CN205649544U - Pipe and seal wire cooperating intervene operation auxiliary system from end controller - Google Patents
Pipe and seal wire cooperating intervene operation auxiliary system from end controller Download PDFInfo
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- CN205649544U CN205649544U CN201620203454.3U CN201620203454U CN205649544U CN 205649544 U CN205649544 U CN 205649544U CN 201620203454 U CN201620203454 U CN 201620203454U CN 205649544 U CN205649544 U CN 205649544U
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Abstract
The utility model discloses a pipe and seal wire cooperating intervene operation auxiliary system from end controller belongs to medical equipment technical field, it includes: seal wire, seal wire operation ware, pipe, pipe operation ware, sliding bracket, axial motion controller and shell, seal wire operation ware is used for rotating, pressing from both sides tightly and loosen the operation the seal wire of operation usefulness, pipe operation ware is used for rotating, pressing from both sides tightly and loosen the operation the pipe of operation usefulness, sliding bracket is used for supporting seal wire and pipe to the movement track of restriction seal wire before getting into the pipe, it is crooked to prevent that the seal wire from taking place before getting into the pipe, the axial motion controller is used for controlling the axial motion of pipe and seal wire, the shell is used for supporting seal wire operation ware, pipe operation ware and sliding bracket, the utility model discloses accomplish according to doctor's operational information and intervene the action, feed back to the doctor with real -time sense of touch information is audio -visual, improved the security and the maneuverability that intervene the operation.
Description
Technical field
This utility model belongs to technical field of medical equipment, is specifically related to a kind of conduit and the collaborative operation of seal wire gets involved surgical assistant system from side controller.
Background technology
Cardiovascular system diseases is the class disease that the mankind are most commonly seen, is a big cause of the death of current world population, serious threat human health.The situation of angiopathy mainly has the blocking of vascular tumor, thrombosis, vascular malformation, vasoconstriction, sclerosis of blood vessels etc..It is an internal medicine operation mainly for the diagnosis and treatment of cardio-cerebrovascular disease that blood vessel Wicresoft gets involved operation.It is under the guiding of medical imaging device, arrives diseased region farther out by means of interposing catheter along the tube chamber of blood vessel, such as the Ink vessel transfusing of coronary artery, brain, liver and kidney, then diseased region is carried out the emerging medical operating of one of minimally-invasive treatment.Pipe Wicresoft gets involved operation can not only efficiently solve vascular disorder, and also have do not operate on, wound is little, recover fast, effective feature.Therefore, blood vessel Wicresoft gets involved operation and has been widely used for the excision of clinical vascular radiography, angioplasty, thrombosis or foreign body, treatment tumor or the aspect such as vascular malformation, thromboembolism.Although getting involved operation have plurality of advantages, but still there is many weak points.At present, during surgical cannula, more widespread practice is under X-ray image or the monitoring of other gray level images and guiding, and is directly had been manually done the insertion process of conduit by the operator being skilled in technique.But, as a kind of new technique, it needs substantial amounts of operation skill.First, for surgical staff, making seal wire quickly and accurately arriving at target location is a job the most difficult.Human vas may be caused certain damage by the operation of mistake or repetition, brings certain risk to operation.Additionally, operation carries out body interior, it is impossible directly to monitor.Doctor inserts conduit needs more skills and experience.Operationally, such as conduit is inserted into the blood vessel of patient.Any mistake all can the infringement that causes of patient harm.One experienced neurosurgeon can realize the operation about 2mm of precision.But, the contact force between blood vessel and conduit can not be detected.Further, X-ray camera is used in operation, and patient can be caused damage by long operation process.Prior when being by cardio-vascular interventional therapeutic, specialist is also required to be operated under roentgen radiation x.Although doctor wears protective garment, but this is very difficult to protection to doctor by the hands of X-radiation and face.And medical personnel accept lonizing radiation irradiating machine can especially with patient, current medical protection condition is poor, and the psychosomatic health of the specialist and medical personnel of being engaged in cardio-vascular interventional therapeutic all can suffer damage to some extent.
Principal and subordinate's interventional surgery auxiliary operation system, will doctor separate with patient, catheterization procedure in intervention operation can be made to be more prone to and accurately, reduce the injury that specialist and medical personnel are caused by x-ray simultaneously.Doctor operates main side system, and after end system receives instruction, patient is carried out getting involved operation by operation conduit.On end, various sensor is being installed to obtain the most endovascular internal customizing messages simultaneously.
Principal and subordinate's interventional surgery aid system can effectively solve the problem that the problems referred to above, doctor can in the environment that a safety is not radiated by X-ray operation, the physiology of doctor tremble and maloperation can be filtered out by system, decrease the training time of doctor.In recent years, remote operating principal and subordinate interventional surgery aid system has become a study hotspot.Doctor's direct operation apparatus in traditional operation, apparatus can be directly transmitted to doctor with the information that contacts of tissue, and in Minimally Invasive Surgery, the tactile data in surgical hardly results in mostly due to the relation of operating theater instruments.Therefore, in Minimally Invasive Surgery, doctor makes operation add danger owing to having lacked tactile data, may be because of misoperation or the too quickly organ having damaged patient.Sense of touch feedback all relates in a lot of researchs, but traditional direct of feedback system differs greatly by the way of operating theater instruments, and mode of operation and traditional mode of doctor are the most different, it is common that directly sending action instruction.Therefore, tradition gets involved the Experiences and Skills accumulated of performing the operation and can not get well utilizing, and does not meets the requirement of ergonomics.And the operation of doctor must be that the operation to conduit and seal wire can substitute frequently or carry out in actual operation simultaneously.In numerous researchs, the catheter manipulation robot device design of operative site is all based on the mode of friction roller, and conduit is easily caused damage by this mode, and the conduit of damage is likely to damage blood vessel, and friction promotion itself simultaneously exists propelling error.And the function the most conduit and seal wire not operated simultaneously.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of conduit and the collaborative operation of seal wire gets involved surgical assistant system from side controller, it is applicable to the excision of angiography, thrombosis or foreign body, treatment tumor or the aspect such as vascular malformation, thrombus, can allow for doctor as traditional operation, go operation, operation information according to doctor completes intervention action, and real-time tactile data can be fed back to doctor intuitively, safety and the operability getting involved operation can be improved, and simple in construction easily realizes, and make doctor conduit and seal wire to be operated simultaneously.
This utility model is achieved through the following technical solutions:
A kind of conduit and the collaborative operation of seal wire get involved surgical assistant system from side controller, including: seal wire, seal wire operator, conduit, catheter manipulation device, sliding support, axial motion controller and shell；
Described seal wire operator is for rotating the seal wire of operation, clamp and loosening operation, and detects seal wire stressing conditions in operation；
Described catheter manipulation device is for rotating the conduit of operation, clamp and loosening operation, and detects conduit stressing conditions in operation；
Described sliding support is for being supported seal wire and conduit, and limits seal wire movement locus before entrance conduit, prevents seal wire from bending before entering conduit；
Described axial motion controller is for controlling the axially-movable of conduit and seal wire；
Described shell is for being supported seal wire operator, catheter manipulation device and sliding support.
Further, described axial motion controller includes: servomotor, Linear slide platform and shell erecting bed；Shell erecting bed is slidably matched with Linear slide platform, and servomotor is fixed on Linear slide platform, and controls shell erecting bed and move along the glide direction of Linear slide platform, and wherein, the glide direction of Linear slide platform is axial consistent with seal wire；
Described shell is fixed on shell erecting bed, and moves along the glide direction of Linear slide platform with shell erecting bed.
Further, described sliding support includes: slide rail and support；Slide rail is installed in the enclosure, and the bottom of two or more support is all slidably matched with slide rail, makes support move along the glide direction of slide rail, and wherein, the glide direction of slide rail is axial consistent with seal wire；After seal wire is through the top of a part of support and conduit through the top of another part support, seal wire coordinates with guide hole axle.
Further, described seal wire operator and catheter manipulation device are respectively mounted in the enclosure, and lay respectively at the two ends of sliding support, seal wire not with one end of tubes fit through seal wire operator, one end that conduit does not coordinates with seal wire is through catheter manipulation device；
Wherein, described seal wire operator includes that seal wire twister, seal wire twister clamping device, seal wire are by tension detection mechanism and seal wire twister rotating mechanism；
Described seal wire twister realizes the clamping to seal wire and loosening operation；Seal wire twister includes active wheel and support shaft；The outer circumference surface of described active wheel is machined with circumference tooth；It is machined with axially extending bore in described support shaft, the pawl pincers for clamping seal wire are installed in axially extending bore；Active wheel is coaxially distributed with support shaft and threadeds, by rotating against of active wheel and support shaft so that radial compaction or loosen the pawl pincers in support shaft, and then realizes the clamping to seal wire or loosen；Seal wire twister is installed in the enclosure by bracing frame, and seal wire is coaxially through seal wire twister；
Described seal wire is detected the stressing conditions of seal wire under the clamped condition of seal wire by tension detection mechanism, and sends data to PC control end；
Described seal wire twister clamping device realizes the clamping to the support shaft of seal wire twister and loosens；
Described seal wire twister rotating mechanism realizes the rotation process to seal wire twister active wheel: realize the clamping to seal wire and loosening operation when seal wire twister is clamped under state by rotation seal wire twister；When being clamped and seal wire twister is not clamped by the rotation of seal wire twister being controlled rotation and the axially-movable of seal wire at seal wire；
Described catheter manipulation device is identical with seal wire operator structure.
Further, described seal wire is included push-pull effort sensor, sensor stand, U-shaped plate, pretension plate, slide rail A and slide rail B by tension detection mechanism and supports connecting plate；
Described slide rail B is made up of two guide rails and the link that coordinates with two slide；
Push-pull effort sensor is installed in the enclosure by sensor stand, slide rail B installs in the enclosure, slide rail A is between sensor stand and slide rail B, and install in the enclosure by supporting connecting plate, and slide block one end of slide rail A is connected with push-pull effort sensor, two U-shaped plates are separately mounted on the other end of slide block and the link of slide rail B of slide rail A, and two U-shaped plates are parallel；Pretension plate is wedge, is arranged on the link of slide rail B, for conflicting with outside structure, it is achieved to slide rail B axial locking；Seal wire twister is between two U-shaped plates.
Further, described seal wire twister clamping device includes clip tooth, cam, direct current generator I and motor mounting rack I；
Direct current generator I is installed in the enclosure by motor mounting rack I；Clip tooth is sleeved in the support shaft of seal wire twister；Cam is arranged on the output shaft of direct current generator I, extrudes or loosen clip tooth under the effect of direct current generator I.
Further, described seal wire twister rotating mechanism includes: idle pulley, direct current generator II, swing pinion, motor mounting rack II and idle pulley installing rack；
Direct current generator II is fixed in the enclosure by motor mounting rack II, and swing pinion is arranged on the output shaft of direct current generator II, and engages with the active wheel of seal wire twister, and swing pinion is by the rotation of the Spin Control seal wire twister of direct current generator II；Idle pulley is fixing in the enclosure by idle pulley installing rack, and engages with the active wheel of seal wire twister.
Beneficial effect: structure design the grabbing of doctor of imitation that (1) this utility model pushes motion from side controller send mode, meets bionic requirement, can effectively reduce propelling error simultaneously；And by directly operation seal wire and conduit, meet the requirement of ergonomics, it is possible to make full use of operating experience skill acquired in traditional operation；
(2) this utility model is provided real-time, accurately force feedback operation seal wire and conduit required for by tension detection mechanism for doctor by tension detection mechanism and conduit by seal wire, doctor can be allowed to have the sensation of operation of being in the action, according to power, doctor feels that feedback and visual feedback perform operation decision-making, the safety of operation can be effectively improved；
(3) conduit or seal wire can individually be operated in operation by this utility model, it is possible to operate conduit and seal wire simultaneously, and the step making operation is more true, effectively raises the effect of operation and the experience of doctor.
Accompanying drawing explanation
Fig. 1 is overall construction drawing of the present utility model.
Fig. 2 is the structure chart of axial motion controller of the present utility model.
Fig. 3 is the structure chart of sliding support of the present utility model.
Fig. 4 is the structure chart of seal wire operator of the present utility model.
Fig. 5 is seal wire of the present utility model by tension detection mechanism and conduit by the structure chart of tension detection mechanism.
Fig. 6 is seal wire twister clamping device of the present utility model and the structure chart of conduit twister clamping device.
Fig. 7 is seal wire twister rotating mechanism of the present utility model and the structure chart of conduit twister rotating mechanism.
Fig. 8 is the structure chart of catheter manipulation device of the present utility model.
nullWherein，1 is seal wire，2 is seal wire operator，3 is sliding support，4 is conduit，5 is catheter manipulation device，6 is axial motion controller，2-1 is that seal wire is by tension detection mechanism，2-1-1 is push-pull effort sensor，2-1-2 is sensor stand，2-1-3 is for supporting connecting plate，2-1-4 is slide rail A，2-1-5 is U-shaped plate，2-1-6 pretension plate，2-1-7 is slide rail B，2-2 is seal wire twister clamping device，2-2-1 is direct current generator I，2-2-2 is motor mounting rack I，2-2-3 is clip tooth，2-2-4 is cam，2-3 is seal wire twister rotating mechanism，2-3-1 is direct current generator II，2-3-2 is swing pinion，2-3-3 is motor mounting rack II，2-3-4 is idle pulley，2-3-5 is idle pulley installing rack，2-4 is seal wire twister，3-1 is support，3-2 is slide rail，5-1 is that conduit is by tension detection mechanism，5-2 is conduit twister clamping device，5-3 is conduit twister rotating mechanism，5-4 is conduit twister，6-1-1 is servomotor，6-1-2 is Linear slide platform，6-2 is shell，6-3 is shell erecting bed.
Detailed description of the invention
Develop simultaneously embodiment below in conjunction with the accompanying drawings, is described in detail this utility model.
This utility model provides a kind of conduit and the collaborative operation of seal wire gets involved surgical assistant system from side controller, sees accompanying drawing 1, including: seal wire 1, seal wire operator 2, conduit 4, catheter manipulation device 5, sliding support 3, axial motion controller 6 and shell 6-2；
Described axial motion controller 6 is for controlling withdrawing of conduit 4 and the axially-movable of seal wire 1 and catheter manipulation device 5 and seal wire operator 2；
Described shell 6-2 is for being supported seal wire operator 2, catheter manipulation device 5 and sliding support 3；
Described sliding support 3, for being supported seal wire 1 and conduit 4, makes seal wire 1 and conduit 4 keep stable in motor process, and limits the seal wire 1 movement locus before entrance conduit 4, prevents seal wire 1 from bending before entering conduit 4；
Described seal wire operator 2 is by the long-range control realization of the doctor rotation of seal wire 1, clamping and loosening operation to operation, and detects the seal wire 1 stressing conditions in operation and send tactile feedback information Xiang doctor；
Described catheter manipulation device 5 is by the long-range control realization of the doctor rotation of conduit 4, clamping and loosening operation to operation, and detects the conduit 4 stressing conditions in operation and send tactile feedback information Xiang doctor；
Wherein, seeing accompanying drawing 2, described axial motion controller 6 includes: servomotor 6-1-1, Linear slide platform 6-1-2 and shell erecting bed 6-3；Shell erecting bed 6-3 is slidably matched with Linear slide platform 6-1-2, servomotor 6-1-1 is fixed on Linear slide platform 6-1-2, and control shell erecting bed 6-3 and move along the glide direction of Linear slide platform 6-1-2, wherein, the glide direction of Linear slide platform 6-1-2 and seal wire 1 or conduit 4 axial consistent；The stroke of described Linear slide platform 6-1-2 advances according to one way and is sized to 0-300mm；
Described shell 6-2 is fixed on shell erecting bed 6-3, and can move along the glide direction of Linear slide platform 6-1-2 with shell erecting bed 6-3；
Seeing accompanying drawing 3, described sliding support 3 includes: slide rail 3-2 and support 3-1；Slide rail 3-2 is arranged in shell 6-2, and the bottom of two or more support 3-1 is all slidably matched with slide rail 3-2 so that support 3-1 can move along the glide direction of slide rail 3-2, wherein, and the glide direction of slide rail 3-2 and seal wire 1 or conduit 4 axial consistent；The top of support 3-1 has conduit 4 or seal wire 1 to pass, it is achieved supports conduit 4 and prevents the bending of seal wire 1；
Described seal wire operator 2 and catheter manipulation device 5 are installed in shell 6-2, and lay respectively at the two ends of sliding support 3, seal wire 1 sequentially passes through the top of seal wire operator 2 and a part of support 3-1 and after conduit 4 sequentially passes through the catheter manipulation device 5 top with another part support 3-1, and seal wire 1 coordinates with conduit 4 hole axle；
Wherein, seeing accompanying drawing 4, described seal wire operator 2 includes that seal wire twister 2-4, seal wire twister clamping device 2-2, seal wire are by tension detection mechanism 2-1 and seal wire twister rotating mechanism 2-3；
Wherein, described seal wire twister 2-4 realizes the clamping to seal wire 1 and loosening operation；Seal wire twister 2-4 includes that active wheel and support shaft, the outer circumference surface of described active wheel are machined with circumference tooth；It is machined with axially extending bore in described support shaft, the pawl pincers for clamping seal wire are installed in axially extending bore；Active wheel is coaxially distributed with support shaft and threadeds, by rotating against of active wheel and support shaft so that radial compaction or loosen the pawl pincers in support shaft, and then realizes the clamping to seal wire or loosen；Seal wire twister 2-4 is arranged in shell 6-2 by bracing frame, and seal wire 1 is coaxially through seal wire twister 2-4；
Seeing accompanying drawing 5, described seal wire be can detect that the stressing conditions of seal wire 1 under the clamped condition of seal wire 1 by tension detection mechanism 2-1, and sends data to PC control end；It includes push-pull effort sensor 2-1-1, sensor stand 2-1-2, U-shaped plate 2-1-5, pretension plate 2-1-6, slide rail A2-1-4 and slide rail B2-1-7 and supports connecting plate 2-1-3；The range of described push-pull effort sensor 2-1-1 is 0-5N, and precision is 0.025%；Described slide rail B2-1-7 is made up of two guide rails and the link that coordinates with two slide；Push-pull effort sensor 2-1-1 is arranged in shell 6-2 by sensor stand 2-1-2, slide rail B2-1-7 is arranged in shell 6-2, slide rail A2-1-4 is between sensor stand 2-1-2 and slide rail B2-1-7, and be arranged in shell 6-2 by supporting connecting plate 2-1-3, and slide block one end of slide rail A2-1-4 is connected with push-pull effort sensor 2-1-1, two U-shaped plate 2-1-5 are separately mounted on the other end of slide block and the link of slide rail B2-1-7 of slide rail A2-1-4, and two U-shaped plate 2-1-5 are parallel；Pretension plate 2-1-6 is wedge, is arranged on the link of slide rail B2-1-7, for conflicting with outside structure, it is achieved to slide rail B2-1-7 axial locking；Seal wire twister 2-4 is between two U-shaped plate 2-1-5, after the power being subject to is passed to seal wire twister 2-4 by seal wire 1, seal wire twister 2-4 moves to the direction near push-pull effort sensor 2-1-1, the U-shaped plate 2-1-5 until conflicting, seal wire twister 2-4 will be forced through U-shaped plate 2-1-5 and slide rail A2-1-4 and pass to push-pull effort sensor 2-1-1, and then measure the stress of seal wire 1；Wherein, slide rail A2-1-4 and slide rail B2-1-7 utilizes ball to be effectively reduced the machine error that frictional force causes；
Seeing accompanying drawing 6, described seal wire twister clamping device 2-2 realizes the clamping of the support shaft to seal wire twister 2-4 and loosens；It includes clip tooth 2-2-3, cam 2-2-4, direct current generator I 2-2-1 and motor mounting rack I 2-2-2；Direct current generator I 2-2-1 is arranged in shell 6-2 by motor mounting rack I 2-2-2；Clip tooth 2-2-3 is sleeved in the support shaft of seal wire twister 2-4；Cam 2-2-4 is arranged on the output shaft of direct current generator I 2-2-1, extrudes or loosen clip tooth 2-2-3 under the effect of direct current generator I 2-2-1, it is achieved the clamping to seal wire twister 2-4 support shaft；
Seeing accompanying drawing 7, described seal wire twister rotating mechanism 2-3 realizes the rotation process to seal wire twister 2-4 active wheel: can realize the clamping to seal wire 1 and loosening operation by rotating seal wire twister 2-4 under seal wire twister 2-4 is by the clamped condition of clip tooth 2-2-3；When can be by the rotation of seal wire twister 2-4 being controlled rotation and the axially-movable of seal wire 1 under the state that seal wire 1 is clamped and seal wire twister 2-4 is not clamped by clip tooth 2-2-3；Described seal wire twister rotating mechanism 2-3 includes: idle pulley 2-3-4, direct current generator II 2-3-1, swing pinion 2-3-2, motor mounting rack II 2-3-3 and idle pulley installing rack 2-3-5；Direct current generator II 2-3-1 is fixed in shell 6-2 by motor mounting rack II2-3-3, swing pinion 2-3-2 is arranged on the output shaft of direct current generator II 2-3-1, and engage with the active wheel of seal wire twister 2-4, swing pinion 2-3-2 is by the rotation of the Spin Control seal wire twister 2-4 of direct current generator II 2-3-1；Idle pulley 2-3-4 is fixed in shell 6-2 by idle pulley installing rack 2-3-5, and engages with the active wheel of seal wire twister 2-4, plays a supporting role seal wire twister 2-4；
Seeing accompanying drawing 8, described catheter manipulation device 5 includes that conduit twister 5-4, conduit twister clamping device 5-2, conduit are by tension detection mechanism 5-1 and conduit twister rotating mechanism 5-3；
Wherein, described conduit twister 5-4 is identical with the structure of seal wire twister 2-4, but conduit twister 5-4 is different, with satisfied clamping conduit 4 and the demand of seal wire 1 from the pawl pincers size within the support shaft of seal wire twister 2-4；Conduit twister 5-4 is arranged in shell 6-2 by bracing frame, and conduit 4 is coaxially through conduit twister 5-4；
Described conduit twister clamping device 5-2, conduit are formed by tension detection mechanism 2-1 and seal wire twister rotating mechanism 2-3 structure with seal wire twister clamping device 2-2, seal wire respectively by tension detection mechanism 5-1 and conduit twister rotating mechanism 5-3 and effect is the most identical；
Working in coordination with operation based on conduit and seal wire and get involved the surgical assistant system method of work from side controller, it specifically comprises the following steps that
Following these three is mainly had: 1. push and withdraw, i.e. realizing conduit or the seal wire action that moves forward and backward in the blood vessel owing to getting involved the operation technique of doctor in operation；2. rotate, i.e. realize conduit or seal wire spinning movement in the blood vessel；3. push and rotate simultaneously, i.e. realize conduit or the seal wire location at key position.
In order to enable the described operation technique mode reappearing doctor from side controller completely, complete operation process, described devise five basic actss from side controller, including 1. selecting to operate object, 2. to conduit and the rotation process of seal wire, 3. conduit and the axially-movable of seal wire, 4. the recession campaign of catheter manipulation device 5 and seal wire operator 2,5. the stress detection of seal wire and conduit, to ensure the safety of operation；
The first step, selecting operation object is seal wire, conduit or seal wire-conduit co-controlling:
When being operated, according to the different doctors different requirements to operation object, selecting operation object is seal wire, conduit or seal wire-conduit co-operation；
Second step, is clamped operation object:
If operation object is seal wire, then seal wire twister clamping device is by controlling direct current generator I by after the support shaft clamping of seal wire twister, seal wire twister rotating mechanism rotates by controlling direct current generator II and then controls the active wheel rotation of seal wire twister, seal wire twister clamping seal wire；
If operation object is conduit, then conduit twister clamping device is by controlling direct current generator I by after the support shaft clamping of conduit twister, conduit twister rotating mechanism rotates by controlling direct current generator II and then controls the active wheel rotation of conduit twister, conduit twister clamping conduit；
If operation object is seal wire-conduit co-operation, then seal wire twister clamping device and conduit twister clamping device are by controlling respective direct current generator I by after the support shaft clamping of the support shaft of seal wire twister and conduit twister, seal wire twister rotating mechanism and conduit twister rotating mechanism rotate by controlling respective direct current generator II and then control the active wheel rotation of seal wire twister and conduit twister, and seal wire twister and conduit twister clamp seal wire and conduit respectively；
3rd step, is operated operation object:
(1) when performing the pivoting movement:
If operation object is seal wire, after the seal wire twister clamping seal wire in second step, seal wire twister clamping device rotates by controlling direct current generator I, makes clip tooth loosen the support shaft of seal wire twister；Then, seal wire twister rotating mechanism rotates by controlling direct current generator II and then controls the rotation of seal wire twister, it is achieved the rotary motion of seal wire；
If operation object is conduit, after the conduit twister clamping conduit in second step, conduit twister clamping device rotates by controlling direct current generator I, makes clip tooth loosen the support shaft of conduit twister；Then, conduit twister rotating mechanism rotates by controlling direct current generator II and then controls the rotation of conduit twister, it is achieved the rotary motion of conduit；
If operation object is wire catheter co-operation, after conduit twister in second step and seal wire twister clamp conduit and seal wire respectively, conduit twister clamping device and seal wire twister clamping device rotate by controlling respective direct current generator I, make clip tooth loosen conduit twister and the support shaft of seal wire twister respectively；Then, conduit twister rotating mechanism and seal wire twister rotating mechanism rotate and then control conduit twister and the rotation of seal wire twister by controlling respective direct current generator II, it is achieved conduit and the rotary motion of seal wire；
The rotating speed of the control direct current generator II of seal wire twister rotating mechanism and conduit twister rotating mechanism controls to set according to the main side of doctor, and then sets seal wire and the rotation information of conduit；Utilizing MR encoder detection conduit, the rotation information of seal wire being arranged on direct current generator II, and export to PC control end, PC controls end and is controlled the rotating speed of direct current generator II further, it is achieved closed loop and high accuracy control；
(2) when carrying out axially-movable:
If operation object is seal wire, after the seal wire twister clamping seal wire in second step, seal wire twister clamping device rotates by controlling direct current generator I, makes clip tooth loosen the support shaft of seal wire twister；Then, axial motion controller drives shell and seal wire operator along its axially-movable by Serve Motor Control Linear slide platform, it is achieved the axially-movable of seal wire；
If operation object is conduit, after the conduit twister clamping conduit in second step, conduit twister clamping device rotates by controlling direct current generator I, makes clip tooth loosen the support shaft of conduit twister；Then, axial motion controller drives shell and catheter manipulation device along its axially-movable by Serve Motor Control Linear slide platform, it is achieved the axially-movable of conduit；
If operation object is wire catheter co-operation, after conduit twister in second step and seal wire twister clamp conduit and seal wire respectively, conduit twister clamping device and seal wire twister clamping device rotate by controlling respective direct current generator I, make clip tooth loosen conduit twister and the support shaft of seal wire twister respectively；Then, axial motion controller drives shell and catheter manipulation device and seal wire operator along its axially-movable by Serve Motor Control Linear slide platform, it is achieved conduit and the axially-movable of seal wire；
The axially-movable information of seal wire and conduit by the linear displacement transducer slide block that is arranged on axial motion controller along with the synchronizing moving collection of shell, linear displacement transducer senses the change of linear displacement transducer slide position in real time can show that conduit, the axial displacement of seal wire and speed output control end to PC, PC controls end and is controlled the rotating speed of servomotor further, realize closed loop control, it is achieved high accuracy controls；
(3) when carrying out rotating the compound motion with axially-movable:
If operation object is seal wire, after the seal wire twister clamping seal wire in second step, seal wire twister clamping device rotates by controlling direct current generator I, makes clip tooth loosen the support shaft of seal wire twister；Then, seal wire twister rotating mechanism rotates by controlling direct current generator II and then controls the rotation of seal wire twister, meanwhile, axial motion controller drives shell and seal wire operator along its axially-movable by Serve Motor Control Linear slide platform, it is achieved the rotation of seal wire and axially-movable compound motion；
If operation object is conduit, after the conduit twister clamping conduit in second step, conduit twister clamping device rotates by controlling direct current generator I, makes clip tooth loosen the support shaft of conduit twister；Then, conduit twister rotating mechanism rotates by controlling direct current generator II and then controls the rotation of conduit twister, meanwhile, axial motion controller drives shell and catheter manipulation device along its axially-movable by Serve Motor Control Linear slide platform, it is achieved the rotation of conduit and axially-movable compound motion；
If operation object is wire catheter co-operation, after conduit twister in second step and seal wire twister clamp conduit and seal wire respectively, conduit twister clamping device and seal wire twister clamping device rotate by controlling respective direct current generator I, make clip tooth loosen conduit twister and the support shaft of seal wire twister respectively；Then, conduit twister rotating mechanism and seal wire twister rotating mechanism rotate and then control conduit twister and the rotation of seal wire twister by controlling respective direct current generator II, simultaneously, axial motion controller drives shell and catheter manipulation device and seal wire operator along its axially-movable by Serve Motor Control Linear slide platform, it is achieved the rotation of conduit and seal wire and axially-movable compound motion；
4th step, withdraws motion to operation object:
When catheter manipulation device and seal wire operator reach the range of Linear slide platform in the axially-movable of the 3rd step:
Seal wire twister clamping device rotates by controlling direct current generator I, makes the support shaft of clip tooth clamping seal wire twister；Seal wire twister rotating mechanism is by controlling direct current generator II backwards rotation and then controlling the active wheel backwards rotation of seal wire twister so that seal wire twister loosens seal wire；Shell and seal wire operator are dropped back to initial position under servomotor and Linear slide platform effect, and seal wire position keeps constant；
Conduit twister clamping device rotates by controlling direct current generator I, makes the support shaft of clip tooth clamping conduit twister；Conduit twister rotating mechanism is by controlling direct current generator II backwards rotation and then controlling the active wheel backwards rotation of conduit twister so that conduit twister loosens conduit；Shell and catheter manipulation device are dropped back to initial position under servomotor and Linear slide platform effect, and catheter position keeps constant；
5th step, carries out stress detection to operation object:
In the motion of seal wire and conduit, the stress of seal wire and conduit will be transmitted on seal wire twister and conduit twister, push-pull effort sensor is by seal wire twister and the stressing conditions of conduit twister being detected, obtain seal wire and conduit in the axial direction by force information, and PC will be transferred to by force information and control end and provide sense of touch to feed back for doctor；
6th step, repeats second step to the operation of the 5th step, until operation terminates.
In sum, these are only preferred embodiment of the present utility model, be not intended to limit protection domain of the present utility model.All within spirit of the present utility model and principle, any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (7)
1. a conduit and the collaborative operation of seal wire get involved surgical assistant system from side controller, it is characterised in that including: seal wire, seal wire operator, conduit, catheter manipulation device, sliding support, axial motion controller and shell；
Described seal wire operator is for rotating the seal wire of operation, clamp and loosening operation, and detects seal wire stressing conditions in operation；
Described catheter manipulation device is for rotating the conduit of operation, clamp and loosening operation, and detects conduit stressing conditions in operation；
Described sliding support is for being supported seal wire and conduit, and limits seal wire movement locus before entrance conduit, prevents seal wire from bending before entering conduit；
Described axial motion controller is for controlling the axially-movable of conduit and seal wire；
Described shell is for being supported seal wire operator, catheter manipulation device and sliding support.
2. a kind of conduit as claimed in claim 1 and the collaborative operation of seal wire get involved surgical assistant system from side controller, it is characterised in that described axial motion controller includes: servomotor, Linear slide platform and shell erecting bed；Shell erecting bed is slidably matched with Linear slide platform, and servomotor is fixed on Linear slide platform, and controls shell erecting bed and move along the glide direction of Linear slide platform, and wherein, the glide direction of Linear slide platform is axial consistent with seal wire；
Described shell is fixed on shell erecting bed, and moves along the glide direction of Linear slide platform with shell erecting bed.
3. a kind of conduit as claimed in claim 1 and the collaborative operation of seal wire get involved surgical assistant system from side controller, it is characterised in that described sliding support includes: slide rail and support；Slide rail is installed in the enclosure, and the bottom of two or more support is all slidably matched with slide rail, makes support move along the glide direction of slide rail, and wherein, the glide direction of slide rail is axial consistent with seal wire；After seal wire is through the top of a part of support and conduit through the top of another part support, seal wire coordinates with guide hole axle.
4. a kind of conduit and the collaborative operation of seal wire as described in claim 1 or 3 get involved surgical assistant system from side controller, it is characterized in that, described seal wire operator and catheter manipulation device are respectively mounted in the enclosure, and lay respectively at the two ends of sliding support, seal wire not with one end of tubes fit through seal wire operator, one end that conduit does not coordinates with seal wire is through catheter manipulation device；
Wherein, described seal wire operator includes that seal wire twister, seal wire twister clamping device, seal wire are by tension detection mechanism and seal wire twister rotating mechanism；
Described seal wire twister realizes the clamping to seal wire and loosening operation；Seal wire twister includes active wheel and support shaft；The outer circumference surface of described active wheel is machined with circumference tooth；It is machined with axially extending bore in described support shaft, the pawl pincers for clamping seal wire are installed in axially extending bore；Active wheel is coaxially distributed with support shaft and threadeds, by rotating against of active wheel and support shaft so that radial compaction or loosen the pawl pincers in support shaft, and then realizes the clamping to seal wire or loosen；Seal wire twister is installed in the enclosure by bracing frame, and seal wire is coaxially through seal wire twister；
Described seal wire is detected the stressing conditions of seal wire under the clamped condition of seal wire by tension detection mechanism, and sends data to PC control end；
Described seal wire twister clamping device realizes the clamping to the support shaft of seal wire twister and loosens；
Described seal wire twister rotating mechanism realizes the rotation process to seal wire twister active wheel: realize the clamping to seal wire and loosening operation when seal wire twister is clamped under state by rotation seal wire twister；When being clamped and seal wire twister is not clamped by the rotation of seal wire twister being controlled rotation and the axially-movable of seal wire at seal wire；
Described catheter manipulation device is identical with seal wire operator structure.
5. a kind of conduit as claimed in claim 4 and the collaborative operation of seal wire get involved surgical assistant system from side controller, it is characterized in that, described seal wire is included push-pull effort sensor, sensor stand, U-shaped plate, pretension plate, slide rail A and slide rail B by tension detection mechanism and supports connecting plate；
Described slide rail B is made up of two guide rails and the link that coordinates with two slide；
Push-pull effort sensor is installed in the enclosure by sensor stand, slide rail B installs in the enclosure, slide rail A is between sensor stand and slide rail B, and install in the enclosure by supporting connecting plate, and slide block one end of slide rail A is connected with push-pull effort sensor, two U-shaped plates are separately mounted on the other end of slide block and the link of slide rail B of slide rail A, and two U-shaped plates are parallel；Pretension plate is wedge, is arranged on the link of slide rail B, for conflicting with outside structure, it is achieved to slide rail B axial locking；Seal wire twister is between two U-shaped plates.
6. a kind of conduit as claimed in claim 4 and the collaborative operation of seal wire get involved surgical assistant system from side controller, it is characterised in that described seal wire twister clamping device includes clip tooth, cam, direct current generator I and motor mounting rack I；
Direct current generator I is installed in the enclosure by motor mounting rack I；Clip tooth is sleeved in the support shaft of seal wire twister；Cam is arranged on the output shaft of direct current generator I, extrudes or loosen clip tooth under the effect of direct current generator I.
7. a kind of conduit as claimed in claim 4 and the collaborative operation of seal wire get involved surgical assistant system from side controller, it is characterised in that described seal wire twister rotating mechanism includes: idle pulley, direct current generator II, swing pinion, motor mounting rack II and idle pulley installing rack；
Direct current generator II is fixed in the enclosure by motor mounting rack II, and swing pinion is arranged on the output shaft of direct current generator II, and engages with the active wheel of seal wire twister, and swing pinion is by the rotation of the Spin Control seal wire twister of direct current generator II；Idle pulley is fixing in the enclosure by idle pulley installing rack, and engages with the active wheel of seal wire twister.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620203454.3U CN205649544U (en) | 2016-03-16 | 2016-03-16 | Pipe and seal wire cooperating intervene operation auxiliary system from end controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620203454.3U CN205649544U (en) | 2016-03-16 | 2016-03-16 | Pipe and seal wire cooperating intervene operation auxiliary system from end controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205649544U true CN205649544U (en) | 2016-10-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620203454.3U Withdrawn - After Issue CN205649544U (en) | 2016-03-16 | 2016-03-16 | Pipe and seal wire cooperating intervene operation auxiliary system from end controller |
Country Status (1)
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| CN (1) | CN205649544U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105616008A (en) * | 2016-03-16 | 2016-06-01 | 北京理工大学 | Slave end controller of interventional operation assisting system with catheter-guide wire conducting collaborative operation |
| CN107320181A (en) * | 2017-06-05 | 2017-11-07 | 上海速介机器人科技有限公司 | The folder that wire catheter is operated in blood vessel intervention operation transfers manipulator |
| CN107349514A (en) * | 2017-07-06 | 2017-11-17 | 北京理工大学 | One kind intervention operation catheter guide wire control device and its control method |
| CN108837280A (en) * | 2017-04-25 | 2018-11-20 | 韦伯斯特生物官能(以色列)有限公司 | Seal wire executor |
| CN109381227A (en) * | 2017-08-03 | 2019-02-26 | 韦伯斯特生物官能(以色列)有限公司 | Multi-functional ENT tool |
| CN111544741A (en) * | 2020-06-22 | 2020-08-18 | 中国科学院自动化研究所 | Coaxial steering device for cooperative delivery of guide wire and microcatheter |
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2016
- 2016-03-16 CN CN201620203454.3U patent/CN205649544U/en not_active Withdrawn - After Issue
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105616008B (en) * | 2016-03-16 | 2018-06-08 | 北京理工大学 | Conduit-seal wire cooperating intervenes surgical assistant system from side controller |
| CN105616008A (en) * | 2016-03-16 | 2016-06-01 | 北京理工大学 | Slave end controller of interventional operation assisting system with catheter-guide wire conducting collaborative operation |
| JP7191540B2 (en) | 2017-04-25 | 2022-12-19 | バイオセンス・ウエブスター・（イスラエル）・リミテッド | guide wire manipulator |
| CN108837280A (en) * | 2017-04-25 | 2018-11-20 | 韦伯斯特生物官能(以色列)有限公司 | Seal wire executor |
| JP2018183588A (en) * | 2017-04-25 | 2018-11-22 | バイオセンス・ウエブスター・（イスラエル）・リミテッドＢｉｏｓｅｎｓｅ Ｗｅｂｓｔｅｒ （Ｉｓｒａｅｌ）， Ｌｔｄ． | Guidewire manipulator |
| CN108837280B (en) * | 2017-04-25 | 2022-04-26 | 韦伯斯特生物官能(以色列)有限公司 | Guide wire manipulator |
| US11992234B2 (en) | 2017-04-25 | 2024-05-28 | Biosense Webster (Israel) Ltd. | Guidewire manipulator |
| CN107320181A (en) * | 2017-06-05 | 2017-11-07 | 上海速介机器人科技有限公司 | The folder that wire catheter is operated in blood vessel intervention operation transfers manipulator |
| CN107349514A (en) * | 2017-07-06 | 2017-11-17 | 北京理工大学 | One kind intervention operation catheter guide wire control device and its control method |
| CN107349514B (en) * | 2017-07-06 | 2023-12-01 | 深圳市爱博医疗机器人有限公司 | Catheter guide wire control device for interventional operation and control method thereof |
| CN109381227A (en) * | 2017-08-03 | 2019-02-26 | 韦伯斯特生物官能(以色列)有限公司 | Multi-functional ENT tool |
| CN109381227B (en) * | 2017-08-03 | 2024-04-09 | 韦伯斯特生物官能(以色列)有限公司 | Multifunctional ENT tool |
| CN111544741A (en) * | 2020-06-22 | 2020-08-18 | 中国科学院自动化研究所 | Coaxial steering device for cooperative delivery of guide wire and microcatheter |
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Granted publication date: 20161019 Effective date of abandoning: 20180608 |