CN114191082A - Blood vessel intervenes surgical robot seal wire centre gripping and seal wire resistance survey device - Google Patents
Blood vessel intervenes surgical robot seal wire centre gripping and seal wire resistance survey device Download PDFInfo
- Publication number
- CN114191082A CN114191082A CN202111529851.1A CN202111529851A CN114191082A CN 114191082 A CN114191082 A CN 114191082A CN 202111529851 A CN202111529851 A CN 202111529851A CN 114191082 A CN114191082 A CN 114191082A
- Authority
- CN
- China
- Prior art keywords
- guide wire
- clamping
- plate
- telescopic rod
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000004204 blood vessel Anatomy 0.000 title description 14
- 238000001514 detection method Methods 0.000 claims abstract description 37
- 238000000034 method Methods 0.000 claims abstract description 28
- 230000008569 process Effects 0.000 claims abstract description 21
- 238000004659 sterilization and disinfection Methods 0.000 claims abstract description 18
- 230000002792 vascular Effects 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 238000005452 bending Methods 0.000 claims abstract description 5
- 230000000694 effects Effects 0.000 claims abstract description 4
- 238000011897 real-time detection Methods 0.000 claims abstract description 3
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims description 16
- 238000005192 partition Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 4
- 238000001356 surgical procedure Methods 0.000 claims 3
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 description 7
- 230000002526 effect on cardiovascular system Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 230000006378 damage Effects 0.000 description 4
- 208000024172 Cardiovascular disease Diseases 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 208000019155 Radiation injury Diseases 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000002872 contrast media Substances 0.000 description 2
- 230000034994 death Effects 0.000 description 2
- 231100000517 death Toxicity 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 239000006247 magnetic powder Substances 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 208000007536 Thrombosis Diseases 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000002651 drug therapy Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000013152 interventional procedure Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
- 230000035945 sensitivity 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Robotics (AREA)
- Biophysics (AREA)
- Pulmonology (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Media Introduction/Drainage Providing Device (AREA)
Abstract
The invention relates to a guide wire clamping and guide wire resistance measuring device of a vascular intervention surgical robot, which comprises: the guide wire guiding and supporting module comprises: the device is used for keeping the axial feeding direction of the guide wire in the guide wire delivery process and preventing the bending and surrounding phenomenon; a guidewire delivery module: to effect axial delivery and retraction movement of the guidewire; a guide wire clamping module: the device moves along with the guide wire delivery module and is not in direct contact with the guide wire guide support module, so that the clamping of the guide wire and the real-time detection of the clamping force in the clamping process are realized; the guide wire axial resistance detection module: the device is arranged on the guide wire delivery module and used for accurately detecting the axial resistance in the guide wire advancing process. Compared with the prior art, the invention can accurately finish the axial resistance detection in the process of clamping and delivering the catheter/guide wire, adopts the disposable throwable part which is convenient to replace at the contact part with the operation consumables, meets the disinfection requirement, avoids the interference of additional force in a transmission device through self-adjustment and uniform partial pressure, and improves the force measurement precision.
Description
Technical Field
The invention relates to the field of medicines and medical instruments, in particular to a guide wire clamping and guide wire resistance measuring device of a vascular intervention surgical robot.
Background
In China, cardiovascular and cerebrovascular diseases are the first cause of death of residents in both cities and rural areas. According to the expectation of the world health organization, the number of deaths caused by cardiovascular diseases in China reaches 400 ten thousand every year in 2020. Treatment of cardiovascular disease includes drug therapy and interventional therapy. Currently, most interventional procedures are performed by skilled surgeons, who need a period of training to perform the procedure. Because human blood vessels are narrow in bending and have more branches, the hands of a doctor are required to be operated and cannot shake too much in the operation process, so that the doctor needs to concentrate on the high degree during the operation, the fatigue of the doctor is easily caused, the efficiency and the effect of the operation cannot be guaranteed, the doctor contacts radioactive rays in the operation process for a long time, the body can be greatly injured, and the intervention operation cannot be popularized in a large area due to the problems.
The delivery principle of the guide wire of the existing vascular intervention surgical robot delivery mechanism can be divided into three forms, the first method is to utilize the friction force between friction wheels to realize the delivery movement of the catheter/guide wire, the second method is a guide wire clamping mode adopting a mechanical pencil clamping jaw principle, and the third method is to adopt a movable clamping finger clamping mechanism which is relatively parallel to clamp the interventional catheter/guide wire to realize the delivery movement. Delivery using friction wheels may present catheter/guidewire slippage problems. Because the diameter of the guide wire is less than 1mm, if the clamping force between the two friction wheels is too small, the guide tube/guide wire can slip; to address the slippage problem, increased clamping force is often required, but excessive clamping force can damage the catheter/guidewire surface. The clamping force is stable and reliable by adopting the second delivery mode, and the disinfection is also more convenient, but the mode has the defects that the processing and clamping mechanism is more complex, the contact area of the clamping can be increased by adopting the third clamping mode, the surface of the guide wire is prevented from being damaged, and the clamping surface can be provided with the strain gauge to sense the clamping force in real time.
At present there are two kinds of modes of carrying out seal wire power detection on vascular intervention operation robot, one kind is to utilize lever principle to enlarge the seal wire resistance, then measure, another kind of mode is that directly install high accuracy pressure sensor at fixture rear end and measure, first mode seal wire centre gripping rotary device forms the lever with resistance detection device design structure as an organic whole, obtain effective power value easily, but the structure is comparatively complicated, second kind seal wire centre gripping and rotary device design direct contact pressure sensor as an organic whole, cause the disturbance error easily among the seal wire rotation transmission process, consequently, need further carry out the innovative design.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a guide wire clamping and guide wire resistance measuring device of a vascular intervention surgical robot.
The purpose of the invention can be realized by the following technical scheme:
a kind of vessel intervenes the surgical robot guide wire grip and guide wire resistance determination device, this device includes:
the guide wire guiding and supporting module comprises: the device is used for keeping the axial feeding direction of the guide wire in the guide wire delivery process and preventing the bending and surrounding phenomenon;
a guidewire delivery module: to effect axial delivery and retraction movement of the guidewire;
a guide wire clamping module: the clamping device moves along with the guide wire delivery module and is not in direct contact with the guide wire guide support module, so that the clamping of the guide wire and the real-time detection of clamping force in the clamping process are realized, and the clamping force is fed back to an operating doctor;
the guide wire axial resistance detection module: the guide wire clamping module is arranged on the guide wire delivery module and is in contact with the guide wire clamping module so as to accurately detect the axial resistance in the guide wire pushing process.
The guide wire delivery module comprises a linear sliding table which slides linearly along a sliding rail, a front-back moving bottom plate fixed on the linear sliding table, an L-shaped front bearing supporting plate fixedly installed at the front end part of the front-back moving bottom plate, and an electric slip ring fixed on the rear end face of the front bearing supporting plate, and the guide wire axial resistance detection module is fixedly installed at the rear end part of the front-back moving bottom plate.
The guide wire guiding and supporting module comprises a telescopic rod consisting of a plurality of hollow rod pieces with different diameters, a telescopic rod supporting plate, a Z-shaped telescopic rod supporting front end arranged on the rear end face of the telescopic rod supporting plate and an L-shaped telescopic rod supporting rear end arranged on the front end face of the front bearing supporting plate, wherein the telescopic rod is arranged between the telescopic rod supporting rear end and the telescopic rod supporting front end.
The telescopic link support front end top be equipped with telescopic link front end briquetting, the telescopic link support rear end top be equipped with telescopic link rear end briquetting, the seal wire pass seal wire axial resistance detection module, seal wire centre gripping module, electronic sliding ring, front bearing backup pad, telescopic link rear end briquetting, telescopic link front end briquetting and telescopic link rear end briquetting in proper order from back to front.
The seal wire clamping module is arranged between the electric slip ring and the seal wire axial resistance detection module and comprises a clamping guide rail base plate, a front rotating shaft, a rear rotating shaft, an electromagnet, a linear guide rail and a seal wire pressing plate, wherein the front rotating shaft and the rear rotating shaft are respectively arranged at the front end and the rear end of the clamping guide rail base plate, the electromagnet is fixedly arranged on the clamping guide rail base plate, the linear guide rail is perpendicular to the seal wire advancing direction, the seal wire pressing plate slides along the linear guide rail, the electromagnet and the seal wire pressing plate are arranged oppositely, a first acrylic disinfection partition plate and a second acrylic disinfection partition plate are respectively arranged on opposite surfaces, the seal wire pressing plate is further provided with a clamping force sensor, when the electromagnet is electrified, the seal wire pressing plate slides along the linear guide rail under the action of magnetic force to clamp the seal wire, the clamping force is detected in real time through the clamping force sensor, and the electromagnet is reset through a tension spring after power failure.
The telescopic rod, the first acrylic disinfection clapboard and the second acrylic disinfection clapboard are disposable throwable pieces.
The guide wire axial resistance detection module comprises a rear bearing support plate fixedly mounted at the rear end part of the back-and-forth moving bottom plate, a plurality of miniature guiding linear bearings mounted on the rear bearing support plate, a sensor contact plate connected with the front ends of the guiding shafts of the miniature guiding linear bearings, a pressure sensor and an automatic aligning structure mounted on the front end face of the sensor contact plate, wherein the pressure sensors are arranged in a plurality, are all fixed on the front end face of the rear bearing support plate and are in contact with the sensor contact plate to measure guide wire feeding resistance.
The automatic aligning structure comprises an aligning pressure plate and an automatic aligning bearing, the aligning pressure plate is connected with the front end face of the sensor contact plate through a plurality of equal-height shaft shoulder screws, the automatic aligning bearing is installed in the aligning pressure plate and fixed by a bearing pressure plate, a linear spring is sleeved outside each equal-height shaft shoulder screw, and a shaft shoulder of the rear rotating shaft is in contact with the automatic aligning bearing.
The rear bearing support plate is provided with a rear linear ball bushing for penetrating through the rear rotating shaft, and the front bearing support plate is provided with a front linear ball bushing for penetrating through the front rotating shaft.
The parameter requirements of the device are as follows:
the advancing speed of the catheter/guide wire is superior to 0-100 mm/s, and the advancing precision is less than 1 mm;
the resistance detection precision is better than 0.1N.
Compared with the prior art, the invention has the following advantages:
the telescopic rod is of a multi-section telescopic design similar to an antenna structure, axial feeding of the guide wire can be kept in the long-distance delivery process of the guide wire, the guide wire is not folded, bent and surrounded, devices in the device, which are in contact with the guide wire/guide pipe, are made into disposable and disposable consumable elements or disposable and disposable elements which can be conveniently detached.
The clamping device and the guide wire have large clamping area, so the problem of the sliding of the guide wire is solved, and the electric slip ring arranged on the front rotating shaft can avoid the winding of the electric wire when the clamping mechanism rotates, thereby reducing the mechanical vibration.
And a clamping force sensor is arranged at the clamping part of the guide wire in the guide wire clamping module, so that the stability and reliability of the clamping of the guide wire and the adjustability and controllability of the clamping force can be ensured.
And fourthly, the guide wire axial resistance detection module comprises an automatic self-aligning bearing, pressure sensors which are installed in a distributed mode and a spring balance structure, so that additional interference force generated by the guide wire clamping mechanism during moving and rotating can be effectively adjusted, and the accuracy and reliability of the guide wire axial resistance are guaranteed.
And fifthly, the guide wire resistance measured by the guide wire axial resistance detection module can be transmitted to the doctor operation end through the master controller and the slave controller, so that the doctor feels the guide wire resistance to establish the force telepresence, and the precision and the safety of the operation are effectively improved.
Drawings
Fig. 1 is a schematic structural diagram of a guide wire clamping and guide wire resistance detection device of a vascular intervention surgical robot of the present invention.
Fig. 2 is a schematic view of a guidewire clamping module in a preferred embodiment of the invention.
Fig. 3 is a schematic view of a guide wire axial resistance detection module in a preferred embodiment of the invention.
The notation in the figure is:
101. a telescopic rod supporting plate, 102, a telescopic rod supporting front end, 103, a telescopic rod front end pressing block, 104, a telescopic rod, 105, a telescopic rod supporting rear end, 106, a telescopic rod rear end pressing block, 201, a front linear ball bushing, 202, a front bearing supporting plate, 203, an electric slip ring, 204, a front and back moving bottom plate, 205, a linear sliding table, 206, a guide wire/guide pipe, 301, a guide wire clamping module, 302, a front rotating shaft, 303, a clamping guide rail bottom plate, 304, a guide rail side baffle, 305, a linear guide rail, 306, an electromagnet fixing plate, 307, a guide wire pressing plate, 308, an electromagnet, 309, a rear rotating shaft, 310, a tension spring, 311, a clamping force sensor, 312, a first acrylic disinfection clapboard, 313, a second acrylic disinfection clapboard, 401, a guide wire axial resistance detection module, 402, a self-aligning pressing plate, 403, an automatic aligning bearing, 404, a bearing pressing plate, 405, a high-level shaft shoulder screw, 406. linear spring 407, sensor contact plate 408, pressure sensor 409, rear bearing support plate 410, micro-guide linear bearing 411, rear linear ball bushing.
Detailed Description
In order to make the technical solutions of the present invention more clear and definite for those skilled in the art, the present invention is further described in detail below with reference to the examples and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
Examples
As shown in fig. 1 to 3, the device for clamping a guide wire and detecting resistance of a guide wire for a vascular interventional surgical robot in the present embodiment includes a guide wire guiding support module, a guide wire delivery module, a guide wire clamping module 301, and a guide wire axial resistance detection module 401.
The device can accurately complete the delivery action of the catheter/guide wire, the advancing speed of the catheter/guide wire is better than 0-100 mm/s, and the precision is less than 1 mm;
the guide wire clamping module has a clamping force detection function, can detect the clamping force in real time, and controls the clamping force of the guide wire in real time by combining doctor operation control.
The guide wire axial resistance detection module can detect resistance encountered in a guide wire delivery process, and interference force generated in the movement of the guide wire clamping mechanism can be effectively reduced by designing a self-centering adjusting structure, a buffering pressure-equalizing structure, uniformly distributed pressure sensors, a multi-sensor pressure mean filtering method and the like, so that the detection resistance precision is superior to 0.1N.
In this embodiment, as shown in fig. 1, the guide wire guiding support module includes a telescopic rod support plate 101, a telescopic rod support front end 102, a telescopic rod front end pressing block 103, a telescopic rod 104, a telescopic rod support rear end 105 and a telescopic rod rear end pressing block 106, wherein the telescopic rod 104 is a disposable throwable piece, and is composed of multiple hollow rods with different diameters, similar to an antenna structure, and functions to keep the axial feeding direction of the guide wire and avoid bending and winding during the guide wire delivery module repeatedly moves back and forth over a long distance to deliver the guide wire; the front end and the rear end of the telescopic rod 104 are respectively fixed by a telescopic rod supporting front end 102, a telescopic rod front end pressing block 103, a telescopic rod supporting rear end 105 and a telescopic rod rear end pressing block 106, the telescopic rod supporting rear end 105 is fixed on the front bearing supporting plate 202 and is not in direct contact with the guide wire clamping module 301, and the motion friction force of the telescopic rod 104 is prevented from being transmitted to the guide wire axial resistance detection module 401.
In this embodiment, as shown in fig. 1, the guide wire delivery module comprises a linear ball bushing 201, a front bearing support plate 202, an electric slip ring 203, a back and forth movement base plate 204, a linear slide 205, and a guide wire/catheter 206; the guide wire axial resistance detection device 401 and the front bearing support 202 are fixedly installed at the front end portion and the rear end portion of the front-back moving bottom plate 204 respectively and keep coaxial, a front rotating shaft 302 and a rear rotating shaft 309 of the guide wire clamping module 301 penetrate through a front linear ball bushing 201 and a rear linear ball bushing 411 installed on a rear bearing support plate 409 and a front bearing support 202 respectively, so that the guide wire clamping module 301 can slide axially without friction, the electric slip ring 203 is fixed on the rear end face of the front bearing support plate 202, the middle portion of the electric slip ring penetrates through the front rotating shaft 302, the electric slip ring 203 can enable the guide wire clamping module 301 to rotate in an unlimited angle and simultaneously ensure that cables are not wound, the guide wire clamping module 301 and the linear sliding table 205 reciprocate together, and axial delivery and withdrawal of the guide wire/guide tube 206 are achieved.
In the present embodiment, as shown in fig. 2, the guide wire clamping module 301 includes a front rotating shaft 302, a clamping rail base plate 303, a rail side baffle 304, a linear rail 305, an electromagnet fixing plate 306, a guide wire pressing plate 307, an electromagnet 308, a rear rotating shaft 309, an extension spring 310, a clamping force sensor 311, a first acrylic disinfection partition 312, and a second acrylic disinfection partition 313; the front rotating shaft 302 and the rear rotating shaft 309 are coaxially arranged at the front end and the rear end of the guide wire clamping module 301, the electromagnet 308 is arranged on the clamping guide rail bottom plate 303, and is fixed by an electromagnet fixing plate 306, a linear guide rail 305 is also arranged on a clamping guide rail base plate 303, and the guiding direction is perpendicular to the electromagnet 308 (advancing direction of the guide wire/catheter 206), the guide wire pressure plate 307 is mounted on the linear guide 305, can do clamping movement relative to the electromagnet 308, the clamping force sensor 311 is fixed on the guide wire pressing plate 307, the first acrylic disinfection clapboard 312 and the second acrylic disinfection clapboard 313 are disposable throwable pieces and are respectively fixed on one side opposite to the electromagnet 308 and the clamping force sensor 311, for directly contacting and clamping the guide wire, one end of the extension spring 310 is fixed with the guide wire pressing plate 307, and the other end is fixed on the clamping guide rail base plate 303, so as to reset the guide wire pressing plate 307.
The operation flow of the guide wire clamping module 301 is as follows:
when the electromagnet 308 is powered on, the iron guide wire pressing plate 307 is magnetized to move along the direction of the linear guide rail to press the guide wire tightly, so that the guide wire is clamped, the clamping force sensor 311 is used for measuring the clamping force and transmitting the clamping force to a control system, the clamping force is fed back to an operating doctor, the magnetic force of the electromagnet 308 is controlled by current, the doctor changes the magnitude of the clamping force of the guide wire by controlling and changing the magnitude of the current, when the electromagnet 308 is powered off, the guide wire pressing plate 307 is under the action of the tension spring 310, the guide wire pressing plate 307 is pulled back, the guide wire is loosened, the front rotating shaft 302 and the rear rotating shaft 309 are coaxially installed, so that the position of the guide wire is ensured to be always positioned at the centers of the first acrylic disinfection clapboard 312 and the second acrylic disinfection clapboard 313, and the module not only can stably and reliably clamp the guide wire, but also can perform adjustable and controllable operation of the clamping force.
In the present embodiment, as shown in fig. 3, the guide wire axial resistance detection module 401 includes a self-aligning pressure plate 402, a self-aligning bearing 403, a bearing pressure plate 404, a high shoulder screw 405, a linear spring 406, a sensor contact plate 407, a pressure sensor 408, a rear bearing support plate 409, a micro-guide linear bearing 410, and a linear ball bushing 411; the automatic self-aligning bearing 403 is installed in the self-aligning pressing plate 402 and fixed by the bearing pressing plate 404, the equal-height shoulder screw 405 is connected with the self-aligning pressing plate 402 and the sensor contact plate 407, the two are supported by the linear spring 406, the sensor contact plate 407 is connected with the guide shaft of the micro-guide linear bearing 410 and is in contact with but not fixed to the pressure sensor 408, the linear ball bushing 411, the pressure sensor 408 and the micro-guide linear bearing 410 are all fixedly installed on the rear bearing supporting plate 409, the rear rotating shaft 309 in the guide wire clamping module 301 penetrates through the automatic self-aligning bearing 403 and the linear ball bushing 411, and the shaft shoulder of the rear rotating shaft 309 is in contact with the automatic self-aligning bearing.
The working principle of the guide wire axial resistance detection module 401 is as follows:
as shown in fig. 1 and 3, since the guide wire clamping module 301 is supported by the rear linear ball bushing 411, the front linear ball bushing 201 and the four micro-guiding linear bearings 410, and can realize axial sliding without friction, when the guide wire delivery module carries the guide wire clamping module 301 clamping the guide wire to move forward, the rear rotating shaft 309 of the guide wire clamping module 301 generates an opposite reaction force, the guide wire feeding resistance is transmitted to the self-aligning bearing 403, the self-aligning bearing 403 is transmitted to the sensor contact plate 407 through the linear spring 406, the sensor contact plate 407 transmits the force to the pressure sensor 408 to detect the axial force, so when the guide wire resistance is increased at the bifurcation of the blood vessel or when the guide wire touches the blood vessel wall, the pressure sensor can accurately detect the guide wire axial resistance at this time. The self-adjustment of the self-aligning bearing 403 and the pressure-equalizing adjustment of the linear spring 406 can effectively adjust the additional interference force generated by the guide wire clamping module 301 due to insufficient machining precision, eccentric rotation and the like, and the three pressure sensors 408 are uniformly arranged and mounted on the front end face of the rear bearing support plate 409 along the circumferential direction and then combined with methods such as sensor pressure mean filtering and the like, so that the resistance detection precision can be effectively improved. The pressure sensor converts the resistance signal into an electric signal, the electric signal is transmitted to the doctor control end through the master controller and the slave controller, and the resistance moment of the magnetic powder brake is controlled to change, so that the doctor feels the guide wire resistance.
The following is a detailed description of specific design parameters and principles of use of the present invention:
through the study of manually completing the whole process of the cardiovascular minimally invasive interventional operation by a doctor, the specific requirements of the doctor on operation are combined, and the specific functional requirements of the guide wire clamping and guide wire resistance detection device of the cardiovascular minimally invasive interventional operation robot are provided according to the requirements of a cardiovascular minimally invasive interventional operation robot system:
(1) all parts in the robot which are in direct contact with the catheter/guide wire are sterile, so that the guide wire clamping module is convenient to disinfect and clean;
(2) the guide wire axial resistance detection module can accurately detect the resistance of catheter/guide wire delivery, and pre-warns the resistance, so as to prevent the puncture of the blood vessel wall and ensure the safety of the operation;
(3) the catheter and guidewire must be handled accurately and not be able to damage their surfaces, the guidewire delivery module and guidewire clamping module may cause medical accidents if they are not able to deliver the catheter/guidewire accurately, and the catheter/guidewire surface damage may cause thrombosis in the blood vessel.
(4) Since the diameter of the thinnest guide wire is less than 1mm, the requirement on the precision of the operation is high, and the guide wire/the guide wire can be clamped and loosened for many times in the operation process, the robot has to be capable of reliably and flexibly clamping and loosening the guide wire.
(5) The delivery structure facilitates catheter/guidewire replacement due to the need to deliver catheters/guidewires of different diameters.
The parameter requirements are as follows:
(1) the guide wire delivery module requires that the advancing speed of the catheter/guide wire can be better than 0-100 mm/s, and the precision is less than 1 mm.
(2) The detection precision of the guide wire axial resistance detection module is superior to 0.1N.
Guide wire resistance detects structural principle:
the process of manual intervention of a cardiovascular minimally invasive intervention doctor is that the guide wire is sent to a lesion position in the heart along the inner cavity of a blood vessel of a human body under the assistance of an image navigation system, and through long-term professional training, the experienced intervention doctor can sensitively sense the force of the guide wire touching the blood vessel wall, and the advancing condition of the guide wire is judged by sensing the resistance of the guide wire between middle fingers in the advancing process, and whether the guide wire is continuously advanced or not in the next step is determined according to the sense. Particularly, the judgment of the surgeons with high difficulty is made by more depending on the tactile force information. Therefore, resistance sensing in the guide wire intervention process is indispensable force sense information of cardiovascular intervention operation, the position of the catheter/guide wire is judged by influencing a navigation system, human vision errors and time delay influence exist, and a doctor cannot accurately judge and clearly know the position of the guide wire. Meanwhile, as the environment changes in real time in the process of guide wire advancing, if no force feedback exists, the precision and the safety of the operation are reduced, and the speed of the operation is influenced, so that the radiation injury of doctors is further increased. In the actual operation process, if meet complicated inside of blood vessel condition, the doctor can greatly increased the volume of contrast medium in order to see clearly inside of blood vessel condition, and this volume that will greatly increased the doctor and receive the radiation, consequently brought extra injury for the doctor, if can rely on the robot that has accurate force feedback, the doctor just can combine together through power sense and influence navigation, and it is precision and security to improve the operation, can avoid additionally increasing the contrast medium moreover, reduces the radiation injury.
If a sensor is placed at the front section of the guide wire and enters the human body together with the catheter/guide wire, the requirements on the sensor are very strict. Since the sensor must be smaller than the diameter of the blood vessel and resistant to the radiation of the blood, while having a very high sensitivity. In addition, because the human blood vessel has an irregular shape, is long and narrow and has multiple branches, and is influenced by the fluid dynamics in the human blood vessel, the stress of the sensor is very complex. This solution is therefore too difficult and no sensor meeting the above requirements is found.
In order to improve the measurement accuracy of the guide wire resistance, the force measuring structure should reduce the friction and the interference of other signals as much as possible, so the force measuring mechanism has simple and direct structure, the method adopts the guide wire axial resistance detection module to acquire the resistance of the guide pipe/guide wire by utilizing the miniature pressure sensor, the adjusting structure (linear spring) for reducing the additional force to the axial resistance detection in the transmission process of the guide wire clamping module is designed, the detection accuracy of the guide wire axial force is kept in an effective and reliable practical state, the pressure sensor converts the resistance signal into an electric signal and transmits the electric signal to the doctor operation end through the main controller, so the resistance moment of the magnetic powder brake is changed, and the doctor feels the guide wire resistance. The measurement of the guide wire resistance and the establishment of the force telepresence can improve the precision and the safety of the operation.
The scope of the present invention is not limited to the above description, and those skilled in the art should be able to substitute or change the technical solution of the present invention and its concept within the scope of the present invention.
Claims (10)
1. A kind of vessel intervenes the surgical robot guide wire grip and guide wire resistance measuring device, characterized by that, the apparatus includes:
the guide wire guiding and supporting module comprises: the device is used for keeping the axial feeding direction of the guide wire in the guide wire delivery process and preventing the bending and surrounding phenomenon;
a guidewire delivery module: to effect axial delivery and retraction movement of the guidewire;
guidewire clamping module (301): the clamping device moves along with the guide wire delivery module and is not in direct contact with the guide wire guide support module, so that the clamping of the guide wire and the real-time detection of clamping force in the clamping process are realized, and the clamping force is fed back to an operating doctor;
a guidewire axial resistance detection module (401): is mounted on the guide wire delivery module and is in contact with the guide wire clamping module (301) for accurately detecting the axial resistance during the guide wire advancing process.
2. The device for clamping the guide wire and measuring the resistance of the guide wire according to claim 1, wherein the guide wire delivery module comprises a linear sliding table (205) which slides linearly along a sliding rail, a back-and-forth moving bottom plate (204) which is fixed on the linear sliding table (205), an L-shaped front bearing support plate (202) which is fixedly installed at the front end of the back-and-forth moving bottom plate (204), and an electric slip ring (203) which is fixed on the rear end surface of the front bearing support plate (202), and the guide wire axial resistance detection module (401) is fixedly installed at the rear end of the back-and-forth moving bottom plate (204).
3. The device for clamping the guide wire and measuring the resistance of the guide wire according to claim 2, wherein the guide wire guiding and supporting module comprises a telescopic rod (104) consisting of a plurality of hollow rod members with different diameters, a telescopic rod supporting plate (101), a zigzag telescopic rod supporting front end (102) arranged on the rear end surface of the telescopic rod supporting plate (101), and an L-shaped telescopic rod supporting rear end (105) arranged on the front end surface of the front bearing supporting plate (202), and the telescopic rod (104) is arranged between the telescopic rod supporting rear end (105) and the telescopic rod supporting front end (102).
4. The device for clamping the guide wire and measuring the resistance of the guide wire of the vascular intervention surgical robot as claimed in claim 3, wherein a front pressing block (103) of the telescopic rod is arranged on the top of the front supporting end (102) of the telescopic rod, a rear pressing block (106) of the telescopic rod is arranged on the top of the rear supporting end (105) of the telescopic rod, and the guide wire sequentially passes through the guide wire axial resistance detection module (401), the guide wire clamping module (301), the electric slip ring (203), the front bearing supporting plate (202), the rear pressing block (106) of the telescopic rod, the telescopic rod (104), the front pressing block (103) of the telescopic rod and the rear pressing block (106) of the telescopic rod from back to front.
5. The device for clamping the guide wire and measuring the resistance of the guide wire according to claim 3, wherein the guide wire clamping module (301) is arranged between the electric slip ring (203) and the guide wire axial resistance detection module (401), and comprises a clamping guide rail base plate (303), a front rotating shaft (302) and a rear rotating shaft (309) which are respectively arranged at the front end and the rear end of the clamping guide rail base plate (303), an electromagnet (308) fixedly arranged on the clamping guide rail base plate (303), a linear guide rail (305) which is perpendicular to the advancing direction of the guide wire, and a guide wire pressing plate (307) which slides along the linear guide rail (305), wherein the electromagnet (308) and the guide wire pressing plate (307) are arranged oppositely, and a first acrylic disinfection partition plate (312) and a second acrylic disinfection partition plate (313) which are used for clamping the guide wire are respectively arranged at the opposite surfaces, the guide wire pressing plate (307) is further provided with a clamping force sensor (311), when the electromagnet (308) is electrified, the guide wire pressing plate (307) slides along the linear guide rail (305) to clamp the guide wire under the action of magnetic force, the clamping force is detected in real time through the clamping force sensor (311), and when the electromagnet (308) is not electrified, the guide wire pressing plate is reset through the extension spring (310).
6. The device for clamping the guide wire and measuring the resistance of the guide wire of the robot for the vascular interventional surgery as recited in claim 5, wherein the telescopic rod (104), the first acrylic disinfection partition plate (312) and the second acrylic disinfection partition plate (313) are disposable throwable pieces.
7. The device for clamping the guide wire and measuring the resistance of the guide wire according to claim 5, wherein the guide wire axial resistance detection module (401) comprises a rear bearing support plate (409) fixedly installed at the rear end of the forward and backward moving base plate (204), a plurality of micro guide linear bearings (410) installed on the rear bearing support plate (409), a sensor contact plate (407) connected with the front end of a guide shaft of the micro guide linear bearings (410), a pressure sensor (408) and a self-aligning structure installed on the front end surface of the sensor contact plate (407), wherein the plurality of pressure sensors (408) are all fixed on the front end surface of the rear bearing support plate (409) and are in contact with the sensor contact plate (407) to measure the guide wire feeding resistance.
8. The device for clamping the guide wire and measuring the resistance of the guide wire according to claim 7, wherein the self-aligning structure comprises an aligning pressure plate (402) connected with the front end face of the sensor contact plate (407) through a plurality of equal-height shoulder screws (405) and a self-aligning bearing (403) installed in the aligning pressure plate (402) and fixed by a bearing pressure plate (404), a linear spring (406) is sleeved outside each equal-height shoulder screw (405), and the shoulder of the rear rotating shaft (309) is in contact with the self-aligning bearing (403).
9. The device for clamping the guide wire and measuring the resistance of the guide wire of the robot for the vascular interventional surgery as claimed in claim 7, wherein the rear bearing support plate (409) is provided with a rear linear ball bushing (411) for passing through a rear rotating shaft (309), and the front bearing support plate (202) is provided with a front linear ball bushing (201) for passing through a front rotating shaft (302).
10. The device for clamping the guide wire and measuring the resistance of the guide wire of the robot for the vascular interventional surgery as claimed in claim 1, is characterized in that the parameters of the device are as follows:
the advancing speed of the catheter/guide wire is superior to 0-100 mm/s, and the advancing precision is less than 1 mm;
the resistance detection precision is better than 0.1N.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111529851.1A CN114191082B (en) | 2021-12-14 | 2021-12-14 | Vascular intervention operation robot seal wire centre gripping and seal wire resistance measurement device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111529851.1A CN114191082B (en) | 2021-12-14 | 2021-12-14 | Vascular intervention operation robot seal wire centre gripping and seal wire resistance measurement device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114191082A true CN114191082A (en) | 2022-03-18 |
| CN114191082B CN114191082B (en) | 2023-11-24 |
Family
ID=80653667
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111529851.1A Active CN114191082B (en) | 2021-12-14 | 2021-12-14 | Vascular intervention operation robot seal wire centre gripping and seal wire resistance measurement device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114191082B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114767276A (en) * | 2022-03-31 | 2022-07-22 | 天津理工大学 | From end pipe and seal wire delivery device of vascular intervention operation robot |
| CN114983573A (en) * | 2022-05-24 | 2022-09-02 | 河北工业大学 | Clamping interval adjustable intervenes operation with delivering robot in succession |
| CN115005992A (en) * | 2022-05-06 | 2022-09-06 | 河北工业大学 | Capacitive sensor and monitoring system for vascular intervention surgical robot |
| CN115154847A (en) * | 2022-08-12 | 2022-10-11 | 深圳市爱博医疗机器人有限公司 | Operation device and force measuring method for slender medical instrument |
| CN116139390A (en) * | 2022-12-09 | 2023-05-23 | 山东大学 | Active guide wire operating device and method for vascular intervention operation |
| CN116492067A (en) * | 2023-06-30 | 2023-07-28 | 深圳市爱博医疗机器人有限公司 | Driving device with force detection function and reaction force detection method |
| CN116983091A (en) * | 2023-08-22 | 2023-11-03 | 介若医疗科技(上海)有限公司 | Force reproduction system for vascular intervention navigation surgery system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160184552A1 (en) * | 2013-02-25 | 2016-06-30 | Institute Of Automation, Chinese Academy Of Sciences | Catheter or guide wire manipulating device with two-point-clamping for vascular intervention |
| 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 |
| CN110269999A (en) * | 2019-07-12 | 2019-09-24 | 中国科学院深圳先进技术研究院 | Blood vessel intervention operation device |
| CN110270000A (en) * | 2019-07-15 | 2019-09-24 | 中国科学院深圳先进技术研究院 | Seal wire pushes power measurement device and seal wire driving means |
| CN211024680U (en) * | 2019-11-05 | 2020-07-17 | 厦门大学 | Guide wire catheter operating device for interventional embolism operation |
| JP2021052825A (en) * | 2019-09-26 | 2021-04-08 | テルモ株式会社 | Medical system |
-
2021
- 2021-12-14 CN CN202111529851.1A patent/CN114191082B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160184552A1 (en) * | 2013-02-25 | 2016-06-30 | Institute Of Automation, Chinese Academy Of Sciences | Catheter or guide wire manipulating device with two-point-clamping for vascular intervention |
| 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 |
| CN110269999A (en) * | 2019-07-12 | 2019-09-24 | 中国科学院深圳先进技术研究院 | Blood vessel intervention operation device |
| WO2021008076A1 (en) * | 2019-07-12 | 2021-01-21 | 中国科学院深圳先进技术研究院 | Vascular interventional surgical device |
| CN110270000A (en) * | 2019-07-15 | 2019-09-24 | 中国科学院深圳先进技术研究院 | Seal wire pushes power measurement device and seal wire driving means |
| JP2021052825A (en) * | 2019-09-26 | 2021-04-08 | テルモ株式会社 | Medical system |
| CN211024680U (en) * | 2019-11-05 | 2020-07-17 | 厦门大学 | Guide wire catheter operating device for interventional embolism operation |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114767276A (en) * | 2022-03-31 | 2022-07-22 | 天津理工大学 | From end pipe and seal wire delivery device of vascular intervention operation robot |
| CN114767276B (en) * | 2022-03-31 | 2024-04-19 | 天津理工大学 | From end pipe and seal wire delivery device of vascular intervention surgical robot |
| CN115005992A (en) * | 2022-05-06 | 2022-09-06 | 河北工业大学 | Capacitive sensor and monitoring system for vascular intervention surgical robot |
| CN115005992B (en) * | 2022-05-06 | 2024-03-19 | 河北工业大学 | Capacitive sensor and monitoring system for vascular intervention surgical robot |
| CN114983573A (en) * | 2022-05-24 | 2022-09-02 | 河北工业大学 | Clamping interval adjustable intervenes operation with delivering robot in succession |
| CN114983573B (en) * | 2022-05-24 | 2024-03-22 | 河北工业大学 | Continuous delivery robot with adjustable clamping distance for interventional operation |
| CN115154847A (en) * | 2022-08-12 | 2022-10-11 | 深圳市爱博医疗机器人有限公司 | Operation device and force measuring method for slender medical instrument |
| CN116139390A (en) * | 2022-12-09 | 2023-05-23 | 山东大学 | Active guide wire operating device and method for vascular intervention operation |
| CN116492067A (en) * | 2023-06-30 | 2023-07-28 | 深圳市爱博医疗机器人有限公司 | Driving device with force detection function and reaction force detection method |
| CN116492067B (en) * | 2023-06-30 | 2023-09-19 | 深圳市爱博医疗机器人有限公司 | Driving device with force detection function and reaction force detection method |
| CN116983091A (en) * | 2023-08-22 | 2023-11-03 | 介若医疗科技(上海)有限公司 | Force reproduction system for vascular intervention navigation surgery system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114191082B (en) | 2023-11-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114191082A (en) | Blood vessel intervenes surgical robot seal wire centre gripping and seal wire resistance survey device | |
| CN109730779B (en) | Vascular intervention operation robot catheter guide wire cooperative control system and method | |
| CN107374739B (en) | Slave end device of interventional operation robot and control method thereof | |
| CN107374738B (en) | Interventional operation robot slave end and mobile platform thereof | |
| US6665554B1 (en) | Medical manipulator for use with an imaging device | |
| US8257302B2 (en) | User interface for remote control catheterization | |
| CN210056225U (en) | Novel vascular intervention surgical robot catheter guide wire cooperative operation implementation device | |
| JP5816457B2 (en) | Surgical device | |
| US9770299B2 (en) | Treatment tool, manipulator, and surgery support system | |
| CN110801571B (en) | Interventional embolic operation guide wire catheter operating device | |
| US20080098525A1 (en) | Patient positioning apparatus | |
| JP6837774B2 (en) | Catheter and guide wire interlocking insertion system | |
| CN113995940B (en) | Minimally invasive vascular interventional operation robot executing device | |
| CN114767276B (en) | From end pipe and seal wire delivery device of vascular intervention surgical robot | |
| JP2007522838A (en) | Rehabilitation of fine motor control | |
| CN108210078B (en) | Surgical robot system | |
| CN110623710A (en) | Electromagnetic force feedback type puncture operation control system and robot puncture device | |
| Guo et al. | A surgeon’s operating skills-based non-interference operation detection method for novel vascular interventional surgery robot systems | |
| CN112587241B (en) | Main end guide wire/catheter operating device of vascular intervention surgical robot | |
| CN112137723A (en) | Interventional robot | |
| CN108113757B (en) | Wearable vascular intervention surgical robot device | |
| CN114191092A (en) | Interventional operation robot slave end delivery device | |
| CN214208490U (en) | Interventional robot | |
| CN117752917A (en) | Flip type guide wire pushing auxiliary force measuring device | |
| CN210009188U (en) | Stent conveying device and stent conveying system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |