CN111110354A - Main end operating device of interventional operation robot - Google Patents
Main end operating device of interventional operation robot Download PDFInfo
- Publication number
- CN111110354A CN111110354A CN202010067638.2A CN202010067638A CN111110354A CN 111110354 A CN111110354 A CN 111110354A CN 202010067638 A CN202010067638 A CN 202010067638A CN 111110354 A CN111110354 A CN 111110354A
- Authority
- CN
- China
- Prior art keywords
- fixing plate
- gear
- ball bearing
- surgical robot
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 230000008713 feedback mechanism Effects 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 239000006247 magnetic powder Substances 0.000 claims abstract description 10
- 239000012636 effector Substances 0.000 claims description 8
- 230000006698 induction Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract 1
- 230000002792 vascular Effects 0.000 description 7
- 210000004204 blood vessel Anatomy 0.000 description 6
- 230000002526 effect on cardiovascular system Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 4
- 230000036541 health Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 208000024172 Cardiovascular disease Diseases 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 208000026106 cerebrovascular disease Diseases 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000006249 magnetic particle Substances 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 208000031662 Noncommunicable disease Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 210000004351 coronary vessel Anatomy 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000013152 interventional procedure Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (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 a main end operating device of an interventional operation robot, which comprises: rotatory detection mechanism and moment of torsion feedback mechanism, rotatory detection mechanism includes: the device comprises a front fixing plate, a front guide pipe, a clamping piece, a rear guide pipe, a photoelectric sensor, a ball bearing A, a photoelectric coded disc, a base, a ball bearing B and a rear fixing plate; the torque feedback mechanism includes: the magnetic brake device comprises a gear A, a magnetic powder brake, a ball bearing C, a gear B, a coupler, a gear C, a gear D and a rotating shaft; can realize intervene surgical robot and give the intervention surgical robot in the operating room with the operation transmission of doctor's rotatory pipe or seal wire when surgical robot in-service use, the moment of torsion that produces when simultaneously will intervene surgical robot and feed back to the doctor, promote the security that remote operation intervenes the robot and performs the operation.
Description
Technical Field
The invention relates to the technical field of interventional operation robots, in particular to a main-end operating device of an interventional operation robot.
Background
The world health statistical report issued by the world health organization shows that 1790 thousands of people die of cardiovascular and cerebrovascular diseases in 2016 worldwide, and the death rate is the first of four non-infectious diseases. The existing cardiovascular and cerebrovascular disease treatment mode is mainly interventional operation treatment. In order to prevent the doctor from being damaged by radiation during the interventional operation, the use of an interventional operation robot to assist the doctor in completing the interventional operation has become a hot spot of research at home and abroad.
In order to solve the problems of doctor health and operation safety in the process of blood vessel interventional surgery, organizations such as domestic and foreign enterprises and colleges are dedicated to the research of blood vessel interventional surgery robots in a dispute, and the technologies mainly relate to organization design, master-slave control, force feedback, operation navigation, safety strategies and the like. The more mature robot comprises
Magellan, Amigo, Niobe, etc.
Developed by Corindus Vascular Robotics, USA in 2004
A vascular interventional surgical robotic system is an example. The system is a remote control system and consists of a doctor console and a slave end manipulator. The doctor console has a radiation protection function and comprises a touch screen and a control rod, and a doctor operates the touch screen and the control rod to control the slave end operator. The slave-end manipulator can adjust the pose through the three-degree-of-freedom mechanical arm to realize the adjustment of the relative position of the catheter and the blood vessel inlet. The robotic system utilizes a passive catheter (conventional catheter) to perform the vascular interventional procedure. The slave end manipulator utilizes a friction wheel driving mode to clamp a conventional catheter and can realize control of two degrees of freedom of linear motion and rotary motion. Meanwhile, the robot system is in an open type arrangement, and doctors can select different types of passive catheters for surgery according to the operation requirements of the surgery. The robot system can complete control of the percutaneous coronary artery interventional therapy catheter, and can simultaneously realize pushing of the stent and the balloon catheter. After being validated by clinical trials, it completed the U.S. Food and Drug Administration (FDA) registration. Corindus Vascular Robotics, Inc. has been working on product improvements and has directed robots toSystem upgrade to
Provided is a system. However, this system still has disadvantages, for example, the robot can only perform a surgical operation using a special catheter (the catheter tip is driven by a mechanism such as a motor, and can realize a certain degree of bending rotation), and cannot perform a surgical operation using a guide wire.
In addition to mature commercial products, colleges and universities at home and abroad have also conducted related research in the field of interventional surgical robots. Recent related studies include: a Wangzhe researcher team of Shenzhen advanced technology research institute of Chinese academy of sciences in 2018 designs a novel vascular interventional surgical robot system, and the robot system can utilize a linear pushing device and a rotary driving device to realize pushing and rotation of a catheter in the surgical process; meanwhile, the team provides an adaptive system for cardiovascular access clearance compensation, the adaptive system consists of a neural fuzzy module, the module can predict the vascular access clearance according to the contact force and the motion signal calculated in the error force control model, the feasibility of the method is verified through a vascular model experiment, and the side clearance in the cardiovascular access can be effectively reduced. Shanghai university of traffic Wangkun Dongdong professor et al developed a blood vessel intervention surgical robot in 2018, this blood vessel intervention surgical robot comprises four manipulators, be used for simulating the operation of doctor and assistant totally four hands, the manipulator sets up on the crossbeam, and control through rope drive, every manipulator has three degrees of freedom, can realize propelling movement, rotation and centre gripping, the robot can realize the control to the manipulator through control panel's operation rocker, however this blood vessel intervention surgical robot because control panel adopts the operation rocker to realize control, lack operation operating force feedback function.
In particular, the interventional surgical robot in the prior art still has the following problems:
(1) the current main end controller device has defects in rotation detection: through the operation of the operating rod, the doctor can not perform one-time large-amplitude rotation operation in the rotation operation process of the catheter or the guide wire, and the defect directly limits the doctor to freely exert the operation skill of the doctor.
(2) The current main-end controller can only realize linear force feedback and cannot realize feedback on torque, and the torque is also an important basis for safety judgment of operation of a doctor when the doctor operates a catheter or a guide wire.
Disclosure of Invention
In view of the above, the present invention provides a main-end operating device for an interventional surgical robot, which is capable of transmitting an operation of rotating a catheter or a guide wire by a doctor to the interventional surgical robot in an operating room during actual application of the surgical robot, and feeding back a torque generated during operation of the interventional surgical robot to the doctor.
The technical scheme of the invention is as follows: a master end effector of an interventional surgical robot, comprising: rotatory detection mechanism and moment of torsion feedback mechanism, rotatory detection mechanism includes: the device comprises a front fixing plate, a front guide pipe, a clamping piece, a rear guide pipe, a photoelectric sensor, a ball bearing A, a photoelectric coded disc, a base, a ball bearing B and a rear fixing plate; the torque feedback mechanism includes: the magnetic brake device comprises a gear A, a magnetic powder brake, a ball bearing C, a gear B, a coupler, a gear C, a gear D and a rotating shaft;
the overall connection relationship of the main end operation device is as follows: the front fixing plate and the rear fixing plate are relatively and fixedly arranged on the base, the end where the front fixing plate is located is the front end, the end where the rear fixing plate is located is the rear end, through holes are respectively formed in the front fixing plate and the rear fixing plate, and the two through holes are coaxial; one end of the front guide pipe is fixed at one end of the clamping piece, and the other end of the front guide pipe is used for fixing a catheter or a guide wire; two ends of the rear guide tube are coaxially and fixedly supported in through holes on the front fixing plate and the rear fixing plate through ball bearings A (1-6) and B respectively, two ends of the rear guide tube respectively extend out of the through holes on the front fixing plate and the rear fixing plate to be coaxially fixed with the clamping piece and the photoelectric code disc, the photoelectric sensor is fixed on the rear fixing plate, the photoelectric code disc can rotate in an induction groove of the photoelectric sensor, and the photoelectric sensor is used for detecting a pulse signal generated by the rotation of the photoelectric code disc;
the gear A is coaxially sleeved and fixed on the rear guide pipe, the magnetic powder brake is fixed at the front end of the front fixed plate through a fixed rod, the other end of the fixed rod is coaxially fixed with a coupler positioned at the rear end of the front fixed plate, and the gear B is coaxially fixed on the coupler; the gear D is coaxially fixed at one end of the gear C, the gear C is coaxially fixed on the rotating shaft, and two ends of the rotating shaft are fixedly supported on the front fixing plate and the rear fixing plate through the ball bearing C and the ball bearing D respectively; after assembly, gear B is engaged with gear C and gear D is engaged with gear a.
Preferably, the clamping piece is provided with an axial through hole, the front guide pipe and the rear guide pipe are arranged at two axial ends of the clamping piece through hole, and the clamping piece, the front guide pipe, the clamping piece and the rear guide pipe are respectively reinforced along the radial directions of the two ends of the clamping piece through hole through screws.
Preferably, the ball bearing A and the ball bearing B are respectively fixed with the through holes on the front fixing plate and the rear fixing plate in an interference fit mode.
Preferably, the joint of the gear D and the gear C is reinforced by screws along the radial direction of the two.
Preferably, the joint of the gear C and the rotating shaft is radially reinforced by screws.
Preferably, two main end operation devices are coaxially arranged, one main end operation device is used for fixing the catheter, the other main end operation device is used for fixing the guide wire, and the guide wire coaxially penetrates through the catheter.
Has the advantages that:
(1) the invention can transmit the operation of rotating the catheter or the guide wire by a doctor to the interventional operation robot in an operating room when the interventional operation robot is actually applied, and simultaneously feed back the torque generated when the interventional operation robot is operated to the doctor, thereby improving the safety of remotely operating the interventional robot for operation.
Drawings
Fig. 1 is a schematic view of the overall structure of the main-end operating device of the present invention.
Fig. 2 is a three-dimensional view of fig. 1, (a) a front view, (b) a left side view, and (c) a top view.
Fig. 3 is an exploded view of the rotation detection mechanism of fig. 1.
Fig. 4 is an exploded view of the torque feedback mechanism of fig. 1.
The device comprises a rotation detection mechanism 1, a torque feedback mechanism 2 and a torque feedback mechanism; 1-1 part of front fixing plate, 1-2 parts of front guide pipe, 1-3 parts of clamping piece, 1-4 parts of rear guide pipe, 1-5 parts of photoelectric sensor, 1-6 parts of ball bearing A, 1-7 parts of gear A, 1-8 parts of photoelectric coded disc, 1-9 parts of base, 1-10 parts of ball bearing B, 1-11 parts of rear fixing plate; 2-1 parts of magnetic powder brakes, 2-2 parts of ball bearings C, 2-3 parts of gears B, 2-4 parts of couplers, 2-5 parts of gears C, 2-6 parts of gears D, 2-7 parts of rotating shafts.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The embodiment provides a main end operating device of an interventional surgical robot, which can transmit the operation of rotating a catheter or a guide wire of a doctor to the interventional surgical robot in an operating room during the actual application of the interventional surgical robot, and simultaneously feed back the torque generated during the operation of the interventional surgical robot to the doctor.
As shown in fig. 1-4, the two main end effectors for controlling the catheter and the guide wire are identical in structure, and the main end effector for controlling the catheter includes: rotation detection mechanism 1 and moment of torsion feedback mechanism 2, rotation detection mechanism 1 includes: the torque feedback mechanism comprises a front fixing plate 1-1, a front guide pipe 1-2, a clamping piece 1-3, a rear guide pipe 1-4, a photoelectric sensor 1-5, a ball bearing A1-6, a gear A1-7, a photoelectric coded disc 1-8, a base 1-9, a ball bearing B1-10 and a rear fixing plate 1-11, and the torque feedback mechanism 2 comprises: the magnetic powder brake comprises a magnetic powder brake 2-1, a ball bearing C2-2, a gear B2-3, a coupler 2-4, a gear C2-5, a gear D2-6 and a rotating shaft 2-7;
the overall connection relationship of the main-end operation device is as follows: the front fixing plate 1-1 and the rear fixing plate 1-11 are relatively and fixedly arranged on the base 1-9, the end where the front fixing plate 1-1 is arranged is the front end, the end where the rear fixing plate 1-11 is arranged is the rear end, through holes are respectively arranged on the front fixing plate 1-1 and the rear fixing plate 1-11, the two through holes are coaxial, an axial through hole is arranged on the clamping piece 1-3, one end of the front guide pipe 1-2 is fixed at one end of the clamping piece 1-3 and is reinforced along the radial direction of the clamping piece 1-3 by screws (namely, the front guide pipe 1-2 and the clamping piece 1-3 are coaxially arranged and are reinforced along the radial direction of the clamping piece 1-3 by screws), the other end of the front guide pipe 1-2 is used for fixing a guide pipe, the guide pipe 1-2 and the front guide piece 1-3 are both positioned at the, the gear A1-7 is coaxially sleeved and fixed on the rear guide tube 1-4, two ends of the rear guide tube 1-4 are coaxially supported in through holes on the front fixing plate 1-1 and the rear fixing plate 1-11 through a ball bearing A1-6 and a ball bearing B1-10 respectively, the two ends of the photoelectric encoder extend out of through holes on a front fixing plate 1-1 and a rear fixing plate 1-11 respectively and are coaxially fixed with a clamping piece 1-3 and a photoelectric encoder 1-8 (a ball bearing A1-6 and a ball bearing B1-10 are in interference fit with the through holes on the front fixing plate 1-1 and the rear fixing plate 1-11 respectively, a rear guide tube 1-4 extends into the through hole of the clamping piece 1-3 and is reinforced along the radial direction of the clamping piece and the clamping piece by a screw), the photoelectric sensor 1-5 is fixed on the rear fixing plate 1-11, and the photoelectric encoder 1-8 can rotate in an induction groove of the photoelectric sensor 1-5; the guide wire is arranged in the catheter, two ends of the guide wire extend out of the catheter, one end of the guide wire sequentially penetrates through the front guide tube 1-2 and the rear guide tube 1-4, and the guide wire is controlled to rotate by the other main end operating device; the corresponding clamping piece 1-3 is rotated to drive the front guide pipe 1-2 and the rear guide pipe 1-4 to rotate, so that the photoelectric coded disc 1-8 is driven to rotate, the photoelectric coded disc 1-8 rotates in the photoelectric sensor 1-5 to generate a pulse signal, and the photoelectric sensor 1-5 is used for detecting the pulse signal and transmitting the pulse signal to an external control unit, so that the rotation angle of the catheter and/or the guide wire is recorded in real time.
The magnetic powder brake 2-1 is fixed at the front end of the front fixing plate 1-1 through a fixing rod, specifically: the rear end of the magnetic powder brake 2-1 is coaxially provided with a fixed rod, the fixed rod penetrates through the front fixed plate 1-1 to be coaxially fixed with a coupler 2-4 positioned at the rear end of the front fixed plate 1-1, and a gear B2-3 is coaxially fixed on the coupler 2-4; the gear D2-6 is coaxially fixed at one end of the gear C2-5 and is radially reinforced by screws, the gear C2-5 is coaxially fixed on the rotating shaft 2-7 and is radially reinforced by screws, and two ends of the rotating shaft 2-7 are fixedly supported on the front fixing plate 1-1 and the rear fixing plate 1-11 through a ball bearing C2-2 and a ball bearing D respectively; after assembly, gear B2-3 is in gear engagement with gear C2-5 and gear D2-6 is in gear engagement with gear A1-7.
The working principle of the main end operating device is as follows: when a doctor rotates the clamping piece 1-3, the photoelectric coded disc 1-8 is driven to rotate through the rear guide tube 1-4, the photoelectric sensor 1-5 correspondingly detects the rotation angle and the rotation direction of the photoelectric coded disc 1-8, namely the rotation angle and the rotation direction of the guide tube and/or the guide wire are correspondingly obtained, the photoelectric sensor 1-5 transmits a detection value to the external control unit, and the external control unit controls the guide tube and/or the guide wire at the slave end to rotate in a corresponding and consistent rotation angle and rotation direction according to the detection value;
when the guide tube and/or the guide wire at the slave end rotates, the slave end transmits the detected corresponding torque to the external control unit, the external control unit transmits a torque signal at the slave end to the magnetic particle brake 2-1 in the form of a voltage signal (brake signal) for braking, the magnetic particle brake 2-1 brakes and then drives the gear B2-3 to rotate, so that the gear C2-5 rotates, thereby driving the gear D2-6 to rotate, the gear D2-6 feeds back the torque from the end to the corresponding catheter and/or guide wire through the meshing with the gear A1-7, the main end operation device controls the catheter and/or the guide wire corresponding to the main end to feed back the rotating torque of the catheter and/or the guide wire at the secondary end to an operator at the main end, so that the operator can actually feel the rotating torque of the secondary end.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A master end effector of an interventional surgical robot, comprising: rotatory detection mechanism and moment of torsion feedback mechanism, rotatory detection mechanism includes: the device comprises a front fixing plate (1-1), a front guide pipe (1-2), a clamping piece (1-3), a rear guide pipe (1-4), a photoelectric sensor (1-5), a ball bearing A (1-6), a photoelectric coded disc (1-8), a base (1-9), a ball bearing B (1-10) and a rear fixing plate (1-11); the torque feedback mechanism includes: the brake comprises a gear A (1-7), a magnetic powder brake (2-1), a ball bearing C (2-2), a gear B (2-3), a coupler (2-4), a gear C (2-5), a gear D (2-6) and a rotating shaft (2-7);
the overall connection relationship of the main end operation device is as follows: the front fixing plate (1-1) and the rear fixing plate (1-11) are relatively and fixedly arranged on the base (1-9), the end where the front fixing plate (1-1) is located is the front end, the end where the rear fixing plate (1-11) is located is the rear end, through holes are respectively formed in the front fixing plate (1-1) and the rear fixing plate (1-11), and the two through holes are coaxial; one end of the front guide tube (1-2) is fixed at one end of the clamping piece (1-3), and the other end is used for fixing a catheter or a guide wire; two ends of the rear guide tube (1-4) are coaxially and fixedly supported in through holes in the front fixing plate (1-1) and the rear fixing plate (1-11) through a ball bearing A (1-6) and a ball bearing B (1-10), two ends of the rear guide tube respectively extend out of the through holes in the front fixing plate (1-1) and the rear fixing plate (1-11) to be coaxially fixed with the clamping piece (1-3) and the photoelectric coded disc (1-8), the photoelectric sensor (1-5) is fixed on the rear fixing plate (1-11), the photoelectric coded disc (1-8) can rotate in an induction groove of the photoelectric sensor (1-5), and the photoelectric sensor (1-5) is used for detecting a pulse signal generated by rotation of the photoelectric coded disc (1-8);
the gear A (1-7) is coaxially sleeved and fixed on the rear guide pipe (1-4), the magnetic powder brake (2-1) is fixed at the front end of the front fixing plate (1-1) through a fixing rod, the other end of the fixing rod is coaxially fixed with the coupler (2-4) located at the rear end of the front fixing plate (1-1), and the gear B (2-3) is coaxially fixed on the coupler (2-4); the gear D (2-6) is coaxially fixed at one end of the gear C (2-5), the gear C (2-5) is coaxially fixed on the rotating shaft (2-7), and two ends of the rotating shaft (2-7) are fixedly supported on the front fixing plate (1-1) and the rear fixing plate (1-11) through the ball bearing C (2-2) and the ball bearing D respectively; after assembly, gear B (2-3) is engaged with gear C (2-5), and gear D (2-6) is engaged with gear A (1-7).
2. The main-end operating device of an interventional surgical robot according to claim 1, wherein the clamping member (1-3) is provided with an axial through hole, the front guide tube (1-2) and the rear guide tube (1-4) are provided at both axial ends of the through hole of the clamping member (1-3), and the clamping member (1-3) and the front guide tube (1-2) and the clamping member (1-3) and the rear guide tube (1-4) are respectively reinforced by screws in the radial direction of both ends of the through hole of the clamping member (1-3).
3. The main-end operating device of the interventional surgical robot as set forth in claim 2, wherein the ball bearings a (1-6) and B (1-10) are fixed by interference fit with through holes on the front fixing plate (1-1) and the rear fixing plate (1-11), respectively.
4. The main end effector of an interventional surgical robot of claim 1, wherein the junction of the gears D (2-6) and C (2-5) is radially reinforced by screws.
5. Main end effector for an interventional surgical robot according to claim 1 or 4, characterized in that the joint between the gear C (2-5) and the shaft (2-7) is radially reinforced by screws.
6. A main end effector for an interventional surgical robot as claimed in claim 1, wherein two of said main end effectors are coaxially disposed, one for holding a catheter and the other for holding a guidewire, and the guidewires are coaxially threaded through the catheter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010067638.2A CN111110354A (en) | 2020-01-20 | 2020-01-20 | Main end operating device of interventional operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010067638.2A CN111110354A (en) | 2020-01-20 | 2020-01-20 | Main end operating device of interventional operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111110354A true CN111110354A (en) | 2020-05-08 |
Family
ID=70492631
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010067638.2A Pending CN111110354A (en) | 2020-01-20 | 2020-01-20 | Main end operating device of interventional operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111110354A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116807622A (en) * | 2023-08-29 | 2023-09-29 | 北京唯迈医疗设备有限公司 | Push rod type force feedback main end control device of interventional robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011028627A2 (en) * | 2009-08-26 | 2011-03-10 | The Research Foundation Of State University Of New York | System and method for endovascular telerobotic access |
| CN105662589A (en) * | 2016-03-03 | 2016-06-15 | 北京理工大学 | Slave side of master-slave minimally invasive vascular intervention surgical robot and controlling method of slave side |
| CN108514448A (en) * | 2017-12-14 | 2018-09-11 | 深圳先进技术研究院 | Blood vessel intervention operation robot guide wire, conduit control device |
| CN109481022A (en) * | 2018-11-14 | 2019-03-19 | 李兴国 | A kind of main hand end operating mechanism of master-slave operation blood vessel intervention operation robot |
| 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 |
| CN110236686A (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 main side operating device and control method |
| CN212089719U (en) * | 2020-01-20 | 2020-12-08 | 北京理工大学 | Main end operating device of interventional operation robot |
-
2020
- 2020-01-20 CN CN202010067638.2A patent/CN111110354A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011028627A2 (en) * | 2009-08-26 | 2011-03-10 | The Research Foundation Of State University Of New York | System and method for endovascular telerobotic access |
| CN105662589A (en) * | 2016-03-03 | 2016-06-15 | 北京理工大学 | Slave side of master-slave minimally invasive vascular intervention surgical robot and controlling method of slave side |
| CN108514448A (en) * | 2017-12-14 | 2018-09-11 | 深圳先进技术研究院 | Blood vessel intervention operation robot guide wire, conduit control device |
| CN109481022A (en) * | 2018-11-14 | 2019-03-19 | 李兴国 | A kind of main hand end operating mechanism of master-slave operation blood vessel intervention operation robot |
| 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 |
| CN110236686A (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 main side operating device and control method |
| CN212089719U (en) * | 2020-01-20 | 2020-12-08 | 北京理工大学 | Main end operating device of interventional operation robot |
Non-Patent Citations (1)
| Title |
|---|
| 刘龙;曹彤;刘达;王栋;曹旭东;: "主从式血管介入系统的力反馈实现", 高技术通讯, no. 05, 15 May 2014 (2014-05-15) * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116807622A (en) * | 2023-08-29 | 2023-09-29 | 北京唯迈医疗设备有限公司 | Push rod type force feedback main end control device of interventional robot |
| CN116807622B (en) * | 2023-08-29 | 2023-11-24 | 北京唯迈医疗设备有限公司 | Push rod type force feedback main end control device of interventional robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110200700B (en) | Robot and equipment for vascular intervention operation | |
| WO2021051552A1 (en) | Vascular interventional instrument manipulation device capable of operating two guide wires or balloons | |
| JP2023510978A (en) | Operating handle of a vascular interventional robot with propulsion resistance feedback for a guidewire catheter | |
| EP1979136B1 (en) | Robotic surgical system for performing minimally invasive medical procedures | |
| EP2190530B1 (en) | Patient positioner system | |
| Wang et al. | Endovascular intervention robot with multi-manipulators for surgical procedures: Dexterity, adaptability, and practicability | |
| CN202143653U (en) | Minimally invasive vascular intervention operation robot | |
| CN113729961B (en) | Main end operating handle of interventional operation robot | |
| CN101421080A (en) | Medical robotic system with manipulator arm of the cylindrical coordinate type | |
| CN105662586A (en) | Interventional operation robot where catheter and guide wire are cooperatively pushed and control method thereof | |
| WO2016008109A1 (en) | Rehabilitation robot system of upper limb | |
| CN105796179A (en) | Master-slave intervention operation robot slave side operating device and control method thereof | |
| CN111839740A (en) | Master-slave isomorphic teleoperation force feedback master hand of minimally invasive surgery robot | |
| CN111166471B (en) | Three-axis intersection type active and passive hybrid surgical endoscope holding arm | |
| Bao et al. | Design and evaluation of a novel guidewire navigation robot | |
| CN212089719U (en) | Main end operating device of interventional operation robot | |
| Wang et al. | A novel SEA‐based haptic force feedback master hand controller for robotic endovascular intervention system | |
| CN113749779B (en) | Main end control device of interventional operation robot with error touch prevention function | |
| CN111110354A (en) | Main end operating device of interventional operation robot | |
| CN115429442A (en) | Remote control system of auxiliary device for intervascular intervention operation for simulating operation and feeling of doctor | |
| CN212089720U (en) | Main end controller of interventional operation robot | |
| CN111110353B (en) | Main end controller of interventional operation robot | |
| CN102462533A (en) | Mechanical arm for clamping propelling mechanism of minimally invasive blood vessel interventional surgery | |
| CN111360788B (en) | Seven-degree-of-freedom series-parallel dead-point-prevention mechanical arm | |
| CN106618735B (en) | Collaborative interaction robot for surgical operation |
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 | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220110 Address after: 518000 runheng building 2515, 2008 CaiTian Road, Fushan community, Futian street, Futian District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Investment rongmai Network Technology Co.,Ltd. Address before: 100081 No. 5 South Main Street, Haidian District, Beijing, Zhongguancun Applicant before: BEIJING INSTITUTE OF TECHNOLOGY |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220216 Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant after: Shenzhen Aibo medical robot Co.,Ltd. Address before: 518000 runheng building 2515, 2008 CaiTian Road, Fushan community, Futian street, Futian District, Shenzhen City, Guangdong Province Applicant before: Shenzhen Investment rongmai Network Technology Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| CB02 | Change of applicant information |
Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant before: Shenzhen Aibo medical robot Co.,Ltd. |
|
| CB02 | Change of applicant information |