CN205459037U - Pipe seal wire is intervention surgery robot of propelling movement in coordination - Google Patents
Pipe seal wire is intervention surgery robot of propelling movement in coordination Download PDFInfo
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- CN205459037U CN205459037U CN201620161474.9U CN201620161474U CN205459037U CN 205459037 U CN205459037 U CN 205459037U CN 201620161474 U CN201620161474 U CN 201620161474U CN 205459037 U CN205459037 U CN 205459037U
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- seal wire
- ball
- ball spline
- pressing plate
- linear bearing
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Abstract
The utility model discloses a pipe seal wire is intervention surgery robot of propelling movement in coordination belongs to the mechanical manufacturing technology field. It includes seal wire moving platform, pipe moving platform, seal wire operation end, supports guide frame, pipe operation end, seal wire, pipe, the both ends of support guide frame continuous with pipe operation end in seal wire operation end respectively, the pipe pass pipe operation end, the seal wire setting in the pipe to in passing seal wire operation end, simultaneously the utility model discloses its control method has still been provided. The utility model discloses an utilize seal wire operation end and pipe operation end to control the motion of seal wire and pipe respectively for its operation that can accomplish pipe, seal wire according to doctor's concrete operations guarantees that seal wire and pipe can impel at the operation in -process in coordination, makes its operation that can simulate the doctor completely action, has advantages such as rational in infrastructure, that control is convenient.
Description
Technical field
This utility model belongs to machinery manufacturing technology field, specifically, relates to a kind of interventional surgery robot, more
Specifically, relate to a kind of catheter guide wire and work in coordination with the intervention operation robot of propelling movement.
Background technology
Cardiovascular and cerebrovascular disease has become one of big Death causes of the mankind three, serious threat human health.The situation of angiopathy is main
There are the blocking of vascular tumor, thrombosis, vascular malformation, vasoconstriction, sclerosis of blood vessels etc..Intubation intervention operation is the existing treatment heart
Cerebrovascular disease most efficient method, compared with " open " operation, it has, and wound is little, safety, post-operative recovery are fast,
The advantages such as few intercurrent disease.But traditional blood vessel intervention operation there is also some problems, first intubation intervention and performs the operation at medical image
Carrying out under the guiding of equipment, doctor is radiated by X-ray for a long time, damages the health of doctor；Next to that operation is high-risk
Dangerous, the operation skill of operation doctor is required height, it is necessary to be that high-caliber specialist could perform, the difficulty therefore existed
It is shortage and the time length of training of doctors, the cost height of doctor；Being that operating time is long again, doctor can be because of long-time operation
Fatigue, the maloperation when physiology of doctor trembles and is tired all can be substantially reduced the safety of operation.
Remote operating principal and subordinate interventional surgery robot can effectively solve the problem that the problems referred to above, and doctor can not be subject to a safety
Operation in the environment of X-ray radiation, the physiology of doctor trembles and maloperation can be filtered out by system, decreases doctor
Training time.In recent years, remote operating principal and subordinate interventional surgery aid system has become a study hotspot.Tradition hands
Doctor's direct operation apparatus in art, apparatus can be directly transmitted to doctor with the information that contacts of tissue, and in Minimally Invasive Surgery
Tactile data in surgical hardly results in mostly due to the relation of operating theater instruments.Therefore, in Minimally Invasive Surgery, doctor due to
Lack tactile data and make operation add danger, may be because of misoperation or the too quickly organ having damaged patient.Sense of touch is anti-
Present and all relate in a lot of researchs, but traditional direct of feedback system differs greatly by the way of operating theater instruments, the behaviour of doctor
Make mode and traditional mode is the most different, it is common that directly sending action instruction.Therefore, tradition gets involved to perform the operation and is accumulated
Experiences and Skills can not get well utilizing, do not meet the requirement of ergonomics.
Mainly there are Institutes Of Technology Of Tianjin, Harbin Institute of Technology and Beijing Aviation space flight big for blood vessel intervention operation robot at present
Learn.
Such as documents 1: application publication number is CN104042259A, filing date on May 16th, 2014, apply for artificial sky
Tianjin Polytechnics, discloses entitled a kind of principal and subordinate's interventional surgery aid system from the patent document of operator device,
It includes axial push unit, rotary unit, catching unit, surgical catheters, operating physical force detector unit and tilt adjustable base,
Its method of work include signal detection, transmit, process, action.It is advantageous in that: the interventional procedure action of doctor can be imitated,
Performance accuracy is high, is effectively improved operation safety；Can ensure that different curers or different intervention positions all can be adjusted
Whole to the desired angle of operator；Device entirety uses aluminum alloy materials, and size is little, light weight.This invention can be well
Complete the propelling movement of seal wire, and use magnetic flow liquid to realize force feedback, have that moving component inertia is little, feed back the advantages such as sensitive.
Documents 2: Authorization Notice No. is CN102028549B, the date of application is on January 17th, 2011, and application is artificial breathes out
That shore polytechnical university, discloses the patent document of entitled a kind of catheter robot system getting involved operation for Ink vessel transfusing Wicresoft,
In it relates to a kind of secondary vessel, Wicresoft gets involved the robot system performed the operation.For reducing operative site patient and the radiation hazradial bundle of doctor,
Realize compartment strange land and get involved operation, feedback conduit carrying capacity.Main hands handle and main frame are placed in control room, switch board,
Modular catheter, principal and subordinate's intervention device, magnetic field generator and steerable catheter are placed in operating room, and main hands handle pose signal is computed
Machine host passes to switch board after processing, and has motion control card and driver in switch board, and motion control card receives order transmission and refers to
Order is to driver, and control signal is passed to each motor of principal and subordinate's intervention device by driver, and then control intervention device realization can
The control push/pull of conduit, rotation and bending operation, Position and attitude sensor collects the posture information of controllable bending tune, and pose signal is through fortune
Dynamic control card is passed to main frame and is carried out signal processing.This invention have employed steerable catheter, can obtain steerable catheter bending controlled
The posture information of section, it is ensured that the motility of steerable catheter front end and intubate the navigability of operation, simultaneously by main hands handle control
Principal and subordinate's intervention device processed realize steerable catheter push away draw, rotate and flexure operation, and operating room steerable catheter carrying capacity letter can be obtained
Breath, it is ensured that the accuracy intubated and stability.
Documents 3: Authorization Notice No. is CN103006327B, the date of application is December in 2012 3, the artificial north of application
Capital Aero-Space university, discloses the patent document of entitled a kind of Master-slave teleoperation vascular intervention surgical robot, and it includes
Main side operating-controlling mechanism, from end propulsive mechanism, PMAC controller；Main side operating-controlling mechanism is as the operating side of doctor；Advance from end
Mechanism, as the actuator of robot, replaces doctor to hold conduit in operating room, completes the motor function of conduit；PMAC
Control chamber be used for realize main side operating-controlling mechanism and from end propulsive mechanism between information transmission so that from end conduit propulsive mechanism according to
The movable information of main side operating-controlling mechanism moves, and it uses principal and subordinate's remote operating mode to assist doctor to implement operation, from end pusher
Structure realizes the axial feed of conduit and the motion that rotates in a circumferential direction, and replaces doctor to hold conduit in operating room, and main side actuation means realizes
Remote operating to conduit propulsive mechanism, it is to avoid doctor is by x radiation x.
But current research generally there is problems in that the shortcoming that (1) exists mounting or dismounting inconvenience；(2) in the process measuring feedback force
In, the accuracy of dynamometry is the highest；(3) seal wire clamping device easily to seal wire clamping excessively will in turn result in the damage of seal wire；
(4) seal wire or conduit can only individually be pushed at present, it is impossible to collaborative propelling movement conduit and seal wire in operation process so that it is can not be complete
The operational motion of simulation doctor, and need wire catheter to coordinate the position of advance to be difficult to operate at some simultaneously, in turn result in behaviour
Make that precision is low, surgical inefficiency, the problem that there is certain potential safety hazard low to the auxiliary degree of doctor.
Summary of the invention
1. utility model to solve the technical problem that
Provide one and can overcome above-mentioned deficiency, thus safer, convenient and efficient, and catheter guide wire works in coordination with the intervention of propelling movement
Operating robot and control method thereof.
2. technical scheme
For solving the problems referred to above, this utility model adopts the following technical scheme that.
A kind of catheter guide wire works in coordination with the intervention operation robot of propelling movement, including seal wire mobile platform, conduit mobile platform, seal wire behaviour
Making end, supporting guide frame, catheter manipulation end, seal wire, conduit, described seal wire operating side is arranged on seal wire mobile platform,
Described catheter manipulation end is arranged on conduit mobile platform, and the two ends of described supporting guide frame are respectively at seal wire operating side and lead
Pipe operating side is connected, and described conduit passes catheter manipulation end, and described seal wire is arranged in the catheter, and through seal wire operating side
In.
Described seal wire mobile platform is made up of base, slide unit motor, screw mandrel, slide unit, and described base is connected on operating-table,
Described slide unit motor is arranged on the end of base, and the front end of described base is provided with screw mandrel, and described screw mandrel is by slowing down
Device is connected with the output shaft of slide unit motor, described slide unit is provided with screwed hole, and matches with the screw thread of screw mandrel.
Described seal wire operating side is made up of seal wire operating side lower component, seal wire operating side upper-part and housing；
Described seal wire operating side lower component by motor, motor support base, shaft coupling A, torque sensor, torque sensor bearing,
Shaft coupling B, ball spline shaft A, ball spline sleeve A, ball spline pair sleeve A, lower gear, linear bearing A, straight line
Bearing spider A, linear bearing gland A, left side circlip form, and described motor is fixed by screws on motor support base,
Described motor support base is connected on lower house, and described shaft coupling A one end is connected with the output shaft of motor, the other end and moment
The axle of sensor be connected, described torque sensor is fixed on torque sensor bearing, described torque sensor bearing with under
Housing is connected, and described ball spline shaft A is connected with torque sensor by shaft coupling B, fills in described ball spline sleeve A
Being furnished with ball spline shaft A, described ball spline sleeve A is assemblied in ball spline pair sleeve A, described ball spline secondary case
The other end of cylinder A is provided with axle, and axle is matched with lower gear by key, the inner ring of described linear bearing A and ball flower
The axle of key secondary case cylinder A coordinates, and its outer ring is fixed on linear bearing carriage A by linear bearing gland A, described left side
In the outside groove of the axle that circlip is arranged on ball spline pair sleeve A, described linear bearing carriage A is connected in lower house
On.
Described seal wire operating side upper-part is by electromagnetic clutch, electromagnetic clutch bearing, right side circlip, ball spline pair
Sleeve B, ball spline sleeve B, ball spline shaft B, shaft coupling C, conical surface binding clasp, gear, force transmission shaft, linear axis
Hold B, linear bearing carriage B, force plate, thrust bearing, cone, slide block, slide rail, Dynamometric support, force transducer are fixed
Frame, power transmission nail, force transducer form, and described electromagnetic clutch is arranged on electromagnetic clutch bearing, described electromagnetic clutch
Device bearing is connected on lower house, and one end of described ball spline pair sleeve B is provided with axle, and its axle is assemblied in electromagnetism by key
In clutch, in the outside groove of the axle that described right side circlip is arranged on ball spline pair sleeve B, described ball flower
Key set B is assemblied in ball spline pair sleeve B, and described ball spline shaft B is assemblied in ball spline sleeve B, described
The axle of ball spline shaft B is hollow axle, and one end of described shaft coupling C is connected with ball spline shaft B, and the other end presss from both sides with the conical surface
Tight device is connected, and described conical surface binding clasp matches with the endoporus of gear, and described force transmission shaft is connected with gear, described
Force transmission shaft is arranged on linear bearing carriage B by linear bearing B, and described force transmission shaft is provided with through hole along own axes, described
Force plate upper end be provided with U-type groove, and make force transmission shaft pass U-type groove, described thrust bearing is pressed on force plate, and
Being arranged on the side relative with linear bearing B, described cone is provided with through hole, and through hole is through force transmission shaft, described cone
Matching with conical surface pressing plate when upper shell closes, described force plate lower end is connected with slide block by screw, described slide block dress
Fitting in slide rail, described slide rail is arranged on Dynamometric support, and described Dynamometric support is connected on lower house, and described power passes
Sensor is assemblied in force transducer fixed mount, and is connected with force plate by power transmission nail, and described force transducer fixed mount passes through spiral shell
Bolt is fixed on lower house, and described gear is meshed with lower gear.
Described housing is made up of lower house, upper shell, hinge, conical surface pressing plate, linear bearing pressing plate, electromagnetic clutch pressing plate,
Described housing is made up of lower house, upper shell, hinge, conical surface pressing plate, linear bearing pressing plate, electromagnetic clutch pressing plate, institute
The lower house stated is connected by bolt and base, described upper shell and lower house by hinge, described conical surface pressing plate,
Linear bearing pressing plate is all connected with upper shell by screw with electromagnetic clutch pressing plate, and conical surface pressing plate, linear bearing pressing plate and electricity
The axis of magnet clutch pressing plate is on the same line.
Described supporting guide frame is by left socle, left ball hinged support, left ball pivot ball part, right support, right ball hinged support, right ball
Hinge ball part, expansion link composition, described left socle is connected with lower house, and described right support is connected with operating-table, described
It is provided with left ball hinged support on left socle, described right support is provided with right ball hinged support, described left ball pivot ball part assembling
In left ball hinged support, described right ball pivot ball part is assemblied in right ball hinged support, and the two ends of described expansion link connect respectively
Left ball pivot ball part and right ball pivot ball part, described expansion link is in series by the hollow pipe that stepped diameters is different.
Described conduit mobile platform is identical with seal wire mobile platform structure.
Described catheter manipulation end is identical with seal wire operating side structure.
The side of described conical surface pressing plate is the circular arc conical surface, and is provided with rotatable steel ball in the conical surface.
When described electromagnetic clutch connects electricity, Internal and external cycle separates, and during power-off, Internal and external cycle engages.
A kind of catheter guide wire works in coordination with the control method of the intervention operation robot of propelling movement, including following rate-determining steps:
(1) mounting or dismounting of seal wire, conduit:
The installation of seal wire: open upper shell, by the electromagnetic clutch being assembled together, ball spline pair sleeve B, ball spline
Set B, ball spline shaft B, shaft coupling C, conical surface binding clasp, gear, force transmission shaft, linear bearing B take from lower house
Go out, seal wire head is sequentially passed through, expansion link, ball spline pair sleeve B, ball spline sleeve B, ball spline shaft B, connection
Axial organ C, conical surface binding clasp, gear, force transmission shaft and, be then returned in lower house, close upper shell so that upper shell
On conical surface pressing plate, linear bearing pressing plate and electromagnetic clutch pressing plate be pressed on respectively on cone, linear bearing B and electromagnetic clutch,
It is carried out radially fixed；
The dismounting of seal wire: the step of seal wire dismounting is contrary with the step that seal wire is installed；
The mounting or dismounting of conduit are identical with the mounting or dismounting of seal wire；
(2) seal wire, conduit clamping with loosen:
The clamping of seal wire: electromagnetic clutch power-off, its Internal and external cycle engages so that one end of conical surface binding clasp is fixed, electrical power,
By shaft coupling A, torque sensor, shaft coupling B, ball spline shaft A, ball spline sleeve A, ball spline pair sleeve A,
Drive lower gear rotates, thus drives gear so that the other end of conical surface binding clasp rotates along with the rotation of gear, enters
And clamp seal wire；
Loosening of seal wire: seal wire loosen control with seal wire clamp rate-determining steps contrary, first by electromagnetic clutch power-off, then make
Electrical power inverts；
The clamping of conduit with loosen identical with seal wire；
(3) seal wire, the rotation of conduit control:
When seal wire is in clamped condition, electromagnetic clutch is energized so that one end of conical surface binding clasp is in free state, and motor leads to
Electricity, and according to concrete control signal, drive gear and conical surface binding clasp to rotate, so that seal wire rotates certain angle；
The rotation control of conduit is identical with seal wire；
(4) propelling movement/the withdraw control of seal wire, conduit:
The propelling movement of seal wire/withdraw control: utilizing step (2) seal wire to be in clamped condition, slide unit electrical power is started working, root
According to concrete advance/withdraw signal so that slide unit motor forward or reverse so that slide unit advances or retreats, drive body to advance or
Retreat, so that seal wire realizes pushing or withdrawing；
When slide unit moves to the base extreme position near patient end, and when needing to continue to push seal wire forward, slide unit motor stops
Rotate so that seal wire stops pushing；Utilize the control method that in step (2), seal wire loosens, loosen seal wire；Now slide unit motor
Energising rotates backward, and drives slide unit to retreat, and base motions is to the extreme position away from patient end；Seal wire in recycle step (2)
The control method of clamping, clamps seal wire；Last slide unit electrical power, according to concrete signal, it is achieved rotating, thus drives
Seal wire realizes pushing or withdrawing again；
The propelling movement of conduit/withdraw control is identical with seal wire；
(5) seal wire, the collaborative propelling movement of conduit control:
When seal wire needed to advance, withdraw, clamp, a series of control such as loosen time, alternately realize step (2), (3), (4),
When conduit needed to advance, withdraw, clamp, a series of control such as loosen time, alternately realize step (2), (3), (4),
When seal wire with when needing collaborative operation to conduit, according to concrete operation signal, complete simultaneously conduit, the advance of seal wire, withdraw,
A series of controls such as clamp, loosen, to realize the Collaborative Control of conduit, seal wire.
3. beneficial effect
Compared with prior art, this utility model has a following remarkable advantage:
(1) this utility model is by being provided with seal wire operating side and catheter manipulation end, and makes conduit pass catheter manipulation end, leads
Silk is arranged in the catheter and through seal wire operating side, the two ends of supporting guide frame are connected with catheter manipulation end respectively at seal wire operating side,
In concrete operating process, seal wire operating side and catheter manipulation end are controlled by seal wire mobile platform and conduit mobile platform respectively,
And then ensureing that conduit and seal wire can individually control so that it can complete the control of conduit, seal wire according to the concrete operations of doctor
System, it is ensured that seal wire and conduit can in operation process Coordinate development so that it is the operational motion of doctor can be simulated completely, and
Need wire catheter to coordinate the position of advance can smoothly complete operation at some simultaneously, add performance accuracy, improve operation
Efficiency, reduces operation potential safety hazard.
(2) this utility model is by being provided with supporting guide frame between seal wire operating side and catheter manipulation end, utilizes the expansion link can
Flexible with the movement of bite, provide for seal wire and support and constraint, it is to avoid the situation of curved transitions occurs, thus solve because of
The seal wire that seal wire bends and causes pushes difficulty, the motive force of seal wire is difficult to measurement, easy maloperation, causes malpractice to occur
Problem.Use ball pivot to be connected at expansion link with the junction of support so that it can arbitrarily rotate, and does not affect seal wire simultaneously
Operation.
(3) this utility model devises rational force measuring structure, by utilizing force transmission shaft, force plate, thrust bearing, cone
Completing the transmission of axial force, and conical surface pressing plate quickly can coordinate with cone, and play the effect of locking cone, it utilizes pressure
Tight locking type structure, it is simple to be rapidly assembled and disassembled；Simultaneously slide block and slide rail are set in the lower end of force plate, have not only acted as
Support effect, and reduce axial friction, reduce the radial force effect to sensor head simultaneously, improve measurement essence
Degree, adds the service life of sensor.
(4) this utility model is by utilizing lower house and upper shell quickly opening and closing to complete the radial and axial fixing of hold assembly,
After upper shell closes, conical surface pressing plate, linear bearing pressing plate and the electromagnetic clutch pressing plate on upper shell is pressed on cone, straight respectively
Bobbin holds with on electromagnetic clutch, and whole hold assembly serves the effect of location.Arrange in the conical surface on conical surface pressing plate simultaneously
Having rotatable steel ball, when with taper fit, be possible not only to play radially fixed, prevent radial-play, it can be real simultaneously
Existing seal wire withdraws the unidirectional fixing of direction, is free state, it is possible to measure propelling movement by sensor in seal wire direction of advance
Power.
(5) this utility model is rational in infrastructure, processing and manufacturing is simple, easy to control.
Accompanying drawing explanation
Fig. 1 is the axonometric drawing of this utility model device；
Fig. 2 is the structure chart of parts 1 in Fig. 1；
Fig. 3 is the structure chart of parts 3 in Fig. 1；
Fig. 4 is the structure chart of parts 3A in Fig. 3；
Fig. 5 is the structure chart of parts 3B in Fig. 3；
Fig. 6 is the structure chart of parts 3A Yu 3B assembling in Fig. 3；
Fig. 7 is the structure chart of parts 3C in Fig. 3；
Fig. 8 is the structure chart of parts 4 in Fig. 1.
In accompanying drawing: 1 seal wire mobile platform, 2 conduit mobile platforms, 3 seal wire operating sides, 4 supporting guide framves, 5 lead
Pipe operating side, 6 seal wires, 7 conduits, 1-1 base, 1-2 slide unit motor, 1-3 screw mandrel, 1-4 slide unit, 3A leads
Silk operating side lower component, 3-1 motor, 3-2 motor support base, 3-3 shaft coupling A, 3-4 torque sensor, 3-5 moment
Sensor support base, 3-6 shaft coupling B, 3-7 ball spline shaft A, 3-8 ball spline sleeve A, 3-9 ball spline secondary case
Cylinder A, 3-10 lower gear, 3-11 linear bearing A, 3-12 linear bearing carriage A, 3-13 linear bearing gland A,
Circlip on the left of 3-14,3B seal wire operating side upper-part, 3-15 electromagnetic clutch, 3-16 electromagnetic clutch bearing,
Circlip on the right side of 3-17,3-18 ball spline pair sleeve B, 3-19 ball spline sleeve B, 3-20 ball spline shaft B,
3-21 shaft coupling C, 3-22 conical surface seal wire binding clasp, 3-23 gear, 3-24 force transmission shaft, 3-25 linear bearing B,
3-26 linear bearing carriage B, 3-27 force plate, 3-28 thrust bearing, 3-29 cone, 3-30 slide block, 3-31
Slide rail, 3-32 Dynamometric support, 3-33 force transducer fixed mount, 3-34 power transmission nail, 3-35 force transducer, 3C housing,
3-36 lower house, 3-37 upper shell, 3-38 hinge, 3-39 conical surface pressing plate, 3-40 linear bearing pressing plate, 3-41
Electromagnetic clutch pressing plate, 4-1 left socle, the left ball hinged support of 4-2,4-3 left ball pivot ball part, 4-4 right support, 4-5
Right ball hinged support, 4-6 right ball pivot ball part, 4-7 expansion link.
Detailed description of the invention
Below in conjunction with Figure of description, this utility model is further described.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, a kind of catheter guide wire works in coordination with the intervention of propelling movement
Operating robot, including seal wire mobile platform 1, conduit mobile platform 2, seal wire operating side 3, supporting guide frame 4, conduit behaviour
Making end 5, seal wire 6, conduit 7, described seal wire operating side 3 is arranged on seal wire mobile platform 1, described catheter manipulation end
5 are arranged on conduit mobile platform 2, and the two ends of described supporting guide frame 4 are respectively at seal wire operating side 3 and catheter manipulation end 5
Being connected, described conduit 7 is through catheter manipulation end 5, and described seal wire 6 is arranged in conduit 7, and through seal wire operating side 3
In.
Described seal wire mobile platform 1 is made up of base 1-1, slide unit motor 1-2, screw mandrel 1-3, slide unit 1-4, described base
1-1 is connected on operating-table, and described slide unit motor 1-2 is arranged on the end of base 1-1, on the front end of described base 1-1
It is provided with screw mandrel 1-3, described screw mandrel 1-3 to be connected with the output shaft of slide unit motor 1-2 by decelerator, described slide unit 1-4
On be provided with screwed hole, and match with the screw thread of screw mandrel 1-3.
Described seal wire operating side 3 is made up of seal wire operating side lower component 3A, seal wire operating side upper-part 3B and housing 3C.
Described seal wire operating side lower component 3A by motor 3-1, motor support base 3-2, shaft coupling A3-3, torque sensor 3-4,
Torque sensor bearing 3-5, shaft coupling B3-6, ball spline shaft A3-7, ball spline sleeve A3-8, ball spline pair sleeve
A3-9, lower gear 3-10, linear bearing A3-11, linear bearing carriage A3-12, linear bearing gland A3-13, left side elasticity
Back-up ring 3-14 forms, and described motor 3-1 is fixed by screws on motor support base 3-2, and described motor support base 3-2 is connected
On lower house 3-36, described shaft coupling A3-3 one end is connected with the output shaft of motor 3-1, the other end and torque sensor
The axle of 3-4 is connected, and described torque sensor 3-4 is fixed on torque sensor bearing 3-5, described torque sensor bearing
3-5 and lower house 3-36 is connected, and described ball spline shaft A3-7 is connected with torque sensor 3-4 by shaft coupling B3-6,
Being equipped with ball spline shaft A3-7 in described ball spline sleeve A3-8, described ball spline sleeve A3-8 is assemblied in ball spline
In secondary case cylinder A3-9, the other end of described ball spline pair sleeve A3-9 is provided with axle, and axle is by key and lower gear 3-10
Matching, the inner ring of described linear bearing A3-11 coordinates with the axle of ball spline pair sleeve A3-9, and linear axis is passed through in its outer ring
Pressure cap A3-13 is fixed on linear bearing carriage A3-12, and described left side circlip 3-14 is arranged on ball spline secondary case
In the outside groove of the axle of cylinder A3-9, described linear bearing carriage A3-12 is connected on lower house 3-36.
Described seal wire operating side upper-part 3B is by electromagnetic clutch 3-15, electromagnetic clutch bearing 3-16, right side circlip
3-17, ball spline pair sleeve B3-18, ball spline sleeve B3-19, ball spline shaft B3-20, shaft coupling C3-21, the conical surface
Binding clasp 3-22, gear 3-23, force transmission shaft 3-24, linear bearing B3-25, linear bearing carriage B3-26, force plate 3-27,
Thrust bearing 3-28, cone 3-29, slide block 3-30, slide rail 3-31, Dynamometric support 3-32, force transducer fixed mount 3-33, biography
Power nail 3-34, force transducer 3-35 composition, described electromagnetic clutch 3-15 is arranged on electromagnetic clutch bearing 3-16, institute
The electromagnetic clutch bearing 3-16 stated is connected on lower house 3-36, and one end of described ball spline pair sleeve B3-18 is arranged
Having axle, its axle is assemblied in electromagnetic clutch 3-15 by key, and described right side circlip 3-17 is arranged on ball spline pair
In the outside groove of the axle of sleeve B3-18, described ball spline sleeve B3-19 is assemblied in ball spline pair sleeve B3-18,
Described ball spline shaft B3-20 is assemblied in ball spline sleeve B3-19, and the axle of described ball spline shaft B3-20 is hollow
Axle, one end of described shaft coupling C3-21 is connected with ball spline shaft B3-20, and the other end is connected with conical surface binding clasp 3-22,
The endoporus of described conical surface binding clasp 3-22 and gear 3-23 matches, and described force transmission shaft 3-24 and gear 3-23 is connected,
Described force transmission shaft 3-24 is arranged on linear bearing carriage B3-26 by linear bearing B3-25, described force transmission shaft 3-24
Being provided with through hole along own axes, described force plate 3-27 upper end is provided with U-type groove, and makes force transmission shaft 3-24 through U-shaped
Groove, described thrust bearing 3-28 is pressed on force plate 3-27, and is arranged on the side relative with linear bearing B3-25, institute
Cone 3-29 stated is provided with through hole, and through hole is through force transmission shaft 3-24, and described cone 3-29 is when upper shell 3-37 closes
Matching with conical surface pressing plate 3-39, described force plate 3-27 lower end is connected with slide block 3-30 by screw, described slide block 3-30
Being assemblied in slide rail 3-31, described slide rail 3-31 is arranged on Dynamometric support 3-32, and described Dynamometric support 3-32 is connected in
On lower house 3-36, described force transducer 3-35 is assemblied in force transducer fixed mount 3-33, and by power transmission nail 3-34 with
Force plate 3-27 is connected, and described force transducer fixed mount 3-33 is bolted on lower house 3-36, described upper tooth
Wheel 3-23 is meshed with lower gear 3-10.
Described housing 3C is by lower house 3-36, upper shell 3-37, hinge 3-38, conical surface pressing plate 3-39, linear bearing pressing plate
3-40, electromagnetic clutch pressing plate 3-41 form, described housing 3C by lower house 3-36, upper shell 3-37, hinge 3-38,
Conical surface pressing plate 3-39, linear bearing pressing plate 3-40, electromagnetic clutch pressing plate 3-41 form, and described lower house 3-36 passes through spiral shell
Bolt is connected with base 1-1, and described upper shell 3-37 and lower house 3-36 is by conical surface pressing plate hinged, described for hinge 3-38
3-39, linear bearing pressing plate 3-40 are all connected with upper shell 3-37 by screw with electromagnetic clutch pressing plate 3-41, and conical surface pressure
The axis of plate 3-39, linear bearing pressing plate 3-40 and electromagnetic clutch pressing plate 3-41 is on the same line.
Described supporting guide frame 4 is by left socle 4-1, left ball hinged support 4-2, left ball pivot ball part 4-3, right support 4-4, the right side
Ball hinged support 4-5, right ball pivot ball part 4-6, expansion link 4-7 composition, described left socle 4-1 and lower house 3-36 is connected,
Described right support 4-4 is connected with operating-table, and described left socle 4-1 is provided with left ball hinged support 4-2, described right support
It is provided with right ball hinged support 4-5, described left ball pivot ball part 4-3 on 4-4 to be assemblied in left ball hinged support 4-2, the described right side
Ball pivot ball part 4-6 is assemblied in right ball hinged support 4-5, and the two ends of described expansion link 4-7 connect left ball pivot ball part respectively
4-3 and right ball pivot ball part 4-6, described expansion link 4-7 is in series by the hollow pipe that stepped diameters is different.
Described conduit mobile platform 2 is identical with seal wire mobile platform 1 structure.
Described catheter manipulation end 5 is identical with seal wire operating side 3 structure.
The side of described conical surface pressing plate 3-39 is the circular arc conical surface, and is provided with rotatable steel ball in the conical surface.
When described electromagnetic clutch 3-15 connects electricity, Internal and external cycle separates, and during power-off, Internal and external cycle engages.
A kind of catheter guide wire works in coordination with the control method of the intervention operation robot of propelling movement, including following rate-determining steps:
(1) mounting or dismounting of seal wire, conduit:
The installation of seal wire: open upper shell 3-37, by the electromagnetic clutch 3-15 being assembled together, ball spline pair sleeve B3-18,
Ball spline sleeve B3-19, ball spline shaft B3-20, shaft coupling C3-21, conical surface binding clasp 3-22, gear 3-23, power transmission
Axle 3-24, linear bearing B3-25 take out from lower house 3-36, seal wire head is sequentially passed through, expansion link 4-7, ball flower
Key secondary case cylinder B3-18, ball spline sleeve B3-19, ball spline shaft B3-20, shaft coupling C3-21, conical surface binding clasp 3-22,
Gear 3-23, force transmission shaft 3-24 and, be then returned in lower house 3-36, close upper shell 3-37 so that upper shell 3-37
On conical surface pressing plate 3-39, linear bearing pressing plate 3-40 and electromagnetic clutch pressing plate 3-41 be pressed on cone 3-29, linear axis respectively
Hold on B3-25 and electromagnetic clutch 3-15, it is carried out radially fixed；
The dismounting of seal wire: the step of seal wire dismounting is contrary with the step that seal wire is installed；
The mounting or dismounting of conduit are identical with the mounting or dismounting of seal wire；
(2) seal wire, conduit clamping with loosen:
The clamping of seal wire: electromagnetic clutch 3-15 power-off, its Internal and external cycle engages so that one end of conical surface binding clasp 3-22 is fixed,
Motor 3-1 is energized, by shaft coupling A3-3, torque sensor 3-4, shaft coupling B3-6, ball spline shaft A3-7, ball flower
Key set A3-8, ball spline pair sleeve A3-9, drive lower gear 3-10 to rotate, thus drive gear 3-23 so that the conical surface
The other end of binding clasp 3-22 rotates along with the rotation of gear 3-23, and then clamping seal wire；
Loosening of seal wire: seal wire loosen control with seal wire clamp rate-determining steps contrary, first by electromagnetic clutch 3-15 power-off,
Make motor 3-1 energising reversion again；
The clamping of conduit with loosen identical with seal wire；
(3) seal wire, the rotation of conduit control:
When seal wire is in clamped condition, electromagnetic clutch 3-15 is energized so that one end of conical surface binding clasp 3-22 is in free shape
State, motor 3-1 is energized, and according to concrete control signal, drives gear 3-23 and conical surface binding clasp 3-22 to rotate, thus
Seal wire is made to rotate certain angle；
The rotation control of conduit is identical with seal wire；
(4) propelling movement/the withdraw control of seal wire, conduit:
The propelling movement of seal wire/withdraw control: utilizing step (2) seal wire to be in clamped condition, slide unit motor 1-2 energising is started working,
According to concrete advance/withdraw signal so that slide unit motor 1-2 forward or reverse so that slide unit 1-4 advances or retreats, and drives
Body 3 advances or retreats, so that seal wire realizes pushing or withdrawing；
When slide unit 1-4 moves to the base 1-1 extreme position near patient end, and when needing to continue to push seal wire forward, slide unit
Motor 1-2 stops operating so that seal wire stops pushing；Utilize the control method that in step (2), seal wire loosens, loosen seal wire；
Now slide unit motor 1-2 energising rotates backward, and drives slide unit 1-4 to retreat, and base 1-1 moves to the extreme position away from patient end；
In recycle step (2), the control method of seal wire clamping, clamps seal wire；Last slide unit motor 1-2 energising, according to concrete letter
Number, it is achieved rotating, thus drive seal wire again to realize pushing or withdrawing；
The propelling movement of conduit/withdraw control is identical with seal wire；
(5) seal wire, the collaborative propelling movement of conduit control:
When seal wire needed to advance, withdraw, clamp, a series of control such as loosen time, alternately realize step (2), (3), (4),
When conduit needed to advance, withdraw, clamp, a series of control such as loosen time, alternately realize step (2), (3), (4),
When seal wire with when needing collaborative operation to conduit, according to concrete operation signal, complete simultaneously conduit, the advance of seal wire, withdraw,
A series of controls such as clamp, loosen, to realize the Collaborative Control of conduit, seal wire.
Claims (6)
1. a catheter guide wire works in coordination with the intervention operation robot of propelling movement, it is characterised in that includes seal wire mobile platform (1), lead
Pipe mobile platform (2), seal wire operating side (3), supporting guide frame (4), catheter manipulation end (5), seal wire (6), conduit (7),
Described seal wire operating side (3) is arranged on seal wire mobile platform (1), and described catheter manipulation end (5) is arranged on conduit and moves
On moving platform (2), the two ends of described supporting guide frame (4) are respectively at seal wire operating side (3) and catheter manipulation end (5)
Being connected, described conduit (7) passes catheter manipulation end (5), and described seal wire (6) is arranged in conduit (7), and passes
In seal wire operating side (3).
A kind of catheter guide wire the most according to claim 1 works in coordination with the intervention operation robot of propelling movement, it is characterised in that described
Seal wire mobile platform (1) be made up of base (1-1), slide unit motor (1-2), screw mandrel (1-3), slide unit (1-4), described
Base (1-1) be connected on operating-table, described slide unit motor (1-2) is arranged on the end of base (1-1), described
Being provided with screw mandrel (1-3) on the front end of base (1-1), described screw mandrel (1-3) is by decelerator and slide unit motor (1-2)
Output shaft be connected, described slide unit (1-4) is provided with screwed hole, and matches with the screw thread of screw mandrel (1-3)；
Described conduit mobile platform (2) is identical with seal wire mobile platform (1) structure.
A kind of catheter guide wire the most according to claim 1 and 2 works in coordination with the intervention operation robot of propelling movement, it is characterised in that
Described supporting guide frame (4) is by left socle (4-1), left ball hinged support (4-2), left ball pivot ball part (4-3), right support
(4-4), right ball hinged support (4-5), right ball pivot ball part (4-6), expansion link (4-7) composition, described left socle (4-1)
Being connected with lower house (3-36), described right support (4-4) is connected with operating-table, and described left socle (4-1) is provided with
Left ball hinged support (4-2), described right support (4-4) is provided with right ball hinged support (4-5), described left ball pivot ball part
(4-3) being assemblied in left ball hinged support (4-2), described right ball pivot ball part (4-6) is assemblied in right ball hinged support (4-5)
In, the two ends of described expansion link (4-7) connect left ball pivot ball part (4-3) and right ball pivot ball part (4-6) respectively, described
Expansion link (4-7) be in series by the hollow pipe that stepped diameters is different.
A kind of catheter guide wire the most according to claim 3 works in coordination with the intervention operation robot of propelling movement, it is characterised in that described
Seal wire operating side (3) be made up of seal wire operating side lower component (3A), seal wire operating side upper-part (3B) and housing (3C)；
Described seal wire operating side lower component (3A) is by motor (3-1), motor support base (3-2), shaft coupling A (3-3), power
Square sensor (3-4), torque sensor bearing (3-5), shaft coupling B (3-6), ball spline shaft A (3-7), ball spline
Set A (3-8), ball spline pair sleeve A (3-9), lower gear (3-10), linear bearing A (3-11), linear bearing carriage
A (3-12), linear bearing gland A (3-13), left side circlip (3-14) form, and described motor (3-1) passes through spiral shell
Nail is fixed on motor support base (3-2), and described motor support base (3-2) is connected on lower house (3-36), described shaft coupling
Device A (3-3) one end is connected with the output shaft of motor (3-1), and the other end is connected with the axle of torque sensor (3-4), described
Torque sensor (3-4) be fixed on torque sensor bearing (3-5), described torque sensor bearing (3-5) with under
Housing (3-36) is connected, and described ball spline shaft A (3-7) is by shaft coupling B (3-6) and torque sensor (3-4)
It is connected, described ball spline sleeve A (3-8) is equipped with ball spline shaft A (3-7), described ball spline sleeve A (3-8)
Being assemblied in ball spline pair sleeve A (3-9), the other end of described ball spline pair sleeve A (3-9) is provided with axle, and
And axle is matched with lower gear (3-10) by key, the inner ring of described linear bearing A (3-11) and ball spline pair sleeve A
(3-9) axle coordinates, and its outer ring is fixed on linear bearing carriage A (3-12) by linear bearing gland A (3-13),
In the outside groove of the axle that described left side circlip (3-14) is arranged on ball spline pair sleeve A (3-9), described is straight
Line bearing spider A (3-12) is connected on lower house (3-36)；
Described seal wire operating side upper-part (3B) is by electromagnetic clutch (3-15), electromagnetic clutch bearing (3-16), right side
Circlip (3-17), ball spline pair sleeve B (3-18), ball spline sleeve B (3-19), ball spline shaft B (3-20),
Shaft coupling C (3-21), conical surface binding clasp (3-22), gear (3-23), force transmission shaft (3-24), linear bearing B (3-25),
Linear bearing carriage B (3-26), force plate (3-27), thrust bearing (3-28), cone (3-29), slide block (3-30), cunning
Rail (3-31), Dynamometric support (3-32), force transducer fixed mount (3-33), power transmission nail (3-34), force transducer (3-35)
Composition, described electromagnetic clutch (3-15) is arranged on electromagnetic clutch bearing (3-16), and described electromagnetic clutch props up
Seat (3-16) is connected on lower house (3-36), and one end of described ball spline pair sleeve B (3-18) is provided with axle, its
Axle is assemblied in electromagnetic clutch (3-15) by key, and described right side circlip (3-17) is arranged on ball spline secondary case
In the outside groove of the axle of cylinder B (3-18), described ball spline sleeve B (3-19) is assemblied in ball spline pair sleeve B (3-18)
In, described ball spline shaft B (3-20) is assemblied in ball spline sleeve B (3-19), described ball spline shaft B (3-20)
Axle be hollow axle, one end of described shaft coupling C (3-21) is connected with ball spline shaft B (3-20), the other end and the conical surface
Binding clasp (3-22) is connected, and described conical surface binding clasp (3-22) matches with the endoporus of gear (3-23), described biography
Power axle (3-24) is connected with gear (3-23), and described force transmission shaft (3-24) is arranged on by linear bearing B (3-25)
On linear bearing carriage B (3-26), described force transmission shaft (3-24) is provided with through hole, described force plate (3-27) along own axes
Upper end is provided with U-type groove, and makes force transmission shaft (3-24) through U-type groove, and described thrust bearing (3-28) is pressed on dynamometry
On plate (3-27), and being arranged on the side relative with linear bearing B (3-25), described cone (3-29) is provided with through hole,
And through hole is through force transmission shaft (3-24), described cone (3-29) is when upper shell (3-37) close and conical surface pressing plate (3-39)
Matching, described force plate (3-27) lower end is connected with slide block (3-30) by screw, described slide block (3-30) assembling
In slide rail (3-31), described slide rail (3-31) is arranged on Dynamometric support (3-32), described Dynamometric support (3-32)
Being connected on lower house (3-36), described force transducer (3-35) is assemblied in force transducer fixed mount (3-33), and leads to
Crossing power transmission nail (3-34) to be connected with force plate (3-27), described force transducer fixed mount (3-33) is bolted on down
On housing (3-36), described gear (3-23) is meshed with lower gear (3-10)；
Described housing (3C) by lower house (3-36), upper shell (3-37), hinge (3-38), conical surface pressing plate (3-39),
Linear bearing pressing plate (3-40), electromagnetic clutch pressing plate (3-41) form, described housing (3C) by lower house (3-36),
Upper shell (3-37), hinge (3-38), conical surface pressing plate (3-39), linear bearing pressing plate (3-40), electromagnetic clutch pressing plate (3-41)
Composition, described lower house (3-36) is connected with base (1-1) by bolt, described upper shell (3-37) and lower house
(3-36) by hinge (3-38) hinged, described conical surface pressing plate (3-39), linear bearing pressing plate (3-40) and electromagnetism from
Clutch pressing plate (3-41) is all connected with upper shell (3-37) by screw, and conical surface pressing plate (3-39), linear bearing pressing plate (3-40)
With the axis of electromagnetic clutch pressing plate (3-41) on the same line；
Described catheter manipulation end (5) is identical with seal wire operating side (3) structure.
A kind of catheter guide wire the most according to claim 4 works in coordination with the intervention operation robot of propelling movement, it is characterised in that described
The side of conical surface pressing plate (3-39) be the circular arc conical surface, and in the conical surface, be provided with rotatable steel ball.
A kind of catheter guide wire the most according to claim 4 works in coordination with the intervention operation robot of propelling movement, it is characterised in that described
Electromagnetic clutch (3-15) when connecing electricity Internal and external cycle separate, during power-off, Internal and external cycle engages.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620161474.9U CN205459037U (en) | 2016-03-03 | 2016-03-03 | Pipe seal wire is intervention surgery robot of propelling movement in coordination |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620161474.9U CN205459037U (en) | 2016-03-03 | 2016-03-03 | Pipe seal wire is intervention surgery robot of propelling movement in coordination |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205459037U true CN205459037U (en) | 2016-08-17 |
Family
ID=56659093
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620161474.9U Withdrawn - After Issue CN205459037U (en) | 2016-03-03 | 2016-03-03 | Pipe seal wire is intervention surgery robot of propelling movement in coordination |
Country Status (1)
| Country | Link |
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| CN (1) | CN205459037U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105662586A (en) * | 2016-03-03 | 2016-06-15 | 北京理工大学 | Interventional operation robot where catheter and guide wire are cooperatively pushed and control method thereof |
| CN111150921A (en) * | 2020-01-22 | 2020-05-15 | 上海庆之医疗科技有限公司 | Intravascular interventional robot, catheter and intravascular interventional system |
| CN113808464A (en) * | 2021-09-24 | 2021-12-17 | 山东静禾医疗科技有限公司 | Interventional operation simulation platform |
| WO2023142291A1 (en) * | 2022-01-29 | 2023-08-03 | 深圳市爱博医疗机器人有限公司 | Interventional surgery robot main end operation device |
-
2016
- 2016-03-03 CN CN201620161474.9U patent/CN205459037U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105662586A (en) * | 2016-03-03 | 2016-06-15 | 北京理工大学 | Interventional operation robot where catheter and guide wire are cooperatively pushed and control method thereof |
| CN105662586B (en) * | 2016-03-03 | 2017-12-12 | 北京理工大学 | A kind of intervention operation robot and its control method of catheter guide wire collaboration push |
| CN111150921A (en) * | 2020-01-22 | 2020-05-15 | 上海庆之医疗科技有限公司 | Intravascular interventional robot, catheter and intravascular interventional system |
| CN113808464A (en) * | 2021-09-24 | 2021-12-17 | 山东静禾医疗科技有限公司 | Interventional operation simulation platform |
| CN113808464B (en) * | 2021-09-24 | 2023-03-21 | 山东静禾医疗科技有限公司 | Interventional operation simulation platform |
| WO2023142291A1 (en) * | 2022-01-29 | 2023-08-03 | 深圳市爱博医疗机器人有限公司 | Interventional surgery robot main end operation device |
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