CN113425412B

CN113425412B - Robot for interventional vascular operation

Info

Publication number: CN113425412B
Application number: CN202110676975.6A
Authority: CN
Inventors: 贺蓉; 丁子涵; 孙其旸; 袁键键; 林艳萍
Original assignee: Shanghai Jiaotong University
Current assignee: Shanghai Jiaotong University
Priority date: 2021-06-18
Filing date: 2021-06-18
Publication date: 2023-07-28
Anticipated expiration: 2041-06-18
Also published as: CN113425412A

Abstract

The invention discloses a robot for interventional vascular surgery, which relates to the technical field of medical appliances and comprises a mechanical claw, a mechanical arm and a base; the mechanical arm is movably arranged on the base, and the mechanical claw is movably arranged at the tail end of the mechanical arm; further included is an operating device configured to control movement of the gripper and the robotic arm. The invention has simple structure, easy disassembly, cleaning and disinfection, introduces a force feedback system to provide reference for the operation of doctors, and simultaneously simulates the operation of the doctors during the operation as much as possible, thereby reducing the learning cost.

Description

Robot for interventional vascular operation

Technical Field

The invention relates to the field of medical instruments, in particular to a robot for interventional vascular surgery.

Background

In interventional vascular surgery, in order to reduce the injury of a doctor exposed to X-rays while realizing telemedicine, it is necessary to introduce a surgical robot. The robot put into clinical use at present consists of a six-degree-of-freedom mechanical arm and a clamping part, wherein the clamping part has the functions of linear conveying and circumferential rotating of a guide wire catheter. Because the structure is relatively closed, disinfection and cleaning are difficult, and if the whole replacement is carried out, the cost is too high. And lack of force feedback devices, physicians have poor awareness of patient condition. On the other hand, the operation mode adopted by the robot is completely different from the traditional operation, the operation experience of doctors is difficult to use, and a certain learning cost exists.

Therefore, the person skilled in the art is dedicated to develop a robot for interventional vascular surgery, which has a simple structure and is easy to disassemble, clean and sterilize, and introduces a force feedback system to provide reference for doctor surgery, and simultaneously simulates the operation of the doctor during surgery as much as possible, so that the learning cost is reduced.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the technical problems to be solved by the present invention are: how to solve the problems of inconvenient sterilization, weak feedback, poor feeling of doctor operation and high learning cost of the existing interventional vascular surgery robot.

In order to achieve the above purpose, the invention provides a robot for interventional vascular surgery, which comprises a mechanical claw, a mechanical arm and a base; the mechanical arm is movably arranged on the base, and the mechanical claw is movably arranged at the tail end of the mechanical arm; further included is an operating device configured to control movement of the gripper and the robotic arm.

Further, the mechanical claw is detachably connected to the mechanical arm.

Further, the mechanical claw comprises a parallel four-bar mechanism and a clamping mechanism, one end of the parallel four-bar mechanism is connected to the tail end of the mechanical arm, and the other end of the parallel four-bar mechanism is connected with the clamping mechanism.

Further, the clamping mechanism is provided with a first torque sensor and a conveyor belt.

Further, the mechanical arm is a six-degree-of-freedom mechanical arm formed by a first arm, a second arm and a third arm, one end of the first arm is connected with the parallel four-bar mechanism, the other end of the first arm is connected with the second arm, one end of the third arm is connected with the second arm, and the other end of the third arm is connected with the base.

Further, the first arm, the second arm and the third arm are movably connected, and a second torque sensor is arranged between the second arm and the third arm.

Further, second torque sensors are also provided between the first arm and the parallel four-bar mechanism and between the third arm and the base.

Further, the mechanical arm is provided with two mechanical claws which are respectively connected with the mechanical claw to simulate the double arms of a human.

Further, the first torque sensor and the second torque sensor are both connected to the operating device.

Further, the operating device may be a handle, a remote control or a control panel.

Compared with the prior art, the invention reduces the complexity of the clamping mechanism by using the double mechanical arms to cooperatively send the pipe, so that the quick disassembly and replacement are possible, and only the tail end part mechanism is required to be replaced during disinfection. The fixing mechanism can fix the guide wire catheter, so that extra fixation is not needed during operation. The force feedback system provides real-time feedback for doctors and provides references for smooth operation.

The conception, specific structure, and technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, features, and effects of the present invention.

Drawings

FIG. 1 is an overall schematic of a preferred embodiment of the present invention;

FIG. 2 is an enlarged schematic view of the gripper of the present invention;

wherein, 1-gripper, 2-second arm, 3-first arm, 4-third arm, 5-parallel four-bar mechanism, 6-first torque sensor, 7-conveyer belt, 8-second torque sensor, 9-operating means.

Detailed Description

The following description of the preferred embodiments of the present invention refers to the accompanying drawings, which make the technical contents thereof more clear and easier to understand. The present invention may be embodied in many different forms of embodiments and the scope of the present invention is not limited to only the embodiments described herein.

In the drawings, like structural elements are referred to by like reference numerals and components having similar structure or function are referred to by like reference numerals. The dimensions and thickness of each component shown in the drawings are arbitrarily shown, and the present invention is not limited to the dimensions and thickness of each component. The thickness of the components is exaggerated in some places in the drawings for clarity of illustration.

As shown in fig. 1, the robot for interventional vascular surgery of the present embodiment includes a gripper 1, a mechanical arm, and a base; the mechanical arm is movably arranged on the base, and the mechanical claw 1 is movably arranged at the tail end of the mechanical arm; and an operating device 9, wherein the operating device 9 controls the movement of the mechanical claw 1 and the mechanical arm. The three mechanical arms are six-degree-of-freedom mechanical arms, and comprise a first arm 3, a second arm 2 and a third arm 4, and the linear motion of the guide wire guide tube is realized by simulating the motion of the human arm; the mechanical claw 1 comprises a parallel four-bar mechanism 5 and a clamping mechanism, one end of the parallel four-bar mechanism is connected to the tail end of the mechanical arm, the other end of the parallel four-bar mechanism is connected with the clamping mechanism, one clamping mechanism is positioned at the tail end of the mechanical arm, the twisting action of a human hand is simulated through the mutual motion of the conveying belt 7 to realize the circumferential rotation of the guide wire guide pipe, a limiting device is arranged to prevent the guide wire guide pipe from sliding, the conveying belt can be opened and closed through the parallel four-bar mechanism 5, the clamping and the releasing of the guide wire guide pipe are realized, and the mechanical claw 1 can be integrally detached from the tail end of the mechanical arm, so that the disinfection is facilitated; the clamping mechanism is provided with a first torque sensor 6, a second torque sensor 8 is arranged between the arms and the parallel four-bar mechanism, and between the third arm and the base, and the first torque sensor 6 and the second torque sensor 8 are connected with an operating device 9. The operation device 9 is a handle, a remote controller or a control panel, so that real-time control of a doctor on the robot is realized, and resistance can be felt in the use process of the doctor handle so as to represent the resistance encountered by a doctor in the actual operation process of conveying the guide wire catheter. The force feedback system comprises a force sensing part and a force feedback part, wherein the force sensing part can sense the stress of the guide wire catheter through the torque sensor, and the force feedback system can provide real-time force feedback at the control end according to the signal of the force sensing system.

In the use process of the embodiment, the mechanical claw 1 is arranged on the mechanical arm, the parallel four-bar mechanism 5 can realize the function of clamping the catheter, and the conveyor belt 7 can realize the function of rotating the catheter circumferentially. When the catheter is conveyed, the functions of clamping the catheter and conveying the catheter are completed under the control of the second arm 2 and the first arm 3; when the guide wire is delivered, the second arm 2 is kept fixed under control, the catheter which has been delivered into the blood vessel is clamped, and the first arm 3 and the third arm 4 perform the function of clamping the guide wire and delivering the guide wire under control. During the whole operation, the first torque sensor 6 realizes the function of sensing the resistance when selecting the catheter or the guide wire, and the second torque sensor 8 realizes the function of sensing the resistance when delivering the catheter or the guide wire. The doctor accomplishes the control of the entire system through the operating means 9, while the operating means 9 has the function of providing force feedback in accordance with the force sensing signal.

The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention without requiring creative effort by one of ordinary skill in the art. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.

Claims

1. The robot for the interventional vascular operation is characterized by comprising a mechanical claw, a mechanical arm and a base; the mechanical arm is movably arranged on the base, and the mechanical claw is movably arranged at the tail end of the mechanical arm; further comprising an operating device configured to control movement of the gripper and the robotic arm; the mechanical claw comprises a parallel four-bar mechanism and a clamping mechanism, one end of the parallel four-bar mechanism is connected to the tail end of the mechanical arm, the other end of the parallel four-bar mechanism is connected with the clamping mechanism, a first torque sensor and a conveyor belt are arranged on the clamping mechanism, and the conveyor belt is arranged at the tail end of the parallel four-bar mechanism; the mechanical arm is a six-degree-of-freedom mechanical arm formed by a first arm, a second arm and a third arm, one end of the first arm is connected with the parallel four-bar mechanism, the other end of the first arm is connected with the second arm, one end of the third arm is connected with the second arm, the other end of the third arm is connected with the base, and the first arm, the second arm and the third arm are all movably connected; the mechanical arms are provided with two mechanical claws, and the mechanical claws are respectively and detachably connected to the mechanical arms; the mechanical claw realizes circumferential rotation of the guide wire guide pipe through mutual motion of the conveyor belts and simulation of twisting action of human hands, and enables the conveyor belts to be opened and closed through the parallel four-bar mechanism so as to realize clamping and releasing of the guide wire guide pipe.

2. The robot of claim 1 wherein a second torque sensor is disposed between the second arm and the third arm.

3. The robot of claim 2, wherein a second torque sensor is also provided between the first arm and the parallel four bar mechanism and between the third arm and the base.

4. A robot as claimed in claim 3, wherein the first torque sensor and the second torque sensor are each connected to the operating means.

5. The robot of claim 1, wherein the operating device may be a handle, a remote control, or a control panel.