CN111227946A - Minimally invasive vascular intervention operation robot operating device - Google Patents
Minimally invasive vascular intervention operation robot operating device Download PDFInfo
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- CN111227946A CN111227946A CN202010099123.0A CN202010099123A CN111227946A CN 111227946 A CN111227946 A CN 111227946A CN 202010099123 A CN202010099123 A CN 202010099123A CN 111227946 A CN111227946 A CN 111227946A
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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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- 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
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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 belongs to the field of medical rehabilitation equipment, and particularly relates to an operating device of a minimally invasive vascular interventional surgical robot. The invention comprises a base, a force sense control mechanism and a position control mechanism. The force sense control mechanism comprises a first support, a motor, a torque sensor, a first belt wheel, a first position encoder, a linear guide rail, an operating rod support, an operating rod, a second position encoder, a tact switch, a second support, a second belt wheel and a first belt; the position control mechanism comprises a first support frame, a rotating rod, an operating hand wheel assembly, a second belt, a third belt wheel, a second support frame, a fourth belt wheel, a third position encoder, a third belt, a magnetic powder brake, a fifth belt wheel and a fourth position encoder. The invention can simulate the operation action of the micro catheter/guide wire in the operation process of a doctor according to the operation requirement of the doctor in the operation process, and can switch the use force control mode and the position control mode according to the actual situation in the operation process, so that the force telepresence is more real.
Description
Technical Field
The invention belongs to the technical field of medical rehabilitation equipment, and particularly relates to an operating device of a minimally invasive vascular interventional surgical robot.
Background
Cardiovascular diseases are a big killer threatening the health of residents, and the incidence rate is continuously rising. One of the current approaches to treating cardiovascular disease is to use a guidewire to deliver an implant to open the vessel. The traditional minimally invasive vascular surgery is mainly implemented by manually inserting surgical instruments such as catheters, guide wires, micro-catheters, air bags and the like under the monitoring and guidance of X-ray images or other gray images by skilled doctors. However, because the bending radius of the front end of the existing catheter is fixed, and the blood vessel in the human body has the characteristics of long and narrow bending, irregularity, multiple branches and the like, a doctor has certain risks during the insertion work, and the factors of complicated and long operation, body fatigue, unstable manual operation and the like all influence the operation quality.
In recent years, with the development of robotics, vascular interventional surgical robots have been rapidly developed as an emerging industry in the field of minimally invasive vascular interventional surgery. The minimally invasive vascular intervention operation robot mainly comprises an imaging module, an operation module, an execution module, a control system and the like. The main working process is as follows: the doctor operates the operation module with the help of the imaging module to enable the execution module to carry out the actions of delivering and twisting on the micro-catheter/guide wire according to the instructions of the doctor. The control system collects and converts signals of the modules and transmits the signals among the modules.
The minimally invasive vascular interventional operation robot is used for operation, so that the operation is more accurate, the operation time is shortened, and meanwhile, the fatigue and the injury of a doctor caused by wearing a heavy lead garment can be avoided.
Disclosure of Invention
The invention aims to overcome the defects of common clumsiness and poor dexterity of an operating device in the prior art, and provides a minimally invasive vascular interventional surgery robot operating device with position control and force sense control functions. According to the invention, the operation action of the micro catheter/guide wire in the operation process of the doctor is simulated according to the operation requirement of the doctor in the interventional operation process, and the operation device is optimally designed. The physician can switch between position control and force control modes during the procedure depending on the circumstances in which the microcatheter/guidewire is delivered in the aorta and the coronary arteries. According to the operation habit of a doctor in the operation process, the operation mechanism is controlled by two fingers, and the delivery and the twisting action can be carried out simultaneously; so that the interventional operation is close to the force and the immediacy of the real operation.
Specifically, the technical scheme adopted by the invention for solving the technical problems is as follows:
a minimally invasive vascular interventional surgical robotic manipulation device, comprising: the force sense control mechanism and the position control mechanism are arranged on the base;
the force sense control mechanism comprises a force sense power assembly and a force sense operation assembly; the force sense power assembly comprises a first support, a motor, a torque sensor, a first belt wheel and a first position encoder, wherein the motor, the torque sensor, the first belt wheel and the first position encoder are mounted on the first support and are coaxially connected; the force sense operation assembly comprises two linear guide rails which are fixedly arranged on the base and are perpendicular to the force sense power assembly, a sliding block which is arranged on the linear guide rails in a sliding mode, an operating rod support which is arranged on the sliding block, an operating rod which is movably connected to the operating rod support, a second position encoder which is coaxially and fixedly connected with the operating rod, a light touch switch which is arranged on the operating rod support, a second support which is arranged on the base and a second belt wheel which is movably arranged on the second support; the first belt wheel and the second belt wheel are respectively arranged at two ends of the linear slide rail and are connected through a first belt; the first belt is fixedly connected with the operating rod support;
the position control mechanism comprises a position operating assembly, a steering assembly and a measuring assembly; the position operation assembly comprises a first support frame, a rotating rod movably mounted on the first support frame, an operation hand wheel assembly connected to the rotating rod in a sliding mode, a second belt with two ends respectively fixed with the operation hand wheel assembly, and a third belt wheel coaxially and fixedly connected with the rotating rod; the steering assembly comprises a second support frame, a fourth belt pulley movably arranged on the second support frame and a third position encoder fixedly connected with the fourth belt pulley; the measuring assembly comprises a third supporting frame, a magnetic powder brake movably mounted on the third supporting frame, a fifth belt pulley coaxially and fixedly connected with the magnetic powder brake, and a fourth position encoder coaxially and fixedly connected with the fifth belt pulley; the fifth belt wheel is connected with the second belt, and the third belt wheel is connected with the fourth belt wheel through a third belt.
Further, the second belt wheel is mounted on a second support; the second support is fixedly installed on the base, a tensioning support is fixedly arranged on the base, and the distance between the second support and the tensioning support can be adjusted through bolts.
Further, the operation handle wheel subassembly establishes including the cover sliding sleeve on the dwang, through the second jump ring with sliding sleeve connects's switch sleeve, through first jump ring with sliding sleeve's fixed connecting block, with connecting block fixed connection's connecting rod, setting are in sliding sleeve surperficial first skin sensor, setting are in switch sleeve surperficial second skin sensor, install enable switch and setting on the sliding sleeve are in sliding sleeve with spring between the switch sleeve, thereby the both ends of connecting rod respectively with thereby the formation closed loop is connected at second belt both ends.
Further, the dwang is cavity and one side is seted up the breach, and the second belt passes from the dwang.
Furthermore, a plurality of holes with internal threads are formed in the sliding sleeve, balls are embedded in the holes, and the balls are limited by the set screws.
Further, the position operation assembly further comprises a belt wheel guide wheel arranged on a guide wheel support, the belt wheel guide wheel is arranged at the end part of one side, away from the fifth belt wheel, of the first support frame, and the belt wheel guide wheel is wrapped by the second belt and plays a role in guiding and tensioning the second belt.
Further, first belt, second belt and third belt are hold-in range, first band pulley, second band pulley, third band pulley, fourth band pulley, fifth band pulley and band pulley leading wheel are synchronous pulley.
The device further comprises a central controller, wherein the first position encoder, the second position encoder, the third position encoder and the fourth position encoder respectively record the rotating positions of the corresponding first belt wheel, the operating rod, the fourth belt wheel and the fifth belt wheel, and respectively upload real-time position information to the central controller.
Compared with the prior art, the invention has the following beneficial effects:
the invention can simulate the operation action of the micro-catheter/guide wire in the operation process of a doctor according to the operation requirement of the doctor in the interventional operation process, and designs two modes of force sense control and position control aiming at the characteristic that the delivery environments of the micro-catheter/guide wire in the aorta and the coronary artery are different, so that the doctor can be switched to use according to the actual situation in the operation process, and the interventional operation is more accurate.
Aiming at the operation habit of a doctor, the operation mechanism of the invention adopts two fingers to realize the operation and control of the operation mechanism, and can simultaneously carry out delivery and twisting actions; on the basis, the force telepresence closer to the real operation effect is realized.
When the invention is used for operation, the operation is more accurate, the operation time is shortened, and the fatigue and the injury of the body of a doctor caused by wearing a heavy lead coat can be avoided.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a perspective view of a robot manipulator for minimally invasive vascular interventional surgery in accordance with an embodiment of the present invention;
FIG. 2 is a perspective view of a force sense control mechanism according to an embodiment of the present invention;
FIG. 3 is a perspective view of a position control mechanism according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of an operating hand wheel assembly of an embodiment of the present invention;
FIG. 5 is a perspective view of a rotating lever according to an embodiment of the present invention;
FIG. 6 is a perspective view of a sliding sleeve in accordance with an embodiment of the present invention.
The reference numbers in the figures are as follows:
1. a base 2, a force sense control mechanism 3 and a position control mechanism;
21. a force sense power assembly 211, a first support 212, a motor 213, a torque sensor 214, a first pulley 215, a first position encoder 216, a first belt 22, a force sense operation assembly 221, a linear guide 222, a slider 223, a lever support 224, a lever 225, a second position encoder 226, a tact switch 227, a second pulley 228, a tension support 229, a bolt 2210, a second support;
31. a position operating assembly 311, a first support bracket 312, a rotation lever 313, an operating hand wheel assembly 3131, a sliding sleeve 31311, a set screw 31312, a ball 3132, a switch sleeve 3133, a connection block 3134, a first snap spring 3135, a first skin sensor 3136, an enable switch 3137, a second snap spring 3138, a spring 3139, a second skin sensor 314, a second belt 315, a third pulley 316, a pulley guide pulley 317, a connecting rod 32, a steering assembly 321, a second support bracket 322, a fourth pulley 323, a third position encoder 324, a third belt 33, a measuring assembly 331, a third support bracket 332, a magnetic particle brake 333, a fifth pulley 334, a fourth position encoder.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
Fig. 1-6 show a robot manipulator for minimally invasive vascular intervention according to an embodiment of the present invention.
As shown in figure 1, the robot operating device for minimally invasive vascular intervention comprises a base 1, a force sense control mechanism 2 and a position control mechanism 3, wherein the force sense control mechanism 2 and the position control mechanism 3 are both arranged on the base 1.
As shown in fig. 2, the force sense control mechanism 2 includes a force sense power unit 21 and a force sense operation unit 22. In the force sense operation assembly 22, two linear guide rails 221 are fixedly mounted on the base 1 and are arranged perpendicular to the force sense power assembly 21, a slider 222 is slidably disposed on the linear guide rails 221, an operation rod support 223 is mounted on the slider 222, an operation rod 224 is rotatably connected to the operation rod support 223, the operation rod 224 is coaxially and fixedly connected with a second position encoder 225, and a light touch switch 226 is further mounted on the operation rod support 223.
The second mount 2210 is mounted on the base 1 by bolts, and the second pulley 227 is rotatably mounted on the second mount 2210. The first belt pulley 214 and the second belt pulley 227 are arranged at two ends of the linear slide rail and connected through a first belt 216, and the first belt 216 is also fixedly connected with the operating rod support 223.
In particular use, the physician may push, pull, and twist the lever 224. When the operating lever 224 is pushed or pulled, the operating lever support 223 is first moved, and the operating lever support 223 rotates the first pulley 214 and the second pulley 227 via the first belt 216. When the lever 224 is twisted, the second position encoder 225 follows the rotation of the lever 224, records the real-time position of the rotation of the lever 224, and uploads the data to the central controller.
As shown in fig. 2, the two linear guides 221 are arranged in parallel, and the linear guides 221 may be padded up to a certain height by a pad plate for the sake of ensuring the operation comfort. To ensure the accuracy of the drive, the first belt 216 is tensioned. A tension seat 228 is fixedly installed on the base 1, and the distance between the tension seat 228 and the second seat 2210 can be adjusted by a bolt 229 for the purpose of tensioning the first belt 216.
As shown in fig. 2, the force sensing power assembly 21 includes a motor 212, a torque sensor 213, a first pulley 214, and a first position encoder 215, all mounted on the first support 211 and coaxially connected. The first belt pulley 214 rotates along with the rotation of the first belt 216, the first belt pulley 214 drives the first position encoder 215 connected coaxially to rotate, and the first position encoder 215 records the rotation position of the first belt pulley and uploads the real-time position information to the central controller. The first pulley 214 also rotates the motor 212, and the motor 212 provides a forward or reverse torque according to the data of the central controller, so as to provide a force feedback for pushing or pulling the operation rod 224. A torque sensor 213 disposed between the first pulley 214 and the motor 212 may detect the real-time torque of the first pulley 214 and feed back the torque information to the central controller for precise control of the force sense.
Normally, pushing or pulling the operating rod 224 forward or backward will cause the first position encoder 215 to change the position information, thereby operating the actuator to advance or retract the microcatheter/guidewire. However, when the operator pushes the operation rod 224 forward by one lead and then continues to advance, the tact switch 226 can be pressed to pull the operation rod 224 back to the initial point, and then the operation rod 224 is pushed forward again, so that the forward movement of the microcatheter/guide wire is performed again. The pressing of the tact switch 226 serves to disable the first position encoder 215, the second position encoder 225, and the motor 212 during the pushing and pulling process.
As shown in fig. 3, the position control mechanism 3 includes a position operating assembly 31, a steering assembly 32, and a measuring assembly 33. The position operation assembly 31 is connected with the steering assembly 32 through a third belt 324, and the position operation assembly 31 is connected with the measurement assembly 33 through a second belt 314.
As shown in fig. 3, the position operating assembly 31 includes a first support bracket 311 mounted on the base 1, a rotating lever 312 rotatably coupled to the first support bracket 311, an operating hand wheel assembly 313 slidably coupled to the rotating lever 312, a second belt 314 having both ends fixed to the operating hand wheel assembly 313, and a third pulley 315 coaxially and fixedly coupled to the rotating lever 312. The physician may pull and twist the operating hand wheel assembly 313.
As shown in fig. 3, the steering assembly 32 includes a second supporting frame 321 mounted on the base 1, a fourth belt wheel 322 movably mounted on the second supporting frame 321, and a third position encoder 323 fixedly connected to the fourth belt wheel 322, wherein the third belt wheel 315 and the fourth belt wheel 322 are connected by a third belt 324.
As shown in fig. 3, the measuring assembly 33 includes a third supporting frame 331 installed on the base 1, a magnetic particle brake 332 movably installed on the third supporting frame 331, a fifth pulley 333 coaxially and fixedly connected with the magnetic particle brake 332, and a fourth position encoder 334 coaxially and fixedly connected with the fifth pulley 333.
As shown in fig. 3 and 4, one end of the second belt 314 is fixedly connected to one end of a connecting rod 317 of the operating hand wheel assembly 313, and sequentially passes around the fifth pulley 333 and the pulley guide wheel 316, and then the other end of the second belt 314 is fixedly connected to the other end of the connecting rod 317 to form a closed loop.
When the doctor twists the operating hand wheel assembly 313, the operating hand wheel assembly 313 drives the rotating rod 312 to rotate, the rotating rod 312 drives the third belt wheel 315 to rotate, the third belt wheel 315 drives the fourth belt wheel 322 to rotate through the third belt 324, so that the third position encoder 323 is driven to rotate, the third position encoder 323 records the rotating position, and the real-time position information is uploaded to the central controller.
When the doctor drags the operating hand wheel assembly 313, the operating hand wheel assembly 313 drives the second belt 314 to rotate, and the second belt 314 drives the fifth belt wheel 333, the magnetic powder brake 332 coaxially connected with the fifth belt wheel, and the fourth position encoder 334 to rotate. The fourth position encoder 334 records the rotational position and uploads the real-time position information to the central controller. The magnetic particle brake 332 can adjust the braking torque according to the instruction of the central controller to simulate the resistance encountered by the doctor during the operation.
As shown in fig. 4, the operating hand wheel assembly 313 includes: a sliding sleeve 3131 fitted over the rotation rod 312, a switch sleeve 3132 connected to the sliding sleeve 3131 by a second snap spring 3137, a connection block 3133 fixed to the sliding sleeve 3131 by a first snap spring 3134, a connection rod 317 fixedly connected to the connection block 3133, a first skin sensor 3135 provided on a surface of the sliding sleeve 3131, a second skin sensor 3139 provided on a surface of the switch sleeve 3132, an enable switch 3136 mounted on the sliding sleeve 3131, and a spring 3138 provided between the sliding sleeve 3131 and the switch sleeve 3132.
Referring to fig. 4 and 5, the rotating rod 312 is a hollow tube, and a notch is formed at one side of the rotating rod 312. The second belt 314 passes through the rotating rod 312, and two ends of the second belt 314 are fixedly connected with two ends of the connecting rod 317 through screws, so that the second belt 314 forms a closed loop.
As shown in fig. 4, the connecting rod 317 is connected to the connecting block 3133, and the lower portion of the connecting block 3133 extends out of the notch of the rotating rod 312 and is connected to the sliding bush 3131, thereby indirectly achieving the fixed connection between the sliding bush 3131 and the second belt 314. Namely: the sliding bush 3131 is fixedly connected to the connecting block 3133, the connecting block 3133 is fixedly connected to the connecting rod 317, and the connecting rod 317 is fixedly connected to the second belt 314.
As shown in fig. 4, a first skin sensor 3135 functioning as a switch is provided outside the sliding bush 3131, and a second skin sensor 3139 functioning as a switch is provided on the surface of the switch bush 3132. The corresponding position encoder enters the enabled state only when the doctor's hand touches the first skin sensor 3135 or the second skin sensor 3139. The first skin sensor 3135 or the second skin sensor 3139 may be a flexible capacitive sensor, a flexible resistive sensor, or a flexible pressure-type sensor.
The surgeon may drag or rotate sliding sleeve 3131 to move or rotate operating hand wheel assembly 313. When a new lead is required to start after the operating hand wheel assembly 313 moves by one lead, the switch bush 3132 is pressed backward by hand to compress the switch bush 3132 to the enable switch 3136, so that the corresponding third position encoder 323, fourth position encoder 334 and magnetic particle brake 332 are disabled, and then the operating hand wheel assembly 313 is dragged back to the starting point. After releasing the switch bush 3132, the switch bush 3132 is separated from the enabling switch 3136 by the spring 3138, and the corresponding third position encoder 323, fourth position encoder 334 and magnetic-particle brake 332 are again in the enabled state.
As shown in fig. 6, in order to reduce the friction force when the sliding bush 3131 slides on the rotating rod 312, the sliding bush 3131 is provided with a plurality of small holes having internal threads, in which the balls 31312 are embedded and defined by set screws 31311.
Preferably, to ensure the transmission accuracy, the first belt 216, the second belt 314 and the third belt 324 are synchronous belts, and the first belt pulley 214, the second belt pulley 227, the third belt pulley 315, the fourth belt pulley 322, the fifth belt pulley 333 and the belt pulley guide wheel 316 are synchronous belts.
The invention relates to an operating device of a minimally invasive vascular interventional surgical robot, which is a main part of a main-slave structure in the minimally invasive vascular interventional surgical robot, wherein each sensor in the operating device detects the operation intention of a doctor and transmits a position signal and a force signal to a central controller, and the central controller controls an executing mechanism to carry out delivery or twisting action on a micro catheter/guide wire and feeds back the force encountered by the executing mechanism to the operating device. The actuator is the "slave" part of the master-slave architecture.
It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.
Claims (8)
1. A robot operating device for minimally invasive vascular intervention surgery is characterized in that: the method comprises the following steps: the device comprises a base (1), and a force sense control mechanism (2) and a position control mechanism (3) which are arranged on the base (1), wherein the force sense control mechanism (2) comprises a force sense power assembly (21) and a force sense operation assembly (22); the force sense power assembly (21) comprises a first support (211), a motor (212), a torque sensor (213), a first belt wheel (214) and a first position encoder (215), wherein the motor (212) is mounted on the first support (211) and is coaxially connected with the first support; the force sense operation assembly (22) comprises two linear guide rails (221) which are fixedly mounted on the base (1) and are arranged perpendicular to the force sense power assembly (21), a sliding block (222) arranged on the linear guide rails (221) in a sliding mode, an operating rod support (223) mounted on the sliding block (222), an operating rod (224) movably connected to the operating rod support (223), a second position encoder (225) coaxially and fixedly connected with the operating rod (224), a light touch switch (226) mounted on the operating rod support (223), a second support (2210) mounted on the base (1) and a second belt wheel (227) movably mounted on the second support (2210); the first belt wheel (214) and the second belt wheel (227) are respectively arranged at two ends of the linear sliding rail and are connected through a first belt (216); the first belt (216) is fixedly connected with the operating rod support (223);
the position control mechanism (3) comprises a position operating assembly (31), a steering assembly (32) and a measuring assembly (33); the position operation assembly (31) comprises a first support frame (311), a rotating rod (312) movably mounted on the first support frame (311), an operation hand wheel assembly (313) connected to the rotating rod (312) in a sliding mode, a second belt (314) with two ends fixed to the operation hand wheel assembly (313), and a third belt wheel (315) coaxially and fixedly connected with the rotating rod (312); the steering assembly (32) comprises a second support frame (321), a fourth belt wheel (322) movably mounted on the second support frame (321) and a third position encoder (323) fixedly connected with the fourth belt wheel (322); the measuring component (33) comprises a third supporting frame (331), a magnetic powder brake (332) movably mounted on the third supporting frame (331), a fifth belt wheel (333) coaxially and fixedly connected with the magnetic powder brake (332), and a fourth position encoder (334) coaxially and fixedly connected with the fifth belt wheel (333); the fifth pulley (333) is connected to the second belt (314), and the third pulley (315) and the fourth pulley (322) are connected by a third belt (324).
2. The robot operating device for minimally invasive vascular intervention surgery of claim 1, wherein: the second pulley (227) is mounted on a second seat (2210); the second seat (2210) is fixedly arranged on the base (1), a tensioning seat (228) is fixedly arranged on the base (1), and the distance between the second seat (2210) and the tensioning seat (228) can be adjusted through bolts.
3. The robot operating device for minimally invasive vascular intervention surgery of claim 1, wherein: the operating hand wheel assembly (313) comprises a sliding sleeve (3131) sleeved on the rotation rod (312), a switch sleeve (3132) connected with the sliding sleeve (3131) by a second snap spring (3137), a connecting block (3133) fixed with the sliding sleeve (3131) by a first snap spring (3134), a connecting rod (317) fixedly connected with the connecting block (3133), a first skin sensor (3135) disposed on the surface of the sliding sleeve (3131), a second skin sensor (3139) disposed on the surface of the switch sleeve (3132), an enable switch (3136) mounted on the sliding sleeve (3131), and a spring (3138) disposed between the sliding sleeve (3131) and the switch sleeve (3132), both ends of the connecting rod (317) being connected with both ends of the second belt (314) respectively to form a closed loop.
4. The robotic manipulation device of minimally invasive vascular interventional surgery of claim 3, wherein: the dwang (312) are for cavity and one side is seted up jaggedly, and second belt (314) pass in dwang (312).
5. The robotic manipulation device of minimally invasive vascular interventional surgery of claim 3, wherein: the sliding sleeve (3131) is provided with a plurality of holes with internal threads, balls (31312) are embedded in the holes, and the balls (31312) are limited by a set screw (31311).
6. The robot operating device for minimally invasive vascular intervention surgery of claim 1, wherein: the position operating assembly (31) further comprises a belt wheel guide wheel (316), the belt wheel guide wheel (316) is installed at the end part of one side, far away from the fifth belt wheel (333), of the first support frame (311), and the belt wheel guide wheel (316) is wrapped by the second belt (314) and plays a role in guiding and tensioning the second belt (314).
7. The robotic manipulation device of minimally invasive vascular interventional surgery of claim 6, wherein: the first belt (216), the second belt (314) and the third belt (324) are synchronous belts, and the first belt wheel (214), the second belt wheel (227), the third belt wheel (315), the fourth belt wheel (322), the fifth belt wheel (333) and the belt wheel guide wheel (316) are synchronous belt wheels.
8. The robotic manipulation device of minimally invasive vascular interventional surgery of claim 7, wherein: the automatic positioning device further comprises a central controller, wherein the first position encoder (215), the second position encoder (225), the third position encoder (323) and the fourth position encoder (334) respectively record the rotating positions of the corresponding first belt wheel, the operating rod, the fourth belt wheel and the fifth belt wheel, and respectively upload real-time position information to the central controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010099123.0A CN111227946A (en) | 2020-02-18 | 2020-02-18 | Minimally invasive vascular intervention operation robot operating device |
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| CN202010099123.0A CN111227946A (en) | 2020-02-18 | 2020-02-18 | Minimally invasive vascular intervention operation robot operating device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112120791A (en) * | 2020-09-30 | 2020-12-25 | 中国科学院深圳先进技术研究院 | Main end control device of vascular intervention surgical robot |
| CN113827343A (en) * | 2021-10-12 | 2021-12-24 | 复旦大学 | Minimally invasive vascular intervention operation robot operating device |
| CN114831739A (en) * | 2022-04-22 | 2022-08-02 | 燕山大学 | Master-slave minimally invasive vascular interventional surgical robot master-end multi-instrument operating device |
| CN115634051A (en) * | 2022-12-26 | 2023-01-24 | 生一科技(北京)有限公司 | Operating handle for interventional technique |
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| CN113827343A (en) * | 2021-10-12 | 2021-12-24 | 复旦大学 | Minimally invasive vascular intervention operation robot operating device |
| CN113827343B (en) * | 2021-10-12 | 2023-10-03 | 复旦大学 | Minimally invasive vascular interventional operation robot operating device |
| CN114831739A (en) * | 2022-04-22 | 2022-08-02 | 燕山大学 | Master-slave minimally invasive vascular interventional surgical robot master-end multi-instrument operating device |
| CN115634051A (en) * | 2022-12-26 | 2023-01-24 | 生一科技(北京)有限公司 | Operating handle for interventional technique |
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Application publication date: 20200605 |