CN116440392A - Guide wire driving device and method based on Mecanum wheel and interventional operation robot - Google Patents
Guide wire driving device and method based on Mecanum wheel and interventional operation robot Download PDFInfo
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- CN116440392A CN116440392A CN202310230681.XA CN202310230681A CN116440392A CN 116440392 A CN116440392 A CN 116440392A CN 202310230681 A CN202310230681 A CN 202310230681A CN 116440392 A CN116440392 A CN 116440392A
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- mecanum wheel
- guide wire
- mecanum
- driving device
- wheel
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000009471 action Effects 0.000 claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000013152 interventional procedure Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 25
- 230000001360 synchronised effect Effects 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—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
- 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
- A61M2205/00—General characteristics of the apparatus
- A61M2205/33—Controlling, regulating or measuring
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention belongs to the technical field of interventional operation robots, and provides a guide wire driving device and method based on Mecanum wheels and an interventional operation robot, wherein a first driving mechanism comprises a first Mecanum wheel and a second Mecanum wheel which are symmetrically arranged; the second driving mechanism comprises a third Mecanum wheel and a fourth Mecanum wheel which are symmetrically arranged; the rotation axis of the first Mecanum wheel and the rotation axis of the third Mecanum wheel are vertically intersected, and the rotation axis of the second Mecanum wheel and the rotation axis of the fourth Mecanum wheel are vertically intersected; through the cooperation of the third Mecanum wheel and the fourth Mecanum wheel and the cooperation of the first Mecanum wheel and the second Mecanum wheel, independent control on linear motion and circumferential rotation motion of the guide wire in the axial direction and synchronous realization of the linear motion and the rotation motion can be realized, and on the basis of realizing synchronous driving of advancing or retreating and rotation, the stability of the driving device and the independence and the precision of control actions are improved.
Description
Technical Field
The invention belongs to the technical field of surgical robots, and particularly relates to a guide wire driving device and method based on Mecanum wheels and an interventional surgical robot.
Background
In the interventional operation robot, the guide wire driving device is utilized to realize the forward and backward movement of the guide wire and the control of the rotation movement is one of the most core functions. When interventional operation is carried out, the real-time control guide wire is required to advance, retract and rotate so as to truly simulate the wire feeding and twisting actions of a doctor during operation by holding the guide wire by hand, the surgical success rate of the interventional operation robot is ensured for truly simulating the wire feeding and twisting actions of the doctor on the guide wire, the traditional guide wire driving device drives the whole device to rotate through a power device or directly drives the guide wire to rotate after clamping the guide wire, and the control of the guide wire twisting actions is realized.
The inventor finds that in the driving mode of the guide wire transmission, the twisting action is realized by directly clamping the guide wire to drive the guide wire to rotate, and the direct clamping of the guide wire can not realize the simultaneous actions of the advancing or retreating of the guide wire and the rotation of the guide wire, so that the efficiency of interventional operation is affected, and the real simulation of the control of the guide wire can not be realized by hand; the mode of driving the whole guide wire driving device to rotate to realize twisting action is adopted, and synchronous control of advancing or retreating and rotation of the guide wire can be realized, but when the whole guide wire driving device is driven to rotate, a driving object is larger, the stability is not high, the operation precision is influenced, and larger driving force is required and the energy consumption is larger; the guide wire is clamped by the two driving wheels, and then the linear and twisting actions of the guide wire can be realized through the rotation and axial movement of the driving wheels, but when the guide wire is controlled to advance or retreat and rotate by the two driving wheels of the same group, the control precision and flexibility cannot be ensured because the control requirements of the axial wire feeding action and the circumferential twisting action are greatly different in precision, speed and the like, so the guide wire is controlled to advance or retreat and rotate by the two driving wheels of the same group at the same time.
Disclosure of Invention
In order to solve the problems, the invention provides a guide wire driving device and method based on Mecanum wheels and an interventional operation robot, independent control of linear motion and circumferential rotation motion in the axial direction of a guide wire and synchronous realization of the linear motion and the rotation motion can be realized through arrangement of two groups of Mecanum wheels, and on the basis of synchronous driving of forward or backward and rotation, the stability of the driving device and the independence and the precision of control actions are improved.
In order to achieve the above object, in a first aspect, the present invention provides a guide wire driving device based on a mecanum wheel, which adopts the following technical scheme:
a guide wire driving device based on Mecanum wheels comprises a guide wire driving device body, and a first driving mechanism and a second driving mechanism which are arranged on the guide wire driving device body and positioned at different positions;
the first driving mechanism comprises a first Mecanum wheel and a second Mecanum wheel which are symmetrically arranged; the rotation axis of the first Mecanum wheel is parallel to the rotation axis of the second Mecanum wheel; the second driving mechanism comprises a third Mecanum wheel and a fourth Mecanum wheel which are symmetrically arranged; the rotation axis of the third Mecanum wheel is parallel to the rotation axis of the fourth Mecanum wheel; the rotation axis of the first Mecanum wheel and the rotation axis of the third Mecanum wheel are perpendicularly intersected, and the rotation axis of the second Mecanum wheel and the rotation axis of the fourth Mecanum wheel are perpendicularly intersected.
Further, a gap is arranged between the first Mecanum wheel and the second Mecanum wheel and between the third Mecanum wheel and the fourth Mecanum wheel.
Further, a gap between the first Mecanum wheel and the second Mecanum wheel is equal to a gap between the third Mecanum wheel and the fourth Mecanum wheel, and the gap is not larger than the outer diameter of the guide wire to be driven.
Further, each Mecanum wheel includes a hub, and a plurality of driven wheels disposed at an outer circumference of the hub; the radial direction of the driven wheel is perpendicular to the tangential direction of the outer circumference of the hub.
Further, two rows of driven wheels are arranged on the outer circumference of the hub, and the two rows of driven wheels are arranged in a staggered mode.
Further, the second Mecanum wheel is connected with a first driving device.
Further, the fourth Mecanum wheel is connected with a second driving device.
In order to achieve the above object, in a second aspect, the present invention further provides a guide wire driving method based on a mecanum wheel, which adopts the following technical scheme:
a method of driving a mecanum wheel-based guidewire, employing a mecanum wheel-based guidewire driving apparatus as described in the first aspect.
Further, the second driving device drives the fourth Mecanum wheel to rotate, the guide wire between the fourth Mecanum wheel and the third Mecanum wheel moves linearly along the axis under the action of friction force, and at the moment, the driven wheels on the first Mecanum wheel and the second Mecanum wheel rotate under the action of friction force between the driven wheels and the guide wire;
the first driving device drives the second Mecanum wheel to rotate, the guide wire between the second Mecanum wheel and the first Mecanum wheel rotates along the circumferential direction under the action of friction force, and at the moment, the driven wheels on the third Mecanum wheel and the fourth Mecanum wheel rotate under the action of friction force between the driven wheels and the guide wire.
In order to achieve the above object, in a third aspect, the present invention further provides an interventional operation robot, which adopts the following technical scheme:
an interventional procedure robot comprising a robot body and a mecanum wheel based guidewire drive means as described in the first aspect provided on said robot body.
Compared with the prior art, the invention has the beneficial effects that:
1. the first driving mechanism comprises a first Mecanum wheel and a second Mecanum wheel which are symmetrically arranged; the second driving mechanism comprises a third Mecanum wheel and a fourth Mecanum wheel which are symmetrically arranged; the rotation axis of the first Mecanum wheel and the rotation axis of the third Mecanum wheel are vertically intersected, and the rotation axis of the second Mecanum wheel and the rotation axis of the fourth Mecanum wheel are vertically intersected; the axial linear driving of the guide wire is realized through the matching of the third Mecanum wheel and the fourth Mecanum wheel, and the driving of the guide wire rotation is realized through the matching of the first Mecanum wheel and the second Mecanum wheel; by arranging the two groups of Mecanum wheels, independent control of linear motion and circumferential rotation motion in the axial direction of the guide wire and synchronous realization of the linear motion and the rotation motion can be realized, and on the basis of realizing synchronous driving of forward or backward motion and rotation, the stability of the driving device and the independence and the precision of control actions are improved;
2. in the invention, when the guide wire moves linearly, driven wheels on the first Mecanum wheel and the second Mecanum wheel rotate under the action of friction force between the driven wheels and the guide wire; when the guide wire rotates along the circumferential direction, driven wheels on the third Mecanum wheel and the fourth Mecanum wheel rotate under the action of friction force between the driven wheels and the guide wire; the problem of mutual interference during the synchronization of the linear motion and the rotation of the guide wire is avoided by arranging the driven wheels of the Mecanum wheel, and the problem that the control precision and the flexibility cannot be ensured when the guide wire is controlled by directly adopting the same group of two driving wheels at the same time is solved;
3. the invention changes the mode of realizing twisting driving by driving the whole guide wire driving device to rotate, improves the stability and reduces the energy consumption.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate and explain the embodiments and together with the description serve to explain the embodiments.
FIG. 1 is a schematic structural diagram of embodiment 1 of the present invention;
fig. 2 is a schematic diagram of a mecanum wheel structure according to embodiment 1 of the present invention;
wherein, 1, a first Mecanum wheel; 2. a second Mecanum wheel; 3. a third Mecanum wheel; 4. a fourth Mecanum wheel; 5. a guide wire; 6. a first driving device; 7. a second driving device; 8. a hub; 9. and (3) a driven wheel.
Detailed Description
The invention will be further described 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 present application. 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 application belongs.
Example 1:
as shown in fig. 1, the present embodiment provides a guide wire driving device based on a mecanum wheel, which includes a guide wire driving device body, and a first driving mechanism and a second driving mechanism disposed on the guide wire driving device body and located at different positions;
the first driving mechanism comprises a first Mecanum wheel 1 and a second Mecanum wheel 2 which are symmetrically arranged; the rotation axis of the first Mecanum wheel 1 and the rotation axis of the second Mecanum wheel 2 are parallel; the second driving mechanism comprises a third Mecanum wheel 3 and a fourth Mecanum wheel 4 which are symmetrically arranged; the rotation axis of the third Mecanum wheel 3 is parallel to the rotation axis of the fourth Mecanum wheel 4; the rotation axis of the first mecanum wheel 1 and the rotation axis of the third mecanum wheel 3 intersect perpendicularly, and the rotation axis of the second mecanum wheel 2 and the rotation axis of the fourth mecanum wheel 4 intersect perpendicularly.
The second Mecanum wheel 2 is connected to a first drive 6. The fourth Mecanum wheel 4 is connected to a second drive 7. It can be appreciated that the first and third mecanum wheels 1 and 3 are connected with the guide wire driving device body according to a conventional connection manner such as a connection shaft, the first and second driving devices 6 and 7 are fixed at corresponding positions of the guide wire driving device body, the first and second driving devices 6 and 7 can adopt motors, and the second and fourth mecanum wheels 2 and 4 are respectively connected with output shafts of the motors.
Specifically, the axial linear driving of the guide wire 5 can be realized through the cooperation of the third Mecanum wheel 3 and the fourth Mecanum wheel 4, and the rotation driving of the guide wire 5 can be realized through the cooperation of the first Mecanum wheel 1 and the second Mecanum wheel 2; through the arrangement of the two groups of Mecanum wheels, independent control of linear motion and circumferential rotational motion in the axial direction of the guide wire 5 and synchronous realization of the linear motion and the rotational motion can be realized, and on the basis of realizing synchronous driving of forward or backward motion and rotation, the stability of the driving device and the independence and the precision of control actions are improved.
A gap for accommodating a guide wire 5 is arranged between the first Mecanum wheel 1 and the second Mecanum wheel 2 and between the third Mecanum wheel 3 and the fourth Mecanum wheel 4; the gap between the first Mecanum wheel 1 and the second Mecanum wheel 2 is equal to the gap between the third Mecanum wheel 3 and the fourth Mecanum wheel 4, and the gap is not larger than the outer diameter of a guide wire to be driven; the two Mecanum wheels clamp the guide wire 5, when the Mecanum wheels rotate, friction force is generated between the Mecanum wheels and the guide wire 5, and the guide wire 5 is driven to move correspondingly under the action of the friction force.
As shown in fig. 1 and 2, each mecanum wheel comprises a hub 8, and a plurality of driven wheels 9 provided at the outer circumference of said hub 8; the radial direction of the driven wheel 9 is perpendicular to the tangential direction of the outer circumference of the hub 8.
Specifically, when the guide wire moves linearly, driven wheels on the first Mecanum wheel 1 and the second Mecanum wheel 2 rotate under the action of friction force between the driven wheels and the guide wire 5; when the guide wire rotates along the circumferential direction, driven wheels on the third Mecanum wheel 3 and the fourth Mecanum wheel 4 rotate under the action of friction force between the driven wheels and the guide wire 5; the problem of mutual interference during the synchronous linear motion and rotation of the guide wire 5 is avoided due to the arrangement of the Mecanum wheel driven wheels, and the problem that the control precision and the flexibility cannot be ensured when the guide wire is controlled simultaneously by directly adopting the same group of two driving wheels is solved.
Two rows of driven wheels are arranged on the outer circumference of the hub 8, and the two rows of driven wheels are arranged in a staggered manner; the two rows of driven wheels are arranged in a staggered manner, so that the stability of clamping in the movement process of the guide wire 5 is maintained, and the complementary problem of actions at different positions of the guide wire 5 when the axial linear movement and the circumferential rotation are synchronously carried out can be realized.
Example 2:
the present embodiment provides a guide wire driving method based on a Mecanum wheel, and the guide wire driving device based on a Mecanum wheel as described in embodiment 1 is adopted.
Further, the second driving device drives the fourth Mecanum wheel to rotate, the guide wire between the fourth Mecanum wheel and the third Mecanum wheel moves linearly along the axis under the action of friction force, and at the moment, the driven wheels on the first Mecanum wheel and the second Mecanum wheel rotate under the action of friction force between the driven wheels and the guide wire;
the first driving device drives the second Mecanum wheel to rotate, the guide wire between the second Mecanum wheel and the first Mecanum wheel rotates along the circumferential direction under the action of friction force, and at the moment, the driven wheels on the third Mecanum wheel and the fourth Mecanum wheel rotate under the action of friction force between the driven wheels and the guide wire.
Example 3:
the present embodiment provides an interventional operation robot, comprising a robot body, and a guide wire driving device based on Mecanum wheels as described in embodiment 1 provided on the robot body.
The above description is only a preferred embodiment of the present embodiment, and is not intended to limit the present embodiment, and various modifications and variations can be made to the present embodiment by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment should be included in the protection scope of the present embodiment.
Claims (10)
1. The guide wire driving device based on the Mecanum wheel is characterized by comprising a guide wire driving device body, and a first driving mechanism and a second driving mechanism which are arranged on the guide wire driving device body and positioned at different positions;
the first driving mechanism comprises a first Mecanum wheel and a second Mecanum wheel which are symmetrically arranged; the rotation axis of the first Mecanum wheel is parallel to the rotation axis of the second Mecanum wheel; the second driving mechanism comprises a third Mecanum wheel and a fourth Mecanum wheel which are symmetrically arranged; the rotation axis of the third Mecanum wheel is parallel to the rotation axis of the fourth Mecanum wheel; the rotation axis of the first Mecanum wheel and the rotation axis of the third Mecanum wheel are perpendicularly intersected, and the rotation axis of the second Mecanum wheel and the rotation axis of the fourth Mecanum wheel are perpendicularly intersected.
2. The Mecanum wheel-based guidewire drive device of claim 1, wherein a gap is provided between the first Mecanum wheel and the second Mecanum wheel, and a gap is provided between the third Mecanum wheel and the fourth Mecanum wheel.
3. The mecanum wheel-based guidewire drive according to claim 2, wherein a gap between the first and second mecanum wheels is equal to a gap between the third and fourth mecanum wheels, the gap not being greater than an outer diameter of a guidewire to be driven.
4. The mecanum wheel-based guidewire drive apparatus of claim 1, wherein each mecanum wheel comprises a hub, and a plurality of driven wheels disposed at an outer circumference of the hub; the radial direction of the driven wheel is perpendicular to the tangential direction of the outer circumference of the hub.
5. The guide wire driving device based on the Mecanum wheel according to claim 4, wherein two rows of driven wheels are arranged at the outer circumference of the hub, and the two rows of driven wheels are staggered.
6. The guide wire driving device based on the Mecanum wheel according to claim 1, wherein the second Mecanum wheel is connected with a first driving device.
7. The guide wire driving device based on the Mecanum wheel according to claim 1, wherein the fourth Mecanum wheel is connected with a second driving device.
8. A method of driving a guide wire based on a mecanum wheel, characterized in that a guide wire driving device based on a mecanum wheel according to any one of claims 1-7 is used.
9. The method of driving a guide wire based on a mecanum wheel according to claim 8, wherein the second driving means drives the fourth mecanum wheel to rotate, the guide wire between the fourth mecanum wheel and the third mecanum wheel moves linearly along the axis under the action of friction force, and at this time, the driven wheels on the first and second mecanum wheels rotate under the action of friction force with the guide wire;
the first driving device drives the second Mecanum wheel to rotate, the guide wire between the second Mecanum wheel and the first Mecanum wheel rotates along the circumferential direction under the action of friction force, and at the moment, the driven wheels on the third Mecanum wheel and the fourth Mecanum wheel rotate under the action of friction force between the driven wheels and the guide wire.
10. Interventional procedure robot, characterized by comprising a robot body and a guide wire drive based on Mecanum wheels according to any of claims 1-7 arranged on the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310230681.XA CN116440392B (en) | 2023-03-07 | 2023-03-07 | Guide wire driving device and method based on Mecanum wheel and interventional operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310230681.XA CN116440392B (en) | 2023-03-07 | 2023-03-07 | Guide wire driving device and method based on Mecanum wheel and interventional operation robot |
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| Publication Number | Publication Date |
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| CN116440392A true CN116440392A (en) | 2023-07-18 |
| CN116440392B CN116440392B (en) | 2024-04-05 |
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| CN202310230681.XA Active CN116440392B (en) | 2023-03-07 | 2023-03-07 | Guide wire driving device and method based on Mecanum wheel and interventional operation robot |
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Cited By (1)
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117442345A (en) * | 2023-12-25 | 2024-01-26 | 中国人民解放军总医院第一医学中心 | Soft endoscope apparatus robot workstation |
| CN117442345B (en) * | 2023-12-25 | 2024-03-15 | 中国人民解放军总医院第一医学中心 | Soft endoscope apparatus robot workstation |
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| CN116440392B (en) | 2024-04-05 |
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