CN110882060B - Interventional surgical robot guide wire friction force measuring device - Google Patents
Interventional surgical robot guide wire friction force measuring device Download PDFInfo
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- CN110882060B CN110882060B CN201911129606.4A CN201911129606A CN110882060B CN 110882060 B CN110882060 B CN 110882060B CN 201911129606 A CN201911129606 A CN 201911129606A CN 110882060 B CN110882060 B CN 110882060B
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
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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 a guide wire friction force measuring device of an interventional operation robot, which comprises a square pipe connecting piece; the miniature linear guide rail is arranged on the upper surface of the bottom of the square pipe connecting piece; the sliding block is arranged on the miniature linear guide rail in a sliding manner; the right-angle connecting piece is fixedly arranged above the sliding block; the two ends of the miniature pull pressure sensor along the axial direction of the miniature linear guide rail are force measuring ends, one force measuring end is fixed with the right-angle connecting piece, and the other force measuring end is fixed with the square pipe connecting piece; and the electromagnet is arranged on the right-angle connecting piece and used for adsorbing the guide wire clamping piece. The device adopts an indirect force measuring mode, solves the problem that the guide wire and the force measuring device are inconvenient to install, and ensures the sterile environment of the guide wire; the push-pull force of the miniature pull pressure sensor is measured, so that the stress change condition of the axial friction force of the guide wire is judged, the operation prompt can be given to a doctor in time, and the safety of a patient is protected.
Description
Technical Field
The invention relates to the technical field of minimally invasive vascular interventional operations, in particular to a control technology for feeding back a guide wire from a slave end of a robot in an interventional operation, and more particularly relates to a device for measuring the friction force of the guide wire 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.
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, and the force feedback detection device of the guide wire can cause the guide wire to be inconvenient to install and replace on the robot; (2) the stress change of the guide wire is directly measured by a sensor, so that the sterile environment cannot be effectively guaranteed; (3) there is no good stress method for indirectly measuring the axial friction force of the guide wire.
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 device for measuring the friction force of a guide wire of an interventional operation robot, and aims to solve the problems that the axial friction force of the guide wire is not detected sufficiently by the existing interventional operation robot, a stress detection device is difficult to install, and the clinical requirement cannot be met.
Therefore, the invention aims to provide a guide wire friction measuring device of an interventional surgical robot, which is arranged on a driving end of a propelling mechanism, wherein the opposite side of the guide wire friction measuring device of the interventional surgical robot is a driven end of the propelling mechanism, at least two groups of the guide wire friction measuring device of the interventional surgical robot and the driven end of the propelling mechanism are arranged, the driving end of the propelling mechanism is used for realizing the alternate clamping of the guide wire, and the driven end of the propelling mechanism is used for assisting the driving end of the propelling mechanism to clamp the guide wire; intervene surgical robot seal wire frictional force measuring device includes:
the square pipe connecting piece is arranged on the driving end of the propelling mechanism;
the miniature linear guide rail is arranged on the upper surface of the bottom of the square tube connecting piece, and the axial direction of the miniature linear guide rail is parallel to the motion direction of the guide wire;
the sliding block is slidably mounted on the miniature linear guide rail;
the right-angle connecting piece is fixedly arranged above the sliding block, and a rectangular space is defined by the right-angle connecting piece and the square pipe connecting piece together;
the miniature tension and pressure sensor is positioned in the rectangular space, two ends of the miniature tension and pressure sensor along the axial direction of the miniature linear guide rail are force measuring ends, one force measuring end is fixed with the right-angle connecting piece, and the other force measuring end is fixed with the square pipe connecting piece;
and the electromagnet is arranged on one side of the right-angle connecting piece, which is far away from the miniature pull pressure sensor, and is used for adsorbing the guide wire clamping piece.
The device is used for the guide wire to move forwards or backwards in the interventional operation, the friction force condition of the guide wire in the moving process can be detected at the clamping end of the guide wire, the judgment is carried out in real time according to the change of the stress condition, the timely and effective information feedback is provided for an operator, and the operation can be safely and reliably carried out. When abnormal conditions occur, the device can remind an operator in time, is a safety protection device and assists doctors to better perform interventional operation treatment.
The device adopts an indirect force measuring mode, solves the problem that the guide wire and the force measuring device are inconvenient to install, and ensures the sterile environment of the guide wire; the push-pull force of the miniature pull pressure sensor is measured, so that the stress change condition of the axial friction force of the guide wire is judged, the operation prompt can be given to a doctor in time, and the safety of a patient is protected.
The device has the advantages of simple overall structure, good stability, compact structure, simple installation method and convenient operation, and is an important link in the whole robot.
On the basis of the technical scheme, the invention can be improved as follows:
preferably, the driven end of the propulsion mechanism and the guide wire friction force measuring device of the interventional surgical robot are integrally provided with two groups.
Through the alternate clamping of the driving end of the propelling mechanism to the guide wire, the auxiliary clamping of the driving end of the propelling mechanism and the signal acquisition of the two groups of interventional surgical robot guide wire friction force measuring devices positioned on the driving end of the propelling mechanism when the guide wire is clamped, the change condition of stress on the guide wire can be judged in time by a doctor, and the occurrence of danger is avoided.
Preferably, the two interventional surgical robot guide wire friction force measuring devices alternately act along with the driving end of the propulsion mechanism, and signal acquisition is carried out when the guide wire is clamped.
Preferably, the right-angle connecting piece is fixed with the sliding block through a screw.
The invention relates to a guide wire friction force measuring device of an interventional operation robot, which is used in cooperation with a reciprocating device of the interventional operation robot. During reciprocating movement, the two groups of moving parts alternately clamp the guide wire to enable the guide wire to move. The stress condition of the guide wire end can be indirectly reflected by detecting the stress change condition of the miniature pull pressure sensor clamping the guide wire end, so that timely feedback is provided for a doctor.
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 view of the whole installation of a guide wire friction force measuring device of an interventional surgical robot;
FIG. 2 is a schematic view of the whole structure of a guide wire friction force measuring device of an interventional surgical robot;
FIG. 3 is an exploded view of the interventional surgical robot guide wire friction force measuring device;
wherein, in the figure,
100-driving end of propulsion mechanism;
200-driven end of propulsion mechanism;
300-a guide wire;
400-interventional surgical robot guide wire friction force measuring device,
401-square tube connector, 402-miniature linear guide rail, 403-sliding block, 404-right angle connector, 405-miniature tension and pressure sensor, 406-electromagnet.
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 guidewire friction measurement device 400 according to an embodiment of the present invention is described in detail below with respect to fig. 1-3.
As shown in fig. 1, an embodiment of the present invention discloses an interventional surgical robot guide wire friction measuring device 400, which is installed on a driving end 100 of a pushing mechanism, a driven end 200 of the pushing mechanism is located on an opposite side of the interventional surgical robot guide wire friction measuring device 400, two sets of the interventional surgical robot guide wire friction measuring device 400 and the two sets of the driven ends 200 of the pushing mechanism are respectively provided, the driving end 100 of the pushing mechanism is used for alternately clamping a guide wire 300, and the driven end 200 of the pushing mechanism is used for assisting the driving end 100 of the pushing mechanism in clamping the guide wire 300. As shown in fig. 1, the guidewire 300 is clamped by two sets of clamps.
The two groups of interventional surgical robot guide wire friction force measuring devices 400 are installed on the driving end 100 of the propulsion mechanism and are opposite to the driven end 200 of the propulsion mechanism, the two groups of interventional surgical robot guide wire friction force measuring devices 400 alternately act along with the driving end 100 of the propulsion mechanism, and carry out signal acquisition when the guide wire 300 is clamped and the guide wire 300 is pushed or retreated, the structures of the two groups of interventional surgical robot guide wire friction force measuring devices are the same, and as shown in fig. 2-3, the two groups of interventional surgical robot guide wire friction force measuring devices all comprise: the device comprises a square tube connector 401, a miniature linear guide rail 402, a sliding block 403, a right-angle connector 404, a miniature pull pressure sensor 405 and an electromagnet 406.
The square tube connecting piece 401 is mounted on the driving end 100 of the propulsion mechanism and is pushed by the driving end 100 of the propulsion mechanism to move forward and backward. The micro linear guide 402 is fixedly arranged on the upper surface of the bottom of the square tube connecting piece 401, the axial direction of the micro linear guide 402 is parallel to the moving direction of the guide wire 300, the sliding block 403 is slidably arranged on the micro linear guide 402, and the right-angle connecting piece 404 is fixedly arranged above the sliding block 403 through screws, so that the right-angle connecting piece 404 can move back and forth along the direction of the guide wire 300; the right-angle connector 404 and the square pipe connector 401 together enclose a rectangular space, and the miniature pull pressure sensor 405 is located in the rectangular space. Two ends of the micro tension and pressure sensor 405 in the axial direction of the micro linear guide rail 402 are force measuring ends, one of the force measuring ends is fixed with the right-angle connecting piece 404, and the other force measuring end is fixed with the square pipe connecting piece 401. The electromagnet 406 is installed on the side of the right-angle connector 404 away from the micro pull pressure sensor 405 to adsorb the guide wire clamping member, so as to drive the guide wire 300 to move.
The two groups of interventional surgical robot guide wire friction force measuring devices 400 have the same shape and size and the same function, and only play a role at different positions and time. Specifically, the device of the invention is used in a reciprocating propulsion mechanism, and at the same time, only one group of guide wire clamping pieces is used for clamping the guide wire 300, so that the friction force measuring device can acquire signals only when the guide wire 300 is clamped, and does not need to acquire signals of a sensor when the guide wire 300 is loosened.
The specific working principle of the device is as follows:
the micro pull pressure sensor 405 can slide along the motion direction of the guide wire 300, but two force measuring ends of the micro pull pressure sensor are respectively fixed with the right-angle connecting piece 404 and the square tube connecting piece 401, so that the friction force applied when the guide wire 300 moves can be transmitted to the two force measuring ends of the micro pull pressure sensor 405. The friction force that receives when the wire end removes can be approximately for the change value of miniature pull pressure sensor 405 upper force, can further find out reasonable dangerous threshold value through the experiment to effectual guarantee operation safety.
The device can simulate the change situation of force on the guide wire 300 felt by hands in the operation of a doctor, thereby achieving the effects of outdoor operation and force feedback.
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 (4)
1. The device for measuring the friction of the guide wire of the interventional surgical robot is characterized by being mounted on a driving end (100) of a propelling mechanism, a driven end (200) of the propelling mechanism is arranged on one side, opposite to the driving end (400), of the guide wire of the interventional surgical robot, two groups of the device for measuring the friction of the guide wire of the interventional surgical robot are arranged at the driving end (400) of the propelling mechanism and the driven end (200) of the propelling mechanism, the driving end (100) of the propelling mechanism is used for alternately clamping the guide wire (300), and the driven end (200) of the propelling mechanism is used for assisting the driving end (100) of the propelling mechanism in clamping the guide wire (300); the interventional surgical robotic guidewire friction force measurement device (400) comprises:
the square pipe connecting piece (401), the square pipe connecting piece (401) is installed on the driving end (100) of the propelling mechanism;
the miniature linear guide rail (402) is mounted on the upper surface of the bottom of the square tube connecting piece (401), and the axial direction of the miniature linear guide rail (402) is parallel to the movement direction of the guide wire (300);
a slider (403), wherein the slider (403) is slidably mounted on the micro linear guide (402);
the right-angle connecting piece (404) is fixedly arranged above the sliding block (403), and a rectangular space is defined by the right-angle connecting piece (404) and the square pipe connecting piece (401);
the miniature tension and pressure sensor (405) is positioned in the rectangular space, two ends of the miniature tension and pressure sensor (405) along the axial direction of the miniature linear guide rail (402) are force measuring ends, one force measuring end is fixed with the right-angle connecting piece (404), and the other force measuring end is fixed with the square pipe connecting piece (401);
the electromagnet (406) is arranged on one side, away from the micro pull pressure sensor (405), of the right-angle connecting piece (404) and used for adsorbing the guide wire clamping piece.
2. The interventional surgical robotic guidewire friction measurement device of claim 1, wherein: the driven end (200) of the propelling mechanism and the guide wire friction force measuring device (400) of the interventional surgical robot are integrally provided with two groups.
3. The interventional surgical robotic guidewire friction measurement device of claim 1, wherein: the two interventional operation robot guide wire friction force measuring devices (400) alternately act along with the driving end (100) of the propelling mechanism, and signal acquisition is carried out when the guide wire (300) is clamped.
4. The interventional surgical robotic guidewire friction measurement device of claim 1, wherein: the right-angle connecting piece (404) is fixed with the sliding block (403) through screws.
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| CN201911129606.4A CN110882060B (en) | 2019-11-18 | 2019-11-18 | Interventional surgical robot guide wire friction force measuring device |
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| CN201911129606.4A CN110882060B (en) | 2019-11-18 | 2019-11-18 | Interventional surgical robot guide wire friction force measuring device |
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| CN111938817B (en) * | 2020-08-05 | 2022-05-24 | 北京唯迈医疗设备有限公司 | Interventional operation robot guide wire action safety early warning method and system |
| CN112075988A (en) * | 2020-09-01 | 2020-12-15 | 北京唯迈医疗设备有限公司 | Interventional operation robot manpower feedback display method and device |
| CN112120792A (en) * | 2020-10-29 | 2020-12-25 | 北京唯迈医疗设备有限公司 | Interventional operation robot guide wire friction force feedback device and method |
| RU2759486C1 (en) * | 2020-10-29 | 2021-11-15 | Бэйцзин Вемед Медикал Эквипмент Ко., Лтд. | Device and method of frictional feedback of wire conductor for interventional surgical robot |
| CN112353491B (en) * | 2020-10-29 | 2021-09-14 | 北京唯迈医疗设备有限公司 | Universal robot for interventional radiography and therapeutic surgery |
| CN112137725A (en) * | 2020-10-29 | 2020-12-29 | 北京唯迈医疗设备有限公司 | Control device and control method for guide wire clamping force of interventional operation robot |
| CN112525400B (en) * | 2020-11-16 | 2022-05-13 | 无锡柏鹏科技有限公司 | Structure for testing horizontal friction force |
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| US20090131884A1 (en) * | 2006-02-02 | 2009-05-21 | I.S.T. Corporation | Medical device for insertion into the human body, and method of manufacture |
| CN105796179B (en) * | 2016-03-03 | 2018-05-18 | 北京理工大学 | A kind of principal and subordinate's intervention operation robot is from end operating device and its control method |
| CN107754072A (en) * | 2017-08-31 | 2018-03-06 | 首都医科大学附属北京天坛医院 | A kind of guidewire controller and its operating method |
| CN108309370B (en) * | 2018-02-02 | 2019-10-29 | 上海交通大学 | A kind of gradual cardiovascular and cerebrovascular intervention operation robot |
| CN109730779B (en) * | 2019-03-07 | 2024-05-14 | 深圳爱博合创医疗机器人有限公司 | Vascular intervention operation robot catheter guide wire cooperative control system and method |
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