CN110859672A - Automatic alternate clamping and loosening guide wire device of interventional operation robot - Google Patents
Automatic alternate clamping and loosening guide wire device of interventional operation robot Download PDFInfo
- Publication number
- CN110859672A CN110859672A CN201911082493.7A CN201911082493A CN110859672A CN 110859672 A CN110859672 A CN 110859672A CN 201911082493 A CN201911082493 A CN 201911082493A CN 110859672 A CN110859672 A CN 110859672A
- Authority
- CN
- China
- Prior art keywords
- gear set
- connecting piece
- cams
- cam
- guide rail
- 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.)
- Granted
Links
Images
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
- A61B34/37—Master-slave robots
-
- 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
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
-
- 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
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic alternate clamping and loosening guide wire device of an interventional operation robot, which comprises a reference mounting plate, a power assembly, a cam assembly and a moving assembly, wherein the reference mounting plate is fixedly connected with the cam assembly; the power assembly comprises a stepping motor and a gear set, and the stepping motor drives the gear set to rotate; the cam component comprises two right-angle connecting pieces, a cam shaft and a plurality of cams, and the cam shaft is driven to rotate by the gear set; the moving assembly comprises a straight long guide rail, a first sliding block, a connecting piece, a short guide rail, a second sliding block, a square pipe connecting piece, a tension spring and the like. The device has the advantages of simple integral structure, low cost, simple and convenient assembly and disassembly and compact structure by adopting a modular structural design. The device adopts alternate clamping and loosening of the guide wire, assists in realizing the reciprocating process, and can achieve the same effect as the actual interventional operation of a doctor in a very small volume range.
Description
Technical Field
The invention relates to the technical field of minimally invasive vascular interventional operations, in particular to a control technology of a robot slave end to a guide wire in an interventional operation, and more particularly relates to a device for automatically alternately clamping and loosening the guide wire by 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.
However, the interventional operation has the following 2 problems, 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 also reduced, the operation precision is reduced, accidents such as endangium injury, perforation and rupture of blood vessels and the like caused by improper pushing force are easy to occur, and the life risk of a patient is 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 the operation method of teleoperation of the guide wire by means of the robot technology, the precision and the stability of the operation can be greatly improved, meanwhile, the injury of radiation to an interventionalist can be effectively reduced, and the occurrence probability of accidents in the operation can be 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 device for pushing, pulling and twisting the guide wire has large volume, occupies more space of an operating table and is not suitable for clinical requirements; (3) the equipment is not only expensive to manufacture, but also affects the accuracy of 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 a guide wire device for automatically alternately clamping and loosening an interventional operation robot, which aims to solve the problems that the existing vascular interventional operation robot is complex in structure and too large in size in the actual operation and is not suitable for the actual operation environment, and provides technical support for the alternate operation of hands of a doctor.
Therefore, the invention aims to provide an automatic alternate clamping and loosening guide wire device of an interventional operation robot, which comprises a reference mounting plate, a power assembly, a cam assembly and a moving assembly;
the power assembly comprises a stepping motor and a gear set, the stepping motor and the gear set are both arranged on the reference mounting plate, and an output shaft of the stepping motor is connected with the gear set to drive the gear set to rotate;
the cam component comprises two right-angle connecting pieces, a cam shaft and a plurality of cams, the two right-angle connecting pieces are respectively arranged on the upper surface of the reference mounting plate, two ends of the cam shaft are connected with the right-angle connecting pieces through bearings, and the plurality of cams are sleeved and fixed on the cam shaft; one end of the cam shaft extending outwards is connected with the gear set, and the gear set drives the cam shaft to rotate;
the moving assembly comprises a straight long guide rail, the straight long guide rail is arranged on the upper surface of the reference mounting plate, the axial installation direction of the straight long guide rail is parallel to the axial direction of the camshaft, two first sliding blocks are arranged on the straight long guide rail, a connecting piece is arranged on each first sliding block, a short guide rail is arranged above the connecting piece, the axial installation direction of the short guide rail is perpendicular to the straight long guide rail, a corresponding second sliding block is arranged on the short guide rail, a square pipe connecting piece is arranged above each second sliding block, one side, far away from the camshaft, of the square pipe connecting piece is connected with the guide wire clamping piece, one side, close to the camshaft, of the square pipe connecting piece is connected with one end of a tension spring through a first tension spring connecting part, one side, close to the camshaft, of the connecting piece is connected with the other end of the tension spring, the side surface of the square pipe connecting piece can be tightly contacted with the cam by the tension spring;
the cam of several evenly divide into two sets ofly, every group the cam corresponds one of contact square pipe connecting piece and two sets of the difference 180 between the cam to realize two the alternating motion of square pipe connecting piece.
The invention adopts the mechanical structure design of the cam group in the interventional operation robot for the first time, realizes the control action of alternately clamping and loosening the guide wire, can ensure that the process of alternately clamping and loosening is completed in the continuous rotation process of the stepping motor, is convenient for people to control and use because the stepping motor can be continuously operated and does not need operations such as midway switching and the like, and the control method is simple and convenient, and can completely meet the requirement of the blood vessel interventional operation on the guide wire.
The device has the advantages of simple integral structure, low cost, simple and convenient assembly and disassembly and compact structure by adopting a modular structural design.
On the basis of the technical scheme, the invention can be improved as follows:
preferably, one side of the square tube connecting piece, which is close to the cam shaft, is attached with a polytetrafluoroethylene patch.
Polytetrafluoroethylene has excellent self-lubricity, low friction coefficient and stability, the polytetrafluoroethylene paster of subsides dress on square pipe connecting piece can carry out free slip on the cam group, accomplishes the horizontal reciprocating motion process of removing the subassembly, and is simple and practical.
Preferably, the number of the cams is four, every two cams form a group, the two cams respectively support two sides of the side surface of the square pipe connecting piece, and the continuous rotating motion of the cams enables the square pipe connecting piece to slide back and forth on the cams to realize reciprocating linear motion.
Because the difference between the two groups of cams is 180 degrees, the two groups of square tube connecting pieces can be alternatively jacked open by the cams, and the other side of the square tube connecting piece is connected with the guide wire clamping piece, thereby achieving the purpose of alternatively clamping and loosening the guide wire.
Preferably, a plurality of the cams are identical in shape and consist of a semicircle and an ellipse, and the joint of the semicircle and the ellipse is ground into a round angle, so that the square pipe connecting piece can freely slide back and forth on the cams.
Preferably, an output shaft of the stepping motor is provided with a connecting shaft bevel gear, the connecting shaft bevel gear is meshed with a bevel gear in the gear set, the reference mounting plate is further provided with a gear set connecting piece used for fixing the gear set, and a gear shaft of the bevel gear penetrates through the gear set connecting piece and then is connected with one end of the cam shaft extending outwards.
Preferably, the stepping motor is installed below the reference installation plate through a connection plate, the gear set is installed above the reference installation plate, and an output shaft of the stepping motor penetrates through the reference installation plate to be connected with the gear set to drive the gear set to rotate.
The device is used for controlling the forward pushing and backward withdrawing actions of the guide wire in the interventional operation, can alternately clamp and loosen the guide wire, and automatically finish the operation through a mechanical structure. The device adopts the alternative clamping to loosen the guide wire, assists in realizing the reciprocating process, and can achieve the same effect as the actual interventional operation of a doctor in a very small volume range.
The device has the advantages of simple integral structure, low cost, simple and convenient assembly and disassembly by adopting a modular structural design, compact structure and stronger practicability.
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 schematic perspective view of an interventional surgical robot automatic alternate clamping and releasing guide wire device provided by the invention.
Fig. 2 is an exploded view of an interventional surgical robot automatic alternate clamping and releasing guide wire device provided by the invention.
Fig. 3 is a schematic structural diagram of a cam shaft and a cam in the cam assembly provided by the invention.
Wherein, in the figure,
100-a reference mounting plate;
200-a power assembly for the power supply of the vehicle,
201-a stepping motor, 202-a gear set, 2021-a bevel gear and 203-a gear set connecting piece;
300-the cam assembly is arranged in a sliding way,
301-right angle connection, 302-camshaft, 303-cam;
400-moving the assembly of the mobile unit,
401-linear long guide rail, 402-first slide block, 403-connecting piece, 404-short guide rail, 405-second slide block, 406-square tube connecting piece, 4061-first tension spring connecting part, 407-tension spring and 408-polytetrafluoroethylene patch.
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 interventional surgical robot automatic alternate clamping and unclamping guide wire device according to an embodiment of the present invention is described in detail below with reference to fig. 1-3.
As shown in figure 1 of the drawings, in which,
the embodiment of the invention discloses an automatic alternate clamping and loosening guide wire device of an interventional operation robot, which comprises a reference mounting plate 100, a power assembly 200, a cam assembly 300 and a moving assembly 400.
As shown in the figures 2-3 of the drawings,
the power assembly 200 includes a stepping motor 201 and a gear set 202, the stepping motor 201 and the gear set 202 are both mounted on the reference mounting plate 100, and an output shaft of the stepping motor 201 is connected with the gear set 202 to drive the gear set 202 to rotate.
The cam assembly 300 comprises two right-angle connectors 301, a cam shaft 302 and four cams 303, wherein the two right-angle connectors 301 are respectively arranged on the upper surface of the reference mounting plate 100, two ends of the cam shaft 302 are connected with the right-angle connectors 301 through bearings, and the bearings ensure that the cam shaft 302 can smoothly rotate; four cams 303 are fixed on the cam shaft 302 in a sleeved mode; the cam shaft 302 is connected to the gear set 202 at an end extending outward, and the cam shaft 302 is driven by the gear set 202 to rotate.
Specifically, the stepping motor 201 is installed below the reference mounting plate 100 through a connecting plate, the gear set 202 is installed above the reference mounting plate 100, an output shaft of the stepping motor 201 is provided with a connecting shaft bevel gear (not shown in the figure), the output shaft of the stepping motor 201 passes through the reference mounting plate 100, and the connecting shaft bevel gear on the output shaft is meshed with the bevel gear 2021 in the gear set 202; the reference mounting plate 100 is further provided with a gear set connector 203 for fixing the gear set 202, and a gear shaft of the bevel gear 2021 penetrates through the gear set connector 203 and then is connected with one end of the cam shaft 302 extending outwards, so that the stepper motor 201 transmits power to the cam assembly 300 through the gear set 202.
Specifically, the four cams 303 are identical in shape and each of them is composed of a semicircle and an ellipse, and the joint of the semicircle and the ellipse is polished to a round angle.
Specifically, every two cams 303 in the four cams 303 form a group, and the two cams 303 in each group of cams 303 respectively abut against two sides of the side surface of the square tube connecting member 406, so that the square tube connecting member 406 can slide back and forth on the cams 303. The difference between the two groups of cams 303 is 180 degrees, so that the alternating motion of the two square tube connecting pieces 406 is realized, and the purpose of automatically and alternately clamping and loosening the guide wire is achieved.
The moving assembly 400 comprises a straight long guide rail 401, the straight long guide rail 401 is installed on the upper surface of the reference installation plate 100, the axial installation direction of the straight long guide rail 401 is parallel to the axial direction of the camshaft 302, two first sliding blocks 402 are arranged on the straight long guide rail 401, a connecting piece 403 is installed on each first sliding block 402, a short guide rail 404 is installed above each connecting piece 403, the axial installation direction of the short guide rail 404 is perpendicular to the straight long guide rail 401, a corresponding second sliding block 405 is arranged on each short guide rail 404, a square pipe connecting piece 406 is installed above each second sliding block 405, one side, far away from the camshaft 302, of the square pipe connecting piece 406 is connected with a guide wire clamping piece (not shown in the figure), one side, close to the camshaft 302, of the square pipe connecting piece 406 is connected with one end of a tension spring 407 through a first tension spring connecting piece 4061, one side, close to the, the tension spring 407 allows the side of the square pipe connector 406 to be in close contact with the cam 303.
The first tension spring connecting portion 4061 and the second tension spring connecting portion may be a hook, a circular hole, or other structures capable of fixing the tension spring 407, and are not described herein in any more detail.
In order to further optimize the technical solution of the above embodiment, the ptfe sheet 408 is attached to one side of the square tube connector 406 close to the cam shaft 302, in other words, the tension spring 407 can make the ptfe sheet 408 on the side of the square tube connector 406 closely attached to the cam 303. The polytetrafluoroethylene patch 408 has excellent self-lubricity, low friction coefficient and stability, can slide smoothly on the cam 303 to complete the transverse reciprocating motion process of the moving assembly, and is simple and practical.
The purpose of the automatic alternate clamping and releasing guide wire device of the interventional operation robot is to drive the two connecting pieces 403 to alternately clamp and release the guide wire when the stepping motor 201 rotates, and the device can alternately push the guide wire to enter a blood vessel like the two hands of a doctor. The specific working process of the device is as follows:
firstly, the stepping motor 201 rotates to drive the gear set 202 to rotate; then, the gear set 202 drives the cam shaft 302 and the cam 303 to rotate; under the action of the tension spring 407, the polytetrafluoroethylene patch 408 on the square tube connecting piece 406 and the cam 303 are tightly attached together; the cams 303 are divided into two groups, the difference between the two groups of cams 303 is 180 degrees, under the continuous rotation state of the cams 303, the two groups of square tube connecting pieces 406 are alternatively pushed open by the respective groups of cams 303, and the other side of the square tube connecting pieces 406 is connected with the guide wire clamping piece, so that only one group of guide wire clamping pieces can clamp the guide wire at the same time, and the other group is in the guide wire loosening state, thereby achieving the purpose of automatically and alternatively clamping and loosening the guide wire.
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 (6)
1. An automatic alternate clamping and releasing guide wire device of an interventional surgical robot is characterized by comprising a reference mounting plate (100), a power assembly (200), a cam assembly (300) and a moving assembly (400);
the power assembly (200) comprises a stepping motor (201) and a gear set (202), the stepping motor (201) and the gear set (202) are both mounted on the reference mounting plate (100), and an output shaft of the stepping motor (201) is connected with the gear set (202) to drive the gear set (202) to rotate;
the cam assembly (300) comprises two right-angle connecting pieces (301), a cam shaft (302) and a plurality of cams (303), the two right-angle connecting pieces (301) are respectively installed on the upper surface of the reference installation plate (100), two ends of the cam shaft (302) are connected with the right-angle connecting pieces (301) through bearings, and the cams (303) are sleeved on the cam shaft (302); one end of the cam shaft (302) extending outwards is connected with the gear set (202), and the gear set (202) drives the cam shaft (302) to rotate;
remove subassembly (400) including a straight line long guide rail (401), straight line long guide rail (401) install in the upper surface of benchmark mounting panel (100) and its axial installation direction with the axial direction of camshaft (302) parallels be equipped with two slider (402) on straight line long guide rail (401), every install a connecting piece (403) on slider (402), a short guide rail (404) is installed to the top of connecting piece (403), the axial installation direction perpendicular to of short guide rail (404) straight line long guide rail (401), be provided with a corresponding slider two (405) on short guide rail (404), a square pipe connecting piece (406) is installed to slider two (405) top, square pipe connecting piece (406) are kept away from one side of camshaft (302) is connected with the seal wire holder, square pipe connecting piece (406) are close to one side of camshaft (302) is drawn through a first extension spring connecting portion (4061) and one One end of a spring (407) is connected, one side of the connecting piece (403) close to the cam shaft (302) is connected with the other end of the tension spring (407) through a second tension spring connecting part, and the tension spring (407) enables the side surface of the square pipe connecting piece (406) to be in close contact with the cam (303);
the cams (303) are evenly divided into two groups, each group of cams (303) correspondingly contact one square pipe connecting piece (406), and the difference between the two groups of cams (303) is 180 degrees, so that the two square pipe connecting pieces (406) can alternately move.
2. The interventional surgical robotic automatic alternate clamping and unclamping guidewire device of claim 1, wherein: one side of the square pipe connecting piece (406) close to the cam shaft (302) is attached with a polytetrafluoroethylene patch (408).
3. The interventional surgical robotic automatic alternate clamping and unclamping guidewire device of claim 1, wherein: the number of the cams (303) is four, every two cams (303) form a group, and the two cams (303) respectively prop against two sides of the side surface of the square pipe connecting piece (406), so that the square pipe connecting piece (406) can slide back and forth on the cams (303).
4. The interventional surgical robot automatic alternate clamping and unclamping guide wire device of claim 1 or 3, wherein: the cams (303) are identical in shape and are composed of a semicircle and an ellipse, and the joint of the semicircle and the ellipse is ground into a round angle.
5. The interventional surgical robotic automatic alternate clamping and unclamping guidewire device of claim 1, wherein: a connecting shaft bevel gear is arranged on an output shaft of the stepping motor (201), and the connecting shaft bevel gear is meshed with a bevel gear (2021) in the gear set (202); the base mounting plate (100) is further provided with a gear set connecting piece (203) used for fixing the gear set (202), and a gear shaft of the umbrella-shaped gear (2021) penetrates through the gear set connecting piece (203) and then is connected with one end of the cam shaft (302) extending outwards.
6. The interventional surgical robot automatic alternate clamping and unclamping guide wire device of claim 1 or 5, wherein: the stepping motor (201) is installed below the reference installation plate (100) through a connecting sheet, the gear set (202) is installed above the reference installation plate (100), and an output shaft of the stepping motor (201) penetrates through the reference installation plate (100) to be connected with the gear set (202) to drive the gear set (202) to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911082493.7A CN110859672B (en) | 2019-11-07 | 2019-11-07 | Automatic alternate clamping and loosening guide wire device of interventional operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911082493.7A CN110859672B (en) | 2019-11-07 | 2019-11-07 | Automatic alternate clamping and loosening guide wire device of interventional operation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110859672A true CN110859672A (en) | 2020-03-06 |
| CN110859672B CN110859672B (en) | 2021-05-25 |
Family
ID=69653321
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911082493.7A Active CN110859672B (en) | 2019-11-07 | 2019-11-07 | Automatic alternate clamping and loosening guide wire device of interventional operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110859672B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111529065A (en) * | 2020-05-09 | 2020-08-14 | 中国科学院自动化研究所 | Vascular intervention instrument control device |
| CN115040759A (en) * | 2022-06-07 | 2022-09-13 | 苏州润迈德医疗科技有限公司 | Delivery device for elongate medical tools |
| CN115607298A (en) * | 2022-10-19 | 2023-01-17 | 知脉(上海)机器人有限公司 | Instrument conveying device, instrument conveying equipment and interventional operation system |
Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2289453A2 (en) * | 2005-06-06 | 2011-03-02 | Intuitive Surgical Operations, Inc. | Laparoscopic ultrasound robotic surgical system |
| WO2012037213A1 (en) * | 2010-09-17 | 2012-03-22 | Corindus Inc. | Wheel for robotic catheter system drive mechanism |
| CN103083783A (en) * | 2013-02-25 | 2013-05-08 | 中国科学院自动化研究所 | Clamping-based catheter or clamping-based guide wire operating device for vessel interventional operation |
| CN103239791A (en) * | 2013-04-28 | 2013-08-14 | 北京航空航天大学 | Real-time catheter intervention information measuring device in cardiovascular interventional operation |
| US20130255456A1 (en) * | 2008-12-08 | 2013-10-03 | Jeff Christian | Micro-cutting systems for forming cuts in products |
| CN103599585A (en) * | 2013-11-20 | 2014-02-26 | 中国科学院深圳先进技术研究院 | Vascular intervention operation guide-wire and catheter operating device and vascular intervention operation guide-wire and catheter operating modules |
| US20150297864A1 (en) * | 2014-04-21 | 2015-10-22 | Hansen Medical, Inc. | Devices, systems, and methods for controlling active drive systems |
| CN105616008A (en) * | 2016-03-16 | 2016-06-01 | 北京理工大学 | Slave end controller of interventional operation assisting system with catheter-guide wire conducting collaborative operation |
| CN107374737A (en) * | 2017-07-06 | 2017-11-24 | 北京理工大学 | A kind of intervention operation robot catheter guide wire cooperating system and its control method |
| CN107822711A (en) * | 2017-09-28 | 2018-03-23 | 济南大学 | A kind of seal wire intervention device of minimally invasive intervention operation robot |
| CN107847712A (en) * | 2015-06-16 | 2018-03-27 | 汉阳大学校Erica产学协力团 | vascular intervention operation robot and vascular intervention operation system |
| CN207174726U (en) * | 2017-07-24 | 2018-04-03 | 上海君吉机械设备制造有限公司 | A kind of rocker-arm set square conveying mechanism |
| CN108309370A (en) * | 2018-02-02 | 2018-07-24 | 上海交通大学 | A kind of gradual cardiovascular and cerebrovascular intervention operation robot |
| CN108704214A (en) * | 2018-04-28 | 2018-10-26 | 燕山大学 | Interventional surgery robotic catheter/seal wire rotating mechanism and propulsion device |
| CN109730779A (en) * | 2019-03-07 | 2019-05-10 | 天津理工大学 | A kind of blood vessel intervention operation robotic catheter seal wire cooperative control system and method |
| CN110200700A (en) * | 2019-05-17 | 2019-09-06 | 中国科学院深圳先进技术研究院 | A kind of blood vessel intervention operation robot and equipment |
| CN110236680A (en) * | 2019-07-10 | 2019-09-17 | 北京唯迈医疗设备有限公司 | A kind of intervention operation robot reciprocator |
| CN110236684A (en) * | 2019-07-10 | 2019-09-17 | 北京唯迈医疗设备有限公司 | A kind of intervention operation robot is from end propulsion device and its control method |
| CN110269999A (en) * | 2019-07-12 | 2019-09-24 | 中国科学院深圳先进技术研究院 | Blood vessel intervention operation device |
| CN110269998A (en) * | 2019-07-10 | 2019-09-24 | 中国科学院深圳先进技术研究院 | Seal wire clamping-rotating device |
-
2019
- 2019-11-07 CN CN201911082493.7A patent/CN110859672B/en active Active
Patent Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2289453A2 (en) * | 2005-06-06 | 2011-03-02 | Intuitive Surgical Operations, Inc. | Laparoscopic ultrasound robotic surgical system |
| US20130255456A1 (en) * | 2008-12-08 | 2013-10-03 | Jeff Christian | Micro-cutting systems for forming cuts in products |
| WO2012037213A1 (en) * | 2010-09-17 | 2012-03-22 | Corindus Inc. | Wheel for robotic catheter system drive mechanism |
| CN103083783A (en) * | 2013-02-25 | 2013-05-08 | 中国科学院自动化研究所 | Clamping-based catheter or clamping-based guide wire operating device for vessel interventional operation |
| CN103239791A (en) * | 2013-04-28 | 2013-08-14 | 北京航空航天大学 | Real-time catheter intervention information measuring device in cardiovascular interventional operation |
| CN103599585A (en) * | 2013-11-20 | 2014-02-26 | 中国科学院深圳先进技术研究院 | Vascular intervention operation guide-wire and catheter operating device and vascular intervention operation guide-wire and catheter operating modules |
| US20150297864A1 (en) * | 2014-04-21 | 2015-10-22 | Hansen Medical, Inc. | Devices, systems, and methods for controlling active drive systems |
| CN107847712A (en) * | 2015-06-16 | 2018-03-27 | 汉阳大学校Erica产学协力团 | vascular intervention operation robot and vascular intervention operation system |
| CN105616008A (en) * | 2016-03-16 | 2016-06-01 | 北京理工大学 | Slave end controller of interventional operation assisting system with catheter-guide wire conducting collaborative operation |
| CN107374737A (en) * | 2017-07-06 | 2017-11-24 | 北京理工大学 | A kind of intervention operation robot catheter guide wire cooperating system and its control method |
| CN207174726U (en) * | 2017-07-24 | 2018-04-03 | 上海君吉机械设备制造有限公司 | A kind of rocker-arm set square conveying mechanism |
| CN107822711A (en) * | 2017-09-28 | 2018-03-23 | 济南大学 | A kind of seal wire intervention device of minimally invasive intervention operation robot |
| CN108309370A (en) * | 2018-02-02 | 2018-07-24 | 上海交通大学 | A kind of gradual cardiovascular and cerebrovascular intervention operation robot |
| CN108704214A (en) * | 2018-04-28 | 2018-10-26 | 燕山大学 | Interventional surgery robotic catheter/seal wire rotating mechanism and propulsion device |
| CN109730779A (en) * | 2019-03-07 | 2019-05-10 | 天津理工大学 | A kind of blood vessel intervention operation robotic catheter seal wire cooperative control system and method |
| CN110200700A (en) * | 2019-05-17 | 2019-09-06 | 中国科学院深圳先进技术研究院 | A kind of blood vessel intervention operation robot and equipment |
| CN110236680A (en) * | 2019-07-10 | 2019-09-17 | 北京唯迈医疗设备有限公司 | A kind of intervention operation robot reciprocator |
| CN110236684A (en) * | 2019-07-10 | 2019-09-17 | 北京唯迈医疗设备有限公司 | A kind of intervention operation robot is from end propulsion device and its control method |
| CN110269998A (en) * | 2019-07-10 | 2019-09-24 | 中国科学院深圳先进技术研究院 | Seal wire clamping-rotating device |
| CN110269999A (en) * | 2019-07-12 | 2019-09-24 | 中国科学院深圳先进技术研究院 | Blood vessel intervention operation device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111529065A (en) * | 2020-05-09 | 2020-08-14 | 中国科学院自动化研究所 | Vascular intervention instrument control device |
| CN115040759A (en) * | 2022-06-07 | 2022-09-13 | 苏州润迈德医疗科技有限公司 | Delivery device for elongate medical tools |
| CN115040759B (en) * | 2022-06-07 | 2023-07-25 | 苏州润迈德医疗科技有限公司 | Delivery device for elongate medical tools |
| CN115607298A (en) * | 2022-10-19 | 2023-01-17 | 知脉(上海)机器人有限公司 | Instrument conveying device, instrument conveying equipment and interventional operation system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110859672B (en) | 2021-05-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110859672B (en) | Automatic alternate clamping and loosening guide wire device of interventional operation robot | |
| CN112353491B (en) | Universal robot for interventional radiography and therapeutic surgery | |
| CN110236680B (en) | Reciprocating motion device of interventional operation robot | |
| CN110840565B (en) | Automatic clamping and opening device for catheter of interventional operation robot | |
| CN110840566B (en) | Guide wire clamping and twisting device of interventional operation robot | |
| CN110882060B (en) | Interventional surgical robot guide wire friction force measuring device | |
| CN112107369A (en) | Intervene general type waterproof disinfection box of robot | |
| US20220133422A1 (en) | Universal robot for interventional angiographic surgery and interventional therapeutic surgery | |
| CN115517773A (en) | Sterile box of pipe, pipe arm and neural operation robot that intervenes | |
| CN112353495B (en) | Intervene surgical robot arm system | |
| CN219206983U (en) | G-shaped arm capable of being used for two-dimensional and three-dimensional imaging | |
| CN110859673A (en) | Interventional operation robot reciprocating push-pull guide wire and distance measuring device | |
| CN115317778B (en) | Automatic Y valve fixing device and catheter rotating device of interventional robot | |
| CN114796797A (en) | Control device for guide catheter and radiography catheter | |
| CN211723415U (en) | Intervene operation robot electromagnetism adsorption separation device | |
| CN209808984U (en) | Extracardiac pressing device | |
| CN115702830A (en) | Interventional operation catheter propulsion robot | |
| CN210673982U (en) | Catheter fixer for interventional radiotherapy | |
| CN112843442A (en) | Urethral dilator with core | |
| CN221534453U (en) | Special sickbed convenient to adjust and position for renal dialysis | |
| CN214434370U (en) | Tourniquet convenient to regular length | |
| CN211325580U (en) | Guide wire push-pull driven following device of interventional operation robot | |
| CN213758539U (en) | Intervene general type waterproof disinfection box of robot | |
| CN221205365U (en) | Interventional operation executing device based on bronchoscope | |
| CN221844637U (en) | Endoscope tube-placing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |