, a clamping head and a clamping head, the base comprises a base, the: the catheter clamping end comprises a stepping motor, a steering engine, a driving friction wheel, a driven friction wheel, a steering engine connecting rod, a guide rail connecting plate, a micro linear guide rail, a sliding block, a driven wheel connecting piece, a tension spring and the like; the detection end is connected with a box cover of the disinfection box, and when the box cover is in a covered state, the detection end sends a closing signal; when the box cover is in an open state, the detection end sends an open signal; after the steering engine receives the opening signal and the closing signal, the steering engine connecting rod and the driven wheel connecting piece are driven to separate and re-engage the driving friction wheel and the driven friction wheel. The device is used for automatically controlling the clamping and the loosening of the catheter in the interventional operation, so that the propelling device of the robot can quickly replace the balloon or the bracket catheter, the operation of a doctor is convenient, and the device has the advantages of simple and compact integral structure and convenience in disassembly and assembly.
Description
Technical Field
The invention relates to the technical field of minimally invasive vascular interventional operations, in particular to a control technology for automatically clamping and loosening a catheter from a slave end of a robot in an interventional operation, and more particularly relates to an automatic clamping and opening device for a catheter of an interventional operation robot.
Background
Nearly 3000 million people die of cardiovascular and cerebrovascular diseases every year around 30% of all diseases, wherein the number of people suffering from cardiovascular and cerebrovascular diseases in China is nearly 3 hundred million. Cardiovascular and cerebrovascular diseases become one of three main causes of human disease death, and seriously affect national health and normal life of people.
The minimally invasive interventional therapy of the cardiovascular and cerebrovascular diseases is a main treatment means aiming at the cardiovascular and cerebrovascular diseases. Compared with the traditional surgical operation, has the obvious advantages of small incision, short postoperative recovery time and the like. The cardiovascular and cerebrovascular interventional operation is a process in which a doctor manually sends a catheter, a guide wire, a stent and other instruments into a patient to finish treatment.
Firstly, in the operation process, because DSA can emit X-rays, the physical strength of a doctor is reduced quickly, the attention and the stability are reduced, the operation precision is reduced, and accidents such as endangium injury, perforation and rupture of blood vessels and the like caused by improper pushing force are easy to occur, so that life risks of patients are caused; second, the risk of prolonged ionizing radiation injury can greatly increase the risk of physicians developing leukemia, cancer and acute cataracts. The phenomenon that doctors accumulate rays continuously because of interventional operation becomes a problem that the occupational lives of the doctors are damaged and the development of the interventional operation is restricted to be neglected.
The problem can be effectively solved by means of the robot technology, the precision and the stability of the operation can be greatly improved, meanwhile, the injury of the radioactive rays to the interventional doctor can be effectively reduced, and the occurrence probability of accidents in the operation is reduced. Therefore, the assisted robot for cardiovascular and cerebrovascular interventional surgery is more and more concerned by people and gradually becomes a key research and development object in the field of medical robots in all the science and technology strong countries at present.
However, the existing vascular interventional surgical robot has the following problems: (1) the structure is relatively overstaffed and complex, the installation is inconvenient, and the structure is not flexible and convenient enough; (2) the balloon or stent catheter is inconvenient to clamp open and requires manual operation.
Therefore, how to improve the structure of the existing vascular interventional surgical robot to overcome the above problems is an important research direction for those skilled in the art.
Disclosure of Invention
The invention provides an automatic clamping and opening device for a catheter of an interventional operation robot, and aims to solve the problems that the existing vascular interventional operation robot is insufficient in a catheter clamping and loosening structure and cannot automatically complete the function, and the operation of the prior art is complex and inconvenient for clinical use and the like.
Therefore, the invention aims to provide an automatic clamping and opening device for a catheter of an interventional surgical robot, which comprises a catheter clamping end and a detection end, wherein the catheter clamping end comprises:
the catheter clamping end comprises a stepping motor, a steering engine, a driving friction wheel and a driven friction wheel; the stepping motor and the steering engine are both fixed on the shell; the stepping motor is connected with the driving friction wheel, the driving friction wheel is meshed with the driven friction wheel in a matching mode, the stepping motor drives the driving friction wheel to rotate so as to drive the driven friction wheel to rotate, and therefore pushing and withdrawing of a guide pipe between the driving friction wheel and the driven friction wheel are achieved; the output shaft of the steering engine is connected with a steering engine connecting rod; a guide rail connecting plate is fixed on the shell, a miniature linear guide rail is mounted above the guide rail connecting plate, a sliding block is mounted on the miniature linear guide rail, a driven wheel connecting piece is mounted above the sliding block, the driven friction wheel is sleeved on the driven wheel connecting piece, and a tension spring is connected between the driven wheel connecting piece and the guide rail connecting plate; the steering engine connecting rod is abutted with the driven wheel connecting piece;
the detection end is connected with a box cover of the disinfection box, and when the box cover is in a covered state, the detection end sends a closing signal; when the box cover is in an open state, the detection end sends an open signal;
after receiving an opening signal, the steering engine drives the steering engine connecting rod to rotate, the steering engine connecting rod pushes the driven wheel connecting piece to slide along the micro linear guide rail, the driving friction wheel is separated from the driven friction wheel, and the tension spring is in a stretching state; and after receiving the closing signal, the steering engine drives the steering engine connecting rod to rotate to the original position, and the driven friction wheel positioned on the driven wheel connecting piece is meshed with the driving friction wheel again under the action force of the tension spring.
By adopting the technical scheme, the device is used for automatically controlling the clamping and the loosening of the catheter in the interventional operation, so that the propelling device of the robot can quickly replace the balloon or the bracket catheter, and the operation of a doctor is convenient. The invention is used in cooperation with the upper disinfection box, and after the box cover of the disinfection box is opened, the friction wheel for clamping the conduit can be automatically opened; after the box cover is closed, the friction wheel for clamping the guide pipe can be automatically attached, and the guide pipe can be clamped under the action of the tension spring.
The device also has the advantages of simple and compact integral structure and convenient disassembly and assembly.
On the basis of the technical scheme, the invention can be improved as follows:
preferably, the detection end comprises a photoelectric switch, a spring, a fixing ring and a detection rod, and the photoelectric switch and the fixing ring are both fixed on the shell; the spring is sleeved on the outer cylinder of the fixing ring, and the detection rod penetrates through the inner hole of the fixing ring and is abutted against the top end of the spring by the abutting part fixed on the rod body of the detection rod; a shielding part for shielding the photoelectric switch is further fixed at the middle section of the rod body of the detection rod; the upper part of the detection rod is connected with the box cover; when the box cover is in a covered state, the detection rod presses the spring downwards and the blocking part blocks the photoelectric switch, so that the photoelectric switch is communicated and sends a closing signal; when the box cover is in an open state, the detection rod rebounds under the action of the spring, so that the photoelectric switch is disconnected and an open signal is sent out.
Preferably, the stepping motor is fixed to the housing through a motor connector.
Preferably, the steering engine is fixed on the shell through a steering engine support.
Preferably, the output shaft of the stepping motor is connected with a motor connecting shaft rod, a bearing is sleeved at the upper end of the motor connecting shaft rod, the upper end of the motor connecting shaft rod is in gear engagement with a driving wheel connecting piece through the bearing, and the driving friction wheel is sleeved on the driving wheel connecting piece.
Preferably, the box cover further comprises a control end, and the control end receives an opening signal of the box cover and then controls the steering engine to drive the steering engine connecting rod to rotate; and the control end receives a closing signal of the box cover and then controls the steering engine to drive the steering engine connecting rod to rotate to the original position. The control end realizes the automatic tightening and opening actions of the device.
Preferably, the steering engine drives the steering engine connecting rod to rotate within an angle range of 50-70 degrees.
The driven friction wheel and the driving friction wheel can be separated by a proper distance in the angle range, so that the opening action of the catheter is completed.
Preferably, a convex rod for sleeving the driven friction wheel is arranged on the driven wheel connecting piece.
Preferably, the driven wheel connecting piece is provided with a butting rod which is used for butting against the steering engine connecting rod.
Compared with the prior art, the automatic clamping and opening device for the catheter of the interventional operation robot has the following beneficial effects:
(1) the device adopts the mechanical structure design that the steering engine drives the connecting rod, and realizes the control requirement of automatically clamping and loosening the guide pipe in the actual operation.
(2) The device has simple integral structure, simple and convenient assembly and disassembly and compact structure by adopting modular structural design.
(3) The device has low cost, adopts the stepping motor to control the forward and backward movement of the guide pipe, adopts the steering engine to control the clamping and loosening of the guide pipe, and has high precision and good stability.
(4) The device has simple and convenient use method, can completely meet the requirement of the vessel intervention operation on the catheter, reduces the operation complexity of doctors and saves time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a perspective structural view of an automatic catheter clamping and opening device of an interventional operation robot provided by the invention.
Fig. 2 is an exploded view of an automatic clamping and opening device for an interventional surgical robot catheter provided by the invention.
Wherein, in the figure,
1. the clamping end of the conduit is provided with a clamping groove,
101. the device comprises a stepping motor, 102, a steering gear, 103, a driving friction wheel, 104, a driven friction wheel, 105, a steering gear connecting rod, 106, a guide rail connecting plate, 107, a micro linear guide rail, 108, a sliding block, 109, a driven wheel connecting piece, 1091, a convex rod, 1092, a butting rod, 110, a tension spring, 111, a motor connecting piece, 112, a motor connecting shaft rod, 113, a bearing, 114 and a driving wheel connecting piece;
2. a detection end,
201. photoelectric switch, 202, spring, 203, fixed ring, 204, probe rod, 2041-abutting part, 2042-shielding part.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Example (b):
an automatic vessel clamping and opening device of an interventional surgical robot according to an embodiment of the present invention will be described in detail with reference to fig. 1-2.
The embodiment of the invention discloses an automatic clamping and opening device for a catheter of an interventional operation robot, which overcomes the defects of the existing vascular interventional operation robot in a catheter clamping and loosening structure and the defect that the function is not automatically completed, and solves the problems of complex operation, inconvenience in clinical use and the like in the prior art.
As shown in fig. 1-2, the automatic clamping and opening device for the interventional surgical robot catheter comprises two main parts: the catheter clamping end 1 and the detecting end 2 move independently and are matched for use.
Specifically, as shown in fig. 1, the left side is a detection end 2, the right side is a conduit clamping end 1, and the two are matched with each other to complete the action of automatically clamping and opening the conduit.
As shown in fig. 1-2, the catheter clamping end 1 is used for controlling the advance and retreat of a catheter and controlling a catheter clamping piece to clamp and loosen the catheter and comprises a stepping motor 101, a steering engine 102, a driving friction wheel 103 and a driven friction wheel 104; the stepping motor 101 and the steering engine 102 are both fixed on the shell; the stepping motor 101 is connected with the driving friction wheel 103, the driving friction wheel 103 is meshed with the driven friction wheel 104 in a matching mode, the stepping motor 101 drives the driving friction wheel 103 to rotate, the driven friction wheel 104 is further driven to rotate, and pushing and withdrawing of the guide pipe between the driving friction wheel 103 and the driven friction wheel 104 are achieved.
More specifically, step motor 101 is fixed in the shell through motor connecting piece 111, step motor 101's output shaft connects a motor and links axle pole 112, the upper end cover of motor links axle pole 112 is equipped with a bearing 113, the upper end of motor links axle pole 112 is through this bearing 113 and a drive wheel connecting piece 114 gear engagement, the cover is equipped with initiative friction pulley 103 on the drive wheel connecting piece 114, this initiative friction pulley 103 and driven friction pulley 104 adaptation interlock are in order to drive driven friction pulley 104 and rotate, realize the propelling movement and withdrawing from of pipe between initiative friction pulley 103 and the driven friction pulley 104, also be exactly the advance and retreat of pipe.
The steering engine 102 is fixed on the shell through a steering engine bracket, and an output shaft of the steering engine 102 is connected with a steering engine connecting rod 105; a guide rail connecting plate 106 is fixed on the shell, a micro linear guide rail 107 is arranged above the guide rail connecting plate 106, a sliding block 108 is arranged on the micro linear guide rail 107, a driven wheel connecting piece 109 is arranged above the sliding block 108, a driven friction wheel 104 is sleeved on the driven wheel connecting piece 109, and a tension spring 110 is connected between the driven wheel connecting piece 109 and the guide rail connecting plate 106; the steering engine connecting rod 105 is abutted against the driven wheel connecting piece 109.
The driven wheel connector 109 is provided with a convex rod 1091 for sleeving the driven friction wheel 104 and an abutting rod 1092 for abutting against the steering wheel connecting rod 105.
The steering engine 102 drives the steering engine connecting rod 105 to rotate within an angle range of 50-70 degrees.
According to the clinical requirement of interventional operation, when the box cover of the disinfection box is opened, the clamping piece of the catheter needs to be opened, so that the doctor can conveniently replace the guide wire and the like; when the cover of the disinfection box is closed, the clamping piece of the catheter needs to clamp the catheter so as to push the catheter into or withdraw the catheter from the blood vessel. The detection end 2 is connected with a box cover of the disinfection box, and when the box cover is in a covered state, the detection end 2 sends a closing signal; when the box cover is in an open state, the detection end 2 sends an open signal, so that the detection end 2 can be used for detecting whether the box cover of the upper disinfection box is opened or not.
More specifically, the detection end 2 comprises a photoelectric switch 201, a spring 202, a fixing ring 203 and a detection rod 204, wherein the photoelectric switch 201 and the fixing ring 203 are both fixed on the casing; the spring 202 is sleeved on the outer cylinder of the fixing ring 203, the detection rod 204 penetrates through the inner hole of the fixing ring 203 and is abutted against the top end of the spring 202 by an abutting part 2041 fixed on the rod body of the detection rod; a shielding part 2042 for shielding the photoelectric switch 201 is further fixed at the middle section of the rod body of the detection rod 204; the upper part of the detection rod 204 is connected with the box cover.
The feeler lever 204 can move up and down and the spring 202 at its lower end can spring it up. When the box cover is in a covered state, the detection rod 204 presses the spring 202 downwards and the blocking portion 2042 blocks the photoelectric switch 201, so that the photoelectric switch 201 is communicated and sends a closing signal; when the box cover is in an open state, the detection rod 204 rebounds under the action of the spring 202, so that the photoelectric switch 201 is disconnected and an open signal is sent out. That is, whether the cover of the sterilizing box is opened or not can be detected according to the signal sent by the photoelectric switch 201.
The device also comprises a control end, wherein the control end controls the steering engine 102 to drive the steering engine connecting rod 105 to rotate after receiving an opening signal of the box cover; after the control end receives a closing signal of the box cover, the control end controls the steering engine 102 to drive the steering engine connecting rod 105 to rotate to the original position.
After the steering engine 102 receives a box cover opening signal sent by the control end, the steering engine 102 can drive the steering engine connecting rod 105 to rotate (generally rotate 60 degrees), the rotating steering engine connecting rod 105 further pushes the driven wheel connecting piece 109 to slide along the micro linear guide rail 107, and the driven friction wheel 104 is sleeved in the convex rod 1091 of the driven wheel connecting piece 109, so that the driving friction wheel 103 is separated from the driven friction wheel 104, the purpose of opening the catheter is achieved, and the tension spring 110 is in a stretching state at the moment;
when the steering engine 102 receives a box cover closing signal sent by the control end, the steering engine connecting rod 105 is driven to rotate to the original position (namely to rotate to the original 0 degrees), the steering engine connecting rod 105 and the driven wheel connecting piece 109 are separated, the driven friction wheel 104 positioned on the driven wheel connecting piece protruding rod 1091 moves back to the original position again under the action of the tension spring 110 and is meshed with the driving friction wheel 103, namely, the tension spring 110 can drive the driven wheel connecting piece 109 to rebound and return to the state that the driving friction wheel 103 and the driven friction wheel 104 are clamped, and the process is recycled.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. An automatic clamping and opening device for a catheter of an interventional surgical robot is characterized by comprising a catheter clamping end (1) and a detection end (2):
the catheter clamping end (1) comprises a stepping motor (101), a steering engine (102), a driving friction wheel (103) and a driven friction wheel (104); the stepping motor (101) and the steering engine (102) are both fixed on the shell; the stepping motor (101) is connected with the driving friction wheel (103), the driving friction wheel (103) is in fit engagement with the driven friction wheel (104), and the stepping motor (101) drives the driving friction wheel (103) to rotate so as to drive the driven friction wheel (104) to rotate, so that the pushing and withdrawing of the guide pipe between the driving friction wheel (103) and the driven friction wheel (104) are realized; an output shaft of the steering engine (102) is connected with a steering engine connecting rod (105); a guide rail connecting plate (106) is fixed on the shell, a miniature linear guide rail (107) is installed above the guide rail connecting plate (106), a sliding block (108) is installed on the miniature linear guide rail (107), a driven wheel connecting piece (109) is installed above the sliding block (108), the driven wheel connecting piece (109) is sleeved with the driven friction wheel (104), and a tension spring (110) is connected between the driven wheel connecting piece (109) and the guide rail connecting plate (106); the steering engine connecting rod (105) is abutted with the driven wheel connecting piece (109);
the detection end (2) is connected with a box cover of the disinfection box, and when the box cover is in a covered state, the detection end (2) sends a closing signal; when the box cover is in an open state, the detection end (2) sends an open signal;
after receiving an opening signal, the steering engine (102) drives the steering engine connecting rod (105) to rotate, the steering engine connecting rod (105) pushes the driven wheel connecting piece (109) to slide along the miniature linear guide rail (107), the driving friction wheel (103) is separated from the driven friction wheel (104), and at the moment, the tension spring (110) is in a stretching state; after receiving a closing signal, the steering engine (102) drives the steering engine connecting rod (105) to rotate to the original position, and the driven friction wheel (104) positioned on the driven wheel connecting piece (109) is meshed with the driving friction wheel (103) again under the action force of the tension spring (110).
2. The interventional surgical robotic catheter automatic clamping opening device according to claim 1, wherein the detection end (2) comprises a photoelectric switch (201), a spring (202), a fixing ring (203) and a detection rod (204), the photoelectric switch (201) and the fixing ring (203) are both fixed on the housing; the spring (202) is sleeved on the outer cylinder of the fixing ring (203), and the detection rod (204) penetrates through the inner hole of the fixing ring (203) and is abutted against the top end of the spring (202) by an abutting part (2041) fixed on a rod body of the detection rod; a shielding part (2042) for shielding the photoelectric switch (201) is further fixed at the middle section of the detection rod (204); the upper part of the detection rod (204) is connected with the box cover; when the box cover is in a covered state, the detection rod (204) presses the spring (202) downwards and the shielding part (2042) shields the photoelectric switch (201), so that the photoelectric switch (201) is communicated and a closing signal is sent out; when the box cover is in an open state, the detection rod (204) rebounds under the action of the spring (202), so that the photoelectric switch (201) is switched off and an open signal is sent out.
3. The interventional surgical robotic catheter automatic clamping opening device of claim 1, wherein the stepper motor (101) is secured to the housing by a motor connection (111).
4. The automatic catheter clamping and opening device of the interventional surgical robot as defined in claim 1, wherein the steering engine (102) is fixed to the housing by a steering engine bracket.
5. The automatic clamping and opening device for the catheter of the interventional operation robot according to claim 1, wherein an output shaft of the stepping motor (101) is connected with a motor connecting shaft rod (112), a bearing (113) is sleeved on the upper end of the motor connecting shaft rod (112), the upper end of the motor connecting shaft rod (112) is in gear engagement with a driving wheel connecting piece (114) through the bearing (113), and the driving friction wheel (103) is sleeved on the driving wheel connecting piece (114).
6. The automatic catheter clamping and opening device of the interventional surgical robot as defined in claim 1, further comprising a control end, wherein the control end controls the steering engine (102) to drive the steering engine connecting rod (105) to rotate after receiving an opening signal of the box cover; and the control end receives a closing signal of the box cover and then controls the steering engine (102) to drive the steering engine connecting rod (105) to rotate to the original position.
7. The automatic catheter clamping and opening device of the interventional surgical robot as defined in claim 1 or 6, wherein the steering engine (102) drives the steering engine connecting rod (105) to rotate within an angle range of 50-70 °.
8. The automatic vessel clamping and opening device of an interventional surgical robot as claimed in claim 1, wherein the driven wheel connector (109) is provided with a protruding rod (1091) for sleeving the driven friction wheel (104).
9. The automatic clamping and opening device for the catheter of the interventional surgical robot as defined in claim 1 or 8, wherein the driven wheel connecting piece (109) is provided with an abutting rod (1092) for abutting against the steering engine connecting rod (105).
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| CN201911082518.3A CN110840565B (en) | 2019-11-07 | 2019-11-07 | Automatic clamping and opening device for catheter of interventional operation robot |
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| CN201911082518.3A CN110840565B (en) | 2019-11-07 | 2019-11-07 | Automatic clamping and opening device for catheter of interventional operation robot |
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| CN110840565B CN110840565B (en) | 2020-10-16 |
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Cited By (6)
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| CN111528938A (en) * | 2020-04-22 | 2020-08-14 | 广东工业大学 | Catheter robot system |
| CN111939433A (en) * | 2020-08-19 | 2020-11-17 | 深圳海医达高分子科技有限公司 | Medical catheter device |
| CN113729966A (en) * | 2021-09-06 | 2021-12-03 | 上海交通大学 | Parallel progressive replaceable cardiovascular interventional operation robot and control method |
| CN115317778A (en) * | 2022-08-09 | 2022-11-11 | 北京唯迈医疗设备有限公司 | Intervene automatic fixing device of Y valve and pipe rotary device of robot |
| CN115414123A (en) * | 2022-08-19 | 2022-12-02 | 苏州润迈德医疗科技有限公司 | Roller separation structure and consumable box |
| WO2023142294A1 (en) * | 2022-01-29 | 2023-08-03 | 深圳市爱博医疗机器人有限公司 | Auxiliary clamping device for interventional surgery |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111528938A (en) * | 2020-04-22 | 2020-08-14 | 广东工业大学 | Catheter robot system |
| CN111939433A (en) * | 2020-08-19 | 2020-11-17 | 深圳海医达高分子科技有限公司 | Medical catheter device |
| CN113729966A (en) * | 2021-09-06 | 2021-12-03 | 上海交通大学 | Parallel progressive replaceable cardiovascular interventional operation robot and control method |
| CN113729966B (en) * | 2021-09-06 | 2023-02-28 | 上海交通大学 | Parallel progressive replaceable cardiovascular interventional operation robot and control method |
| WO2023142294A1 (en) * | 2022-01-29 | 2023-08-03 | 深圳市爱博医疗机器人有限公司 | Auxiliary clamping device for interventional surgery |
| CN115317778A (en) * | 2022-08-09 | 2022-11-11 | 北京唯迈医疗设备有限公司 | Intervene automatic fixing device of Y valve and pipe rotary device of robot |
| CN115317778B (en) * | 2022-08-09 | 2024-02-09 | 北京唯迈医疗设备有限公司 | Automatic Y valve fixing device and catheter rotating device of interventional robot |
| CN115414123A (en) * | 2022-08-19 | 2022-12-02 | 苏州润迈德医疗科技有限公司 | Roller separation structure and consumable box |
| WO2024036919A1 (en) * | 2022-08-19 | 2024-02-22 | 苏州润迈德智能科技发展有限公司 | Roller separation structure and consumable box |
| CN115414123B (en) * | 2022-08-19 | 2024-06-14 | 苏州生科智能科技有限公司 | Roller separation structure and consumable box |
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| CN110840565B (en) | 2020-10-16 |
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