CN116421316B - Guide wire slip monitoring and automatic clamping device and control method thereof - Google Patents
Guide wire slip monitoring and automatic clamping device and control method thereof Download PDFInfo
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- CN116421316B CN116421316B CN202310202613.2A CN202310202613A CN116421316B CN 116421316 B CN116421316 B CN 116421316B CN 202310202613 A CN202310202613 A CN 202310202613A CN 116421316 B CN116421316 B CN 116421316B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 26
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 230000009467 reduction Effects 0.000 claims description 7
- 230000008030 elimination Effects 0.000 claims 1
- 238000003379 elimination reaction Methods 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000002792 vascular Effects 0.000 description 2
- 208000019155 Radiation injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
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- 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
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2059—Mechanical position encoders
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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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- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- 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
- A61M2210/00—Anatomical parts of the body
- A61M2210/12—Blood circulatory system
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Abstract
The invention discloses a guide wire slip monitoring and automatic clamping device and a control method thereof, which relate to the technical field of manufacturing of high-end medical equipment and comprise the following steps: the driving friction wheel and the first driven friction wheel are arranged in the first shell and are arranged side by side, and the second driven friction wheel and the third driven friction wheel are arranged in the second shell and are arranged side by side; the driving friction wheel and the second driven friction wheel are oppositely arranged, the first driven friction wheel and the third driven friction wheel are oppositely arranged, and a guide wire is clamped between the two pairs of oppositely arranged friction wheels; the driving friction wheel is driven by the main motor, the second driven friction wheel is driven by the driving friction wheel, the first driven friction wheel and the third driven friction wheel are driven to rotate through movement of the guide wire, and the rotation turns of the driving friction wheel, the first driven friction wheel, the second driven friction wheel and the third driven friction wheel are consistent. The method realizes the monitoring of the slipping condition of the guide wire in the guide wire delivery process, actively eliminates the slipping phenomenon and ensures the guide wire delivery precision.
Description
Technical Field
The invention relates to the technical field of manufacturing of high-end medical equipment, in particular to a guide wire slip monitoring and automatic clamping device and a control method thereof.
Background
In the traditional vascular interventional operation, a doctor needs to deliver a guide wire to a focus for treatment with the aid of a radiation imaging device, the radiation imaging device can cause radiation injury to the doctor, and the doctor can be greatly influenced by hand stability and other external factors when the doctor manually delivers the guide wire, so that operation accuracy is poor.
Aiming at the problems, a plurality of robots are available to assist doctors in delivering guide wires, and the existing robot system adopts two schemes of friction wheel driving and sliding platform delivery when delivering guide wires, wherein the friction wheel driving scheme has the advantages of simple structure, small volume, no mechanism restriction on delivery distance and the like.
However, this kind of scheme has to adapt to not unidimensional seal wire and glue after the liquid, problem such as clamping force poor control, if clamping force is too little then can appear skidding the problem, leads to there is inaccurate scheduling problem of precision in the delivery process.
Disclosure of Invention
In order to solve the problems, the invention provides a guide wire slipping monitoring and automatic clamping device and a control method thereof, which are used for monitoring the slipping condition of a guide wire in the guide wire delivery process, actively eliminating the slipping phenomenon and ensuring the guide wire delivery precision.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
in a first aspect, the present invention provides a device for monitoring and automatically clamping a guidewire slip, comprising: the driving friction wheel and the first driven friction wheel are arranged in the first shell and are arranged side by side, and the second driven friction wheel and the third driven friction wheel are arranged in the second shell and are arranged side by side;
the driving friction wheel and the second driven friction wheel are oppositely arranged, the first driven friction wheel and the third driven friction wheel are oppositely arranged, and a guide wire is clamped between the two pairs of oppositely arranged friction wheels;
the driving friction wheel is driven by the main motor, the second driven friction wheel is driven by the driving friction wheel, the first driven friction wheel and the third driven friction wheel are driven to rotate through movement of the guide wire, and the rotation turns of the driving friction wheel, the first driven friction wheel, the second driven friction wheel and the third driven friction wheel are consistent.
As an alternative embodiment, the first driven friction wheel, the second driven friction wheel and the third driven friction wheel are respectively provided with a magnetic encoder for monitoring the rotation number of each driven friction wheel.
As an alternative implementation mode, the main shaft of the main motor is provided with an orthogonal encoder, the main motor is connected with the driving friction wheel through a speed reducer, and the number of turns of the main motor is obtained through the orthogonal encoder, so that the number of turns of the driving friction wheel is obtained according to the number of turns of the main motor and the reduction ratio of the speed reducer.
As an alternative embodiment, the guide wire slip monitoring and automatic clamping device further comprises a clamping motor and a cam connected with the clamping motor, wherein the clamping motor and the cam are positioned at the top of the second shell, and the clamping motor drives the cam to rotate, so that the second driven friction wheel and the third driven friction wheel are controlled to move towards the driving friction wheel and the first driven friction wheel to clamp the guide wire, and move towards the opposite directions of the driving friction wheel and the first driven friction wheel to release the guide wire.
Alternatively, if the number of turns of the driving friction wheel, the first driven friction wheel, the second driven friction wheel and the third driven friction wheel are not completely identical, a slip condition occurs to the guide wire.
In a second aspect, the present invention provides a method for controlling a device for monitoring and automatically clamping a wire, where the device for monitoring and automatically clamping a wire according to the first aspect includes:
acquiring data of the orthogonal encoder and each magnetic encoder, so as to obtain the rotation number of the driving friction wheel and the rotation number of each driven friction wheel;
if the rotation number of the driving friction wheel is consistent with that of each driven friction wheel, the guide wire does not slip;
if the rotation circles of the driving friction wheel, the first driven friction wheel, the second driven friction wheel and the third driven friction wheel are not completely consistent, the guide wire is in a slipping condition;
when the guide wire is in a slipping condition, the sliding deviation is eliminated according to the difference value between the rotation number of the driving friction wheel and the rotation number of the first driven friction wheel or the third driven friction wheel, and the clamping motor is controlled to drive the cam to rotate, so that the second driven friction wheel and the third driven friction wheel are controlled to move towards the driving friction wheel and the first driven friction wheel, and the guide wire is clamped.
Alternatively, if only the driving friction wheel rotates, and each driven friction wheel does not rotate, the clamping force is insufficient, and the guide wire slips and fails to be delivered;
if the rotation turns of the driving friction wheel and the second driven friction wheel are consistent, and the first driven friction wheel and the third driven friction wheel do not rotate, judging that the guide wire slips;
if the rotation number of the driving friction wheel is consistent with that of the second driven friction wheel, the rotation number of the first driven friction wheel is consistent with that of the third driven friction wheel, and the rotation number of the two pairs of friction wheels which are oppositely arranged is inconsistent, the guide wire is judged to skid.
Alternatively, when only the wire slip is determined, the main motor controls the driving friction wheel to rotate for the same number of turns as the difference in the number of turns, so that the slip deviation is eliminated.
Alternatively, the clamping operation is performed on the guidewire by controlling the clamping motor to operate when insufficient clamping force, guidewire slippage, and failure to deliver are determined.
As an alternative embodiment, a clamping mode of gradually increasing torque is adopted when the guide wire is clamped; if the increased torque exceeds the set maximum torque of the clamping motor, the clamping is stopped and an alarm is given.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a guide wire slip monitoring and automatic clamping device and a control method thereof.
The invention provides a guide wire slip monitoring and automatic clamping device and a control method thereof, wherein the slip condition of a guide wire is monitored in real time through monitoring the rotation turns of each friction wheel in the guide wire transmission process, and when the slip phenomenon occurs, the slip deviation is automatically eliminated, so that the delivery precision of the guide wire is ensured, and the guide wire slip monitoring and automatic clamping device can be applied to vascular intervention operation.
The device for monitoring and automatically clamping the guide wire slipping and the control method thereof can realize the active control of the clamping of the guide wire, namely, the automatic clamping can be carried out when the slipping phenomenon is monitored, or the clamping can be carried out by artificial active control, thereby eliminating the slipping phenomenon.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic diagram of a device for monitoring and automatically clamping a wire slippage provided in embodiment 1 of the present invention;
FIG. 2 is a second schematic diagram of the device for monitoring and automatically clamping a guide wire slip according to embodiment 1 of the present invention;
the device comprises a driving friction wheel 101, a driving friction wheel 102, a first driven friction wheel 103, a second driven friction wheel 104, a third driven friction wheel 105, a clamping motor 106, a cam 107, a second magnetic encoder 108, a third magnetic encoder 109, a first magnetic encoder 110, a main motor 111, an orthogonal encoder 112 and a guide wire.
Detailed Description
The invention is further described below with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms also are intended to include the plural forms, and furthermore, it is to be understood that the terms "comprises" and "comprising" and any variations thereof are intended to cover non-exclusive inclusions, such as, for example, processes, methods, systems, products or devices that comprise a series of steps or units, are not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or inherent to such processes, methods, products or devices.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1
As shown in fig. 1-2, the present embodiment provides a device for monitoring and automatically clamping a guide wire, including: the friction wheel comprises a first shell, a second shell, a driving friction wheel 101 and a first driven friction wheel 102 which are arranged in the first shell and are arranged side by side, and a second driven friction wheel 103 and a third driven friction wheel 104 which are arranged in the second shell and are arranged side by side; the driving friction wheel 101 and the second driven friction wheel 103 are oppositely arranged, the first driven friction wheel 102 and the third driven friction wheel 104 are oppositely arranged, and a guide wire is clamped between the two pairs of oppositely arranged friction wheels;
the driving friction wheel 101 is driven by the main motor 110, the second driven friction wheel 103 is driven by the driving friction wheel 101, the first driven friction wheel 102 and the third driven friction wheel 104 are driven to rotate by the movement of the guide wire 112, and the rotation turns of the driving friction wheel 101, the first driven friction wheel 102, the second driven friction wheel 103 and the third driven friction wheel 104 are consistent;
encoders for monitoring the number of turns are arranged on the main motor 110, the first driven friction wheel 102, the second driven friction wheel 103 and the third driven friction wheel 104.
In this embodiment, the driving friction wheel 101 is connected to the main motor 110, and is driven to rotate by the main motor 110, and an orthogonal encoder 111 is disposed at the tail of the main motor 110 to monitor the rotation of the main motor 110, so as to reflect the number of rotation turns of the driving friction wheel 101;
the orthogonal encoder 111 is installed on the main shaft of the main motor 110, and can monitor and obtain the number of turns of the main motor 110, the main motor 110 is connected with the driving friction wheel 101 through a speed reducer with a certain reduction ratio, and the output shaft of the speed reducer is directly connected with the driving friction wheel 101;
then, according to the reduction ratio of the speed reducer, the rotation number of the driving friction wheel can be obtained based on the rotation number of the main motor; if the reduction ratio of the speed reducer is 84: and 1, the main motor main shaft rotates 84 circles, and the driving friction rotates 1 circle.
In this embodiment, a first magnetic encoder 109 is installed below the first driven friction wheel 102, a second magnetic encoder 107 is installed below the second driven friction wheel 103, and a third magnetic encoder 108 is installed below the third driven friction wheel 104, so as to detect rotation conditions of the first driven friction wheel 102, the second driven friction wheel 103 and the third driven friction wheel 104, respectively, and reflect rotation turns of the three driven friction wheels;
the number of rotation turns monitored by the magnetic encoder is the number of rotation turns of the driven friction wheel.
As an alternative embodiment, the driving friction wheel 101, the first driven friction wheel 102, the second driven friction wheel 103 and the third driven friction wheel 104 are all fixedly mounted on the housing.
In this embodiment, a beam is disposed on the second housing, a clamping motor 105 and a cam 106 connected to the clamping motor 105 are disposed on the beam, the cam 106 is driven by the rotation of the clamping motor 105 to rotate, and the cam 106 compresses the beam on the frame of the second housing through rotation, so as to simultaneously compress the second driven friction wheel 103 and the third driven friction wheel 104, and further control the second driven friction wheel 103 and the third driven friction wheel 104 to approach the driving friction wheel 101 and the first driven friction wheel 102 to clamp the guide wire 112;
and, by reducing the torque applied by the clamp motor, moving the second driven friction wheel 103 and the third driven friction wheel 104 away from the driving friction wheel 101 and the first driven friction wheel 102 to release the guide wire 112;
the above-described manner can ensure that the second driven friction wheel 103 and the third driven friction wheel 104 are provided with the same amount and direction of pressure.
In addition, the cam and the cross beam on the clamping motor are in contact relationship, and no direct connection relationship exists; moreover, it will be appreciated that there may be situations where the cam and the cross beam are not in contact when the clamp motor is not energized.
In the present embodiment, the guide wire 112 is clamped between two pairs of friction wheels, namely, between the driving friction wheel 101 and the second driven friction wheel 103, and between the first driven friction wheel 102 and the third driven friction wheel 104, and the second driven friction wheel 103 and the third driven friction wheel 104 are controlled to move towards the driving friction wheel 101 and the first driven friction wheel 102 by the action of the clamping motor 105, so that the guide wire 112 is clamped by the two pairs of friction wheels;
when the guide wire 112 is controlled to advance or retreat, the driving friction wheel 101 is controlled to rotate by the main motor 110, and then the second driven friction wheel 103 is driven to rotate by friction force, at the moment, the guide wire 112 is driven to advance or retreat, and the first driven friction wheel 102 and the third driven friction wheel 104 are driven to rotate by the movement of the guide wire 112.
In this embodiment, after the guide wire has been installed, the number of turns of the driving friction wheel is obtained by monitoring the number of the orthogonal encoder and the number of turns of each magnetic encoder, the number of turns of each driven friction wheel is obtained by the number of the orthogonal encoder, and whether the guide wire slips or not is determined according to the relationship between the number of turns of the driving friction wheel and the number of turns of each driven friction wheel;
specifically:
under the condition that the guide wire is installed and both pairs of friction wheels are clamped and not slipped, the numerical value of the orthogonal encoder corresponds to the numerical value of each magnetic encoder, namely the rotation turns of the driving friction wheel, the first driven friction wheel, the second driven friction wheel and the third driven friction wheel are consistent;
when only the driving friction wheel rotates and none of the first driven friction wheel, the second driven friction wheel and the third driven friction wheel rotates, the clamping force is insufficient, and the guide wire slips and fails to be delivered;
when the rotation turns of the driving friction wheel and the second driven friction wheel are consistent and the first driven friction wheel and the third driven friction wheel do not rotate, judging that the guide wire slips;
when the rotation number of the driving friction wheel is consistent with that of the second driven friction wheel, the rotation number of the first driven friction wheel is consistent with that of the third driven friction wheel, but the rotation number of the two pairs of friction wheels which are oppositely arranged is inconsistent, the guide wire is judged to skid.
Then, when the wire slipping is judged, the slip deviation is eliminated through the difference value between the rotation number of the driving friction wheel and the rotation number of the first driven friction wheel/the third driven friction wheel (one of the first driven friction wheel and the third driven friction wheel is adopted);
when the clamping force is insufficient and the guide wire fails to be delivered, the second driven friction wheel and the third driven friction wheel are driven to move towards the driving friction wheel and the first driven friction wheel by controlling the clamping motor to work, so that the guide wire is clamped.
Alternatively, the main controller may obtain the rotation of the main motor by counting the pulse values of the orthogonal encoders, and obtain the rotation values of the magnetic encoders by SPI communication.
Example 2
The embodiment provides a control method of a wire slip monitoring and automatic clamping device, which is characterized in that the wire slip monitoring and automatic clamping device in embodiment 1 is adopted, and the control method comprises the following steps:
acquiring data of the orthogonal encoder and each magnetic encoder, so as to obtain the rotation number of the driving friction wheel and the rotation number of each driven friction wheel;
if the rotation number of the driving friction wheel is consistent with that of each driven friction wheel, the guide wire does not slip;
if the rotation circles of the driving friction wheel, the first driven friction wheel, the second driven friction wheel and the third driven friction wheel are not completely consistent, the guide wire is in a slipping condition;
when the guide wire is in a slipping condition, the sliding deviation is eliminated according to the difference value between the rotation number of the driving friction wheel and the rotation number of the first driven friction wheel or the third driven friction wheel, and the clamping motor is controlled to drive the cam to rotate, so that the second driven friction wheel and the third driven friction wheel are controlled to move towards the driving friction wheel and the first driven friction wheel, and the guide wire is clamped.
The following describes a control method of the guide wire slip monitoring and automatic clamping device, and specifically comprises the following steps:
s1: acquiring data of the orthogonal encoder and each magnetic encoder, so as to obtain the rotation number of the main motor and the rotation number of each driven friction wheel;
specifically, data of four encoders are obtained through accumulated counting and SPI communication modes, and further rotation data of a main motor and rotation turns of each driven friction wheel are obtained.
S2: setting a guide wire slip monitoring period, and obtaining a rotation number increment value of the main motor according to the difference value between the rotation number of the main motor in the current monitoring period and the rotation number of the main motor in the previous monitoring period;
and obtaining the increment value of the rotation number of each magnetic encoder according to the difference value of the rotation number of each magnetic encoder in the current monitoring period and the rotation number of each magnetic encoder in the previous monitoring period.
S3: judging whether the data of the orthogonal encoder of the main motor corresponds to the data of the magnetic encoder of the driven friction wheel or not;
specifically, the rotation number of the driving friction wheel is obtained according to the rotation number of the main motor; the main motor is connected with the driving friction wheel through a speed reducer, and the rotation number of the driving friction wheel is obtained according to the reduction ratio of the speed reducer and the rotation number of the main motor; for example, select 84: a reducer with a 1 reduction ratio rotates a main motor main shaft for 84 circles and actively rubs and rotates for 1 circle;
the rotation number data of each magnetic encoder is consistent with the rotation number of each driven friction wheel;
if the slip is not generated, the driven friction wheels are driven by the driving friction wheels to rotate in the same number of turns as the driving friction wheels;
then, the judgment is performed by the numerical conditions of the encoders, specifically:
(1) The quadrature encoder monitors the rotation of the main motor, and each magnetic encoder monitors that each driven friction wheel does not rotate, then the clamping force is determined to be insufficient, and the guide wire slips and fails to deliver.
(2) The orthogonal encoder monitors the rotation of the main motor, the second magnetic encoder monitors the rotation of the second driven friction wheel, the rotation number of the driving friction wheel is consistent with that of the second driven friction wheel, and the first driven friction wheel and the third driven friction wheel do not rotate, so that the guide wire is judged to skid.
(3) The orthogonal encoder monitors the rotation of the main motor, each magnetic encoder monitors the rotation of each driven friction wheel, the rotation number of the driving friction wheel is consistent with that of the second driven friction wheel, the rotation number of the first driven friction wheel is consistent with that of the third driven friction wheel, but the rotation number of the two pairs of friction wheels which are oppositely arranged is inconsistent, and the guide wire is judged to skid.
(4) The orthogonal encoder monitors the rotation of the main motor, each magnetic encoder monitors the rotation of each driven friction wheel, the rotation turns of the driving friction wheel, the first driven friction wheel, the second driven friction wheel and the third driven friction wheel are consistent, and the guide wire is judged to not skid and work normally.
(5) And judging the other conditions as other errors, and giving an alarm.
S4: when the guide wire is determined to slip, calculating a difference value between the rotation number of the driving friction wheel and the rotation number of the first driven friction wheel/the third driven friction wheel (one of the two driven friction wheels is taken), and controlling the driving friction wheel to rotate again by the same number of turns as the difference value of the rotation number by the main motor according to the difference value of the rotation number so as to eliminate sliding deviation;
this is because the first driven friction wheel/third driven friction wheel is completely driven by the guide wire to rotate, so the rotation variation value is the guide wire actual delivery value, the difference between the rotation number of the guide wire actual delivery value and the rotation number of the driving friction wheel is taken, and the difference is compensated into a motor control closed loop algorithm to eliminate the sliding deviation.
For example, the user controls the driving friction wheel to rotate for 3 circles through the input of the rocker to enable the guide wire to be delivered forwards, but monitors the driven friction wheel to find that one circle is slipping in the process of rotating for 3 circles, so that the driving friction wheel is controlled to rotate for one circle again, and accordingly deviation compensation is conducted on the slipping one circle.
S5: when it is determined that the clamping force is insufficient, the guide wire slips and fails to be delivered, which is a case where the guide wire slips due to insufficient pressing force of the second driven friction wheel and the third driven friction wheel; in this case, the clamping motor is controlled to work to clamp the guide wire;
when the guide wire is clamped, a clamping mode of gradually increasing torque is adopted, the clamping motor is only controlled to be increased by 0.1Nm (example, non-actual value) each time the clamping operation is executed, and if the clamping force is still insufficient after the operation, the next monitoring period is waited for continuing the clamping operation;
at this time, it is necessary to determine whether the torque of the clamping motor exceeds the maximum value, and if the increased torque exceeds the set maximum value of the torque of the clamping motor, there is a slip phenomenon, the clamping is stopped and an alarm is given.
S6: when the delivery stop instruction is acquired, the delivery of the guidewire is stopped.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (9)
1. A guidewire slip monitoring and automatic clamping device, comprising: the driving friction wheel and the first driven friction wheel are arranged in the first shell and are arranged side by side, and the second driven friction wheel and the third driven friction wheel are arranged in the second shell and are arranged side by side;
the driving friction wheel and the second driven friction wheel are oppositely arranged, the first driven friction wheel and the third driven friction wheel are oppositely arranged, and a guide wire is clamped between the two pairs of oppositely arranged friction wheels; the driving friction wheel is driven by the main motor, the second driven friction wheel is driven by the driving friction wheel, the first driven friction wheel and the third driven friction wheel are driven to rotate through movement of the guide wire, and the rotation turns of the driving friction wheel, the first driven friction wheel, the second driven friction wheel and the third driven friction wheel are consistent; encoders for monitoring the number of rotation turns are arranged on the main motor, the first driven friction wheel, the second driven friction wheel and the third driven friction wheel;
the guide wire slip monitoring and automatic clamping device further comprises a clamping motor and a cam connected with the clamping motor, wherein the clamping motor and the cam are positioned at the top of the second shell, and the clamping motor drives the cam to rotate so as to control the second driven friction wheel and the third driven friction wheel to move towards the driving friction wheel and the first driven friction wheel to clamp the guide wire and move towards the opposite direction of the driving friction wheel and the first driven friction wheel to release the guide wire;
the main motor is connected with the driving friction wheel through the speed reducer, and the number of rotation turns of the main motor is obtained through the orthogonal encoder, so that the number of rotation turns of the driving friction wheel is obtained according to the number of rotation turns of the main motor and the reduction ratio of the speed reducer.
2. The device for monitoring and automatically clamping a guide wire according to claim 1, wherein the first driven friction wheel, the second driven friction wheel and the third driven friction wheel are respectively provided with a magnetic encoder for monitoring the rotation number of each driven friction wheel.
3. A wire slip monitoring and automatic clamping device as defined in claim 1, wherein said main motor shaft is provided with an orthogonal encoder.
4. The device of claim 1, wherein the wire slip is detected if the number of turns of the driving pulley, the first driven pulley, the second driven pulley, and the third driven pulley are not exactly the same.
5. A method for controlling a wire slip monitoring and automatic clamping device according to any one of claims 1 to 4, comprising:
acquiring data of the orthogonal encoder and each magnetic encoder, so as to obtain the rotation number of the driving friction wheel and the rotation number of each driven friction wheel;
if the rotation number of the driving friction wheel is consistent with that of each driven friction wheel, the guide wire does not slip;
if the rotation circles of the driving friction wheel, the first driven friction wheel, the second driven friction wheel and the third driven friction wheel are not completely consistent, the guide wire is in a slipping condition;
when the guide wire is in a slipping condition, the sliding deviation is eliminated according to the difference value between the rotation number of the driving friction wheel and the rotation number of the first driven friction wheel or the third driven friction wheel, and the clamping motor is controlled to drive the cam to rotate, so that the second driven friction wheel and the third driven friction wheel are controlled to move towards the driving friction wheel and the first driven friction wheel, and the guide wire is clamped.
6. The method of claim 5, wherein if only the driving friction wheel rotates and each driven friction wheel does not rotate, the clamping force is determined to be insufficient, and the guide wire slips and fails to be delivered;
if the rotation turns of the driving friction wheel and the second driven friction wheel are consistent, and the first driven friction wheel and the third driven friction wheel do not rotate, judging that the guide wire slips;
if the rotation number of the driving friction wheel is consistent with that of the second driven friction wheel, the rotation number of the first driven friction wheel is consistent with that of the third driven friction wheel, and the rotation number of the two pairs of friction wheels which are oppositely arranged is inconsistent, the guide wire is judged to skid.
7. The method of claim 6, wherein the main motor controls the driving friction wheel to rotate for the same number of turns as the difference in the number of turns when only the wire slip is determined, so as to perform the slip deviation elimination.
8. The method of claim 6, wherein the clamping operation is performed on the wire by controlling the clamping motor to operate when it is determined that the clamping force is insufficient, the wire is slipping, and delivery is failed.
9. The method for controlling a wire slip monitoring and automatic clamping device according to claim 8, wherein a clamping mode of gradually increasing torque is adopted when the wire is clamped; if the increased torque exceeds the set maximum torque of the clamping motor, the clamping is stopped and an alarm is given.
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