CN208876745U - A kind of guidewire controller - Google Patents
A kind of guidewire controller Download PDFInfo
- Publication number
- CN208876745U CN208876745U CN201721136592.5U CN201721136592U CN208876745U CN 208876745 U CN208876745 U CN 208876745U CN 201721136592 U CN201721136592 U CN 201721136592U CN 208876745 U CN208876745 U CN 208876745U
- Authority
- CN
- China
- Prior art keywords
- seal wire
- clamping
- guidewire controller
- pedestal
- guidewire
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 73
- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 238000005192 partition Methods 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 238000003756 stirring Methods 0.000 claims description 5
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 238000002156 mixing Methods 0.000 claims description 2
- 238000001356 surgical procedure Methods 0.000 abstract description 12
- 238000013461 design Methods 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000006073 displacement reaction Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 9
- 210000004204 blood vessel Anatomy 0.000 description 7
- 238000001514 detection method Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 7
- 230000002792 vascular Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000011282 treatment Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 230000006378 damage Effects 0.000 description 4
- 230000002526 effect on cardiovascular system Effects 0.000 description 4
- 238000002601 radiography Methods 0.000 description 4
- 208000024172 Cardiovascular disease Diseases 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000008602 contraction Effects 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000012549 training Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 2
- 208000026106 cerebrovascular disease Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 230000008713 feedback mechanism Effects 0.000 description 2
- 210000003128 head Anatomy 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000002285 radioactive effect Effects 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 238000002627 tracheal intubation Methods 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 208000019462 Occupational injury Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 210000004351 coronary vessel Anatomy 0.000 description 1
- 210000003464 cuspid Anatomy 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000013152 interventional procedure Methods 0.000 description 1
- 210000003734 kidney Anatomy 0.000 description 1
- 210000004185 liver Anatomy 0.000 description 1
- 239000007937 lozenge Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 210000001685 thyroid gland Anatomy 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
- 208000019553 vascular disease Diseases 0.000 description 1
- 208000029761 vertebral disease Diseases 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Landscapes
- Media Introduction/Drainage Providing Device (AREA)
Abstract
The utility model discloses a kind of intervention operation robots from the guidewire controller in end device, belongs to interventional surgery technical field.The guidewire controller includes guidewire controller pedestal, and the seal wire clamping device being mounted on guidewire controller pedestal and clamping switching mechanism；Seal wire clamping device clamps the clamping that switching mechanism is used to that seal wire clamping device to be driven to unclamp to seal wire for clamping seal wire；Seal wire lock device uses the special conical surface, taper hole structure, realizes the clamping to seal wire.Pedestal is mounted on height-adjustable pedestal, and there are also seal wire torsion device and dynamometry components on pedestal.The utility model overall structure is simple, and using Modular Structure Design, dismounting combination is easy, and compact-sized, overall weight is light, and manufacturing cost is lower.
Description
Technical field
The utility model belongs to interventional surgery technical field, is related to a kind of guidewire controller and its controlling party
Method.The guidewire controller can be used in radiography, intervention operation virtual reality surgery training and operation practical operation.
Background technique
Disease of cardiovascular system is the most commonly seen a kind of disease of the mankind, is a big cause of the death of current world population, seriously
Threaten human health.Cardiovascular and cerebrovascular disease has become one of the three big reasons of human diseases death, annual 9000000 heart and brain of China
There are 2,500,000 people dead in vascular disease.
The minimally invasive interventional therapy of cardiovascular and cerebrovascular is the essential therapeutic arsenals for cardiovascular and cerebrovascular disease, is set in medical image
Under standby guidance, the lumen by means of interposing catheter along blood vessel reaches farther away diseased region, such as coronary artery, brain, liver
It is intravascular with kidney, a kind of emerging medical operating of minimally-invasive treatment is then carried out diseased region.In vascular interventional treatment mistake
Cheng Zhong, doctor need to complete to perform the operation by based on the guiding of the Digital subtraction angiograph (DSA) of X-ray, although doctor matches
Standby leaded protective garment, but the upper limb that still can not protect doctor and head be not by X-ray radiation；And due to vascular interventional treatment
Complexity, generally require to be exposed in X-ray environment and operate for a long time, the accumulative amount of radiation of doctor is big；And it wears for a long time
Heavy leaded protective garment, increase the pressure load of backbone, have it is more report display blood vessel intervention doctor thyroid gland
The incidence of cancer, radioactivity lens damage, lumbar vertebra disease etc. is apparently higher than the doctor of other subject.It is engaged in Endovascular and controls in the whole nation
About 700,000 people of medical staff of operation is treated, the annual Endovascular Therapy that carries out in the whole nation is more than 1,000 Wan Taici, relevant to X-ray
Occupational injury has become a unavoidable problem, seriously threatens the health status of doctor and the length of vascular interventional treatment
Remote development.Conduit is carried out by robot technology, the operation method of seal wire remote operating can successfully manage this problem, Ke Yi great
Width improves the precision and stability of surgical procedure, while injury of the radioactive ray to operating doctor can be effectively reduced, and reduces thing in art
Therefore occurrence probability.Therefore, cardiovascular and cerebrovascular intervention operation auxiliary robot is more and more of interest by people, is increasingly becoming each
Emphasis of the state in medical robot field researches and develops object.
Blood vessel intervention operation robot mainly uses principal and subordinate end to operate structure at present, doctor is isolated with radioactive ray, such as
Institutes Of Technology Of Tianjin's application application No. is 201410206956.7 patent of invention, disclose a kind of principal and subordinate minimally-invasive vascular and be situated between
Enter surgical assistant system from operator device, it includes axial push unit, rotary unit, catching unit, surgical catheters, operation
Power detection unit and angular adjustment pedestal, working method include signal detection, transmitting, processing, movement.It is advantageous in that: can
To imitate the interventional procedure movement of doctor, operation precision is high, effectively improves operation safety；It can guarantee different receiving treatments
Person or different intervention positions can be adjusted to the desired angle of operator.For another example, Harbin Institute of Technology is in application
A kind of patent of entitled catheter robot system for intravascular minimally invasive intervention operation, uses steerable catheter, can get
Steerable catheter is bent the posture information of controllable segment, guarantees the flexibility of steerable catheter front end and the navigability of intubation operation,
Simultaneously by main hand handle control principal and subordinate's intervention device realize steerable catheter push away draw, rotation and flexure operation, and hand can be obtained
Art room steerable catheter conveys force information, guarantees the accuracy and stability of intubation.As Beijing Institute of Technology apply application No. is:
201610119761.8, title are as follows: principal and subordinate's interventional surgery robot is controlled from end and its control method, including from end
Mechanism and from end mobile platform, from end control mechanism by clamp drive mechanism I, thrust feedback mechanism II, lossless clamping device III,
Control mechanism IV is clamped to form.The program is by devising lossless clamping device, clamping control mechanism, clamp drive mechanism and pushing away
Force feedback mechanism, come complete the clamping of seal wire in surgical procedure, loosen, rotate, push, push power measurement etc. operation, increase
The accuracy for pushing power measurement improves the reliability of seal wire clamping, but its structure is relative complex, and property easy to assemble does not have too yet
It is big to improve, while relative position problem during push between conduit or seal wire head end and vascular wall does not obtain very well yet
Solution.
Above scheme is all the research relatively advanced for blood vessel intervention operation robot for the country, but they all exist
Following several respects problem: (1) poor for the chucking power of seal wire；(2) the relatively too fat to move complexity of structure, not only manufacturing cost
Height, and influence operation precision；(3) dismounting of seal wire is inconvenient, is not easy to replace seal wire in operation, it has not been convenient to seal wire and connect
Mouth carries out disinfection processing；(4) it can not know that seal wire in the blood vessels relative position and stress, operation risk are higher in operation.
Inventor and Beijing Institute of Technology cooperate research, persistently study the technology of intervention operation robot,
It is dedicated to improving the mode of operation of device, more meets doctor's actual demand, structure is simpler, easy-disassembling-assembling device.
Utility model content
The utility model provides a kind of guidewire controller and its control method, the guidewire controller purpose are to solve existing
The problem of the complexity of seal wire clamp structure and clamping inconvenience in technology, can not direct feel seal wire rotation angle, stress condition.
The guidewire controller uses modularized design, simple in construction, easy to disassemble and assemble, is conveniently replaceable and sterilizes；This method is pressed from both sides using seal wire
Tight device and clamping switching mechanism complete clamping and release to seal wire, are equipped with six-axis force sensor, solve existing robot
Be difficult to complete to conduit and seal wire cooperating and can not direct feel surgical procedure the problem of, for intervening operation or radiography,
Intervention operation or the safety and operability of radiography are improved, structure is simple and easy to implement, while the device can also be used to perform the operation
Training, teaching or training.
The utility model is achieved through the following technical solutions:
A kind of guidewire controller, it is characterised in that: including guidewire controller pedestal (6) and be mounted on guidewire controller pedestal
(6) seal wire clamping device (7) on, the clamping switching mechanism (8) being mounted on guidewire controller pedestal (6), six axle powers sensing
Device device for measuring force (9) is equipped with angular adjustment pedestal (10) under pedestal, and seal wire clamping device (7) for clamping seal wire, cut by clamping
Structure (8) are changed planes for driving seal wire clamping device (7) to unclamp the clamping to seal wire, six-axis force sensor device for measuring force (9) is used for
Resistance or the moment of resistance, seal wire clamping device (7) during measurement guide wire motion are located at the upside of guidewire controller pedestal (6),
The rear side that switching mechanism (8) are located at guidewire controller pedestal (6) is clamped, the seal wire clamping device (7) includes seal wire lock sleeve
Cylinder (710), seal wire locking rod (720) and seal wire lock device (730), the seal wire locking sleeve (710) have taper hole, seal wire
Lock device (730) has the male cone (strobilus masculinus) matched with the taper hole of seal wire locking sleeve (710), the outer cone of seal wire lock device (730)
At least two notch are circumferentially opened up on face, seal wire lock device (730) clamps seal wire by stress radial contraction.
One end installation seal wire lock device (730) of the seal wire locking rod (720) is packed into seal wire locking sleeve (710) afterwards
Interior, seal wire locking rod (720) makes seal wire lock device (730) to clamp seal wire by squeezing seal wire lock device (730).
It is cased with spring (740) on the seal wire locking rod (720), spring (740) is by being mounted on seal wire locking sleeve
(710) the lock device end cap (760) of end is fitted in seal wire locking sleeve (710).
The clamping switching mechanism (8) connects seal wire locking rod (720), can pull seal wire locking rod (720) compressed spring
(740), seal wire locking rod (720) are made to unclamp the extruding to seal wire lock device (730), so that seal wire lock device (730) be made to unclamp
Clamping to seal wire.
4 notch are circumferentially preferably opened up on the male cone (strobilus masculinus) of the seal wire lock device (730), tapered end is cut into uniformly
4 parts.
The guidewire controller pedestal (6) includes shell (610) and covers the upper cover (620) on shell (610), partition
(910) it is mounted in shell (610), the plugboard (941) of seal wire connector (940) passes through upper cover (620), in shell (610)
Bottom a pair of of plate (611) is set, be provided with jack (130) in the support plate (140) on angular adjustment pedestal (10) top, insert
Plate (611) is inserted into jack (130), is fixed by pin.
The angular adjustment pedestal (10), including vertical plate (110), pedestal (120), support plate (140), vertical plate connecting shaft
(150), casing (160), casing connection axis (170), adjustment bar (180), connecting shaft (190) and fastening screw (200).
The guidewire controller further includes seal wire torsion device (630)；The seal wire torsion device (630) is led for driving
Silk locking sleeve (710) rotates.
Seal wire torsion component (630) includes the motor (631) being arranged on guidewire controller pedestal (6), motor
(631) pinion gear (632) are connected；The canine tooth engaged with pinion gear (632) is installed on the seal wire locking sleeve (710)
It takes turns (633).Torque sensor is mounted between the output end of motor and pinion gear；When torque sensor detects rotation driving electricity
After the output torque of machine, real-time output torque subtracts output torque when zero load, when can be obtained to operation catheter manipulation
Real-time torque.
The seal wire locking sleeve (710) is arranged by housing supports component (790) support in guidewire controller pedestal
(6) on；The housing supports component (790) includes positioning base (791), and seal wire locking sleeve (710) passes through bearing (780)
Installation is in positioning base (791).
The bottom of the positioning base (791) is provided with the locking switch (792) that can be stirred by attachment base (793)；Institute
The seal wire connector (940) stated is provided with the plugboard (941) of spliced eye (942), and stirring locking switch (792) can will lock
It switchs in (792) insertion spliced eye (942), to lock seal wire connector (940).
The six-axis force sensor device for measuring force (9) includes the partition being arranged in guidewire controller pedestal (6)
(910), seal wire connector (940) and six-axis force sensor (950)；The seal wire connector (940) is for connecting sleeve branch
Support component (790), it is removably set on partition (910) by line slideway auxiliary B (920)；The six-axis force sensor
(950) one end is connect with partition (910), and the other end is connect with seal wire connector (940).
A kind of control method of such as foregoing intervention operation robot guidewire controller, using seal wire clamping device
(7) seal wire is clamped, drives seal wire clamping device (7) to unclamp the clamping to seal wire, the clamping of seal wire using switching mechanism (8) are clamped
It is separately controlled with release.
The guidewire controller of the utility model can be used in production intervention operation robot, radiography robot, simulation hand
The devices such as art robot.
Beneficial effect
Compared with the prior art, the utility model has the following beneficial effects:
(1) by the way that seal wire clamping device and clamping switching mechanism to be removably mounted in the utility model guidewire controller
On body portion, the clamping and release to seal wire are completed, Structured Design, simple combination is convenient for disassembly and assembly, is conveniently replaceable
And disinfection；And it is different from the existing method of clamping to seal wire, seal wire clamp system clamping seal wire belongs to normality in the utility model,
And clamping switching mechanism can drive seal wire clamp system to unclamp seal wire if necessary, can control clamping and release respectively, thus
The clamping structure that seal wire can be greatly simplified is also beneficial to the clamping of cooperation conduit, completes the cooperating to catheter guide wire；
(2) seal wire clamping device uses special seal wire lock device and seal wire lock sleeve in the utility model guidewire controller
The cone match form of cylinder, seal wire locking rod, which can extrude seal wire lock device, makes its radial contraction, so that seal wire is clamped, this mode
To, all by chucking power, accommodating in seal wire whole circumference, area is big, and clamping is reliable, small to the damage of seal wire；
(3) the utility model guidewire controller applies active force to seal wire locking rod by spring in seal wire clamp system,
So that it is squeezed clamping of the seal wire lock device completion to seal wire, seal wire can be conveniently adjusted by adjusting the pre compressed magnitude of spring
Clamping force, it is easy to adjust；
(4) the utility model guidewire controller cooperates the structure type of seal wire clamp system can by clamping switching mechanism
So that seal wire lock device unclamps the clamping to seal wire, clamps and rotated in switching mechanism by servo driving turntable, the line on turntable
Winding, the elastic force that line pulls seal wire locking rod to overcome spring is mobile, to make seal wire lock from the extruding opened to seal wire lock device
Only device unclamps seal wire, and such frame mode is simple, and easy switching is reliable, and controllability is strong；
(5) the utility model guidewire controller can realize the twist operation to seal wire by seal wire torsion device, thus full
The angle of seal wire head end is controlled in sufficient surgical procedure, guarantees that conduit can be promoted smoothly to predetermined position in the blood vessels；Seal wire
Torsion device uses the form of motor-driven gear, by adjusting the transmission ratio of pinion gear and gear wheel, can adjust turning for conduit
Dynamic speed；
(6) the utility model guidewire controller is able to detect push power of seal wire during push by dynamometry component,
Reach the accurate control of seal wire, improves operation safety；Real-time dynamic force feedback is carried out using six-axis force sensor, can be made
Doctor's direct feel facilitates to drag size and accurately controls push power size in surgical；The dynamometry component is mounted on matrix
Partial interior, compact-sized, structure relative closure can be good at protecting six-axis force sensor, and the survey of six-axis force sensor
Power form is simple and convenient, and intermediate connector is relatively fewer, and dynamometry accuracy is high；
(7) the utility model guidewire controller, seal wire clamp system pass through bearing support seal wire locking using positioning base
The structure of sleeve neither influences the clamping to seal wire, nor affects on seal wire torsion device driving seal wire locking sleeve rotating；
(8) the utility model guidewire controller, the positioning base of seal wire clamp system and the connection structure of seal wire connector
It is ingenious, connection or release can be completed by stirring locking switch, it is easy to disassemble；
(9) the utility model guidewire controller is equipped with angular adjustment pedestal, can be directed to different patients or operation
Intervention position obtains 0-45 ° of any intervention angle by adjusting angular adjustment pedestal, and overall structure is simple, using modularization
Structure design, dismounting combination is easy, compact-sized, and major part all can be used plastics and be made, and overall weight is light, manufacturing cost
It is lower；
Detailed description of the invention
Fig. 1 is the schematic perspective view of the utility model guidewire controller；
Fig. 2 is the schematic view of the front view of body portion in the utility model guidewire controller；
Fig. 3 is the cross-sectional view of A-A in Fig. 2；
Fig. 4 is the cross-sectional view of B-B in Fig. 3；
Fig. 5 is the perspective view of the explosion of body portion in the utility model guidewire controller；
Fig. 6 is the schematic view of the front view of seal wire clamp system in the utility model guidewire controller；
Fig. 7 is the cross-sectional view of C-C in Fig. 6；
Fig. 8 is the cross-sectional view of D-D in Fig. 7；
Fig. 9 is the perspective view of the explosion of seal wire clamp system in the utility model guidewire controller；
Figure 10 is the schematic perspective view that switching mechanism is clamped in the utility model guidewire controller；
Figure 11 is the explosive view that switching mechanism is clamped in the utility model guidewire controller.
Figure 12 is the utility model angle adjustable schematic diagram of base structure；
Figure 13 is the utility model displacement acquisition cellular construction schematic diagram；
Figure 14 is operating platform schematic perspective view viewed from above
Label in attached drawing respectively indicates are as follows:
6 guidewire controller pedestals；610 shells；611 plates；620 upper covers；630 seal wire torsion devices；631 motors；632
Pinion gear；633 gear wheels；
7 seal wire clamping devices；710 seal wire locking sleeves；720 seal wire locking rods；730 seal wire lock devices；740 springs；750
Gasket；760 lock device end caps；770 lock device pulling plates；780 bearings；790 housing supports components；791 positioning bases；792 lockings
Switch；793 attachment bases；794 bearing plates；795 positioning pressuring plates；
8 clamp switching mechanism；810 steering engine seats；811 grafting blocks；820 steering engines；830 turntables；840 switch boards；850 straight lines are led
Rail secondary A；
9 six-axis force sensor device for measuring force；910 partitions；920 line slideway auxiliary B；930 supporting plates；940, seal wire connects
Part；941 plugboards；942 spliced eyes；950 six-axis force sensors；960 sensor fixation plates.
10 angular adjustment pedestals；110 vertical plates；120 pony sills；130 jacks；140 support plates；150 vertical plate connecting shafts；160
Casing；170 casing connection axis；180 adjustment bars；190 connecting shafts and 200 fastening screws.
Specific embodiment
The utility model is further described below with attached drawing combined with specific embodiments below.
Embodiment 1
The present embodiment provides a kind of guidewire controller being mounted on platform link block, the platform link block 1130 has
Two, catheter controller and guidewire controller are installed respectively in two platform link blocks 1030.Wherein, platform link block 1130 is logical
It crosses line slideway auxiliary 1020 to be arranged in support platform 1110, each platform link block 1130 is independent by driving mechanism 1140
Driving, driving mechanism quantity is consistent with platform connection number of blocks, and catheter controller is used to clamp conduit and rotate conduit
With push power detection etc., guidewire controller be used to clamp seal wire and seal wire is rotated and push power detection etc..
Each driving mechanism 1140 includes driving motor 1142, rope 1141 and strainer 1150；
The device is by devising support platform 1110, platform link block 1130, driving mechanism 1140 and strainer
1150 mutual cooperation, using the form of a track multi-slide, to complete to catheter controller and guidewire controller simultaneously, same
On one rectilinear orbit, linear movement control is carried out；Six-axis force sensor is installed simultaneously, the effect of doctor's operation by human hand can be fed back
Power.Convenient with installation and adjustment, control precision is high, and conduit and seal wire can cooperate with push, the intervention such as feedback wire catheter simultaneously
Mechanical power feels sense, the true advantage of feel.
The structure of guidewire controller is described in detail.
The mechanism of guidewire controller
As shown in Figure 1, guidewire controller mainly includes eight parts, respectively guidewire controller pedestal 6, seal wire clamp dress
It sets 7, clamp switching mechanism 8, seal wire torsion device 630, six-axis force sensor device for measuring force 9 and angular adjustment pedestal 10；Wherein,
Guidewire controller pedestal 6 is the installation foundation of other four parts, and seal wire clamping device 7 and clamping switching mechanism 8 are detachable
It is mounted on guidewire controller pedestal 6, seal wire clamping device 7 is located at the upside of guidewire controller pedestal 6, clamps switching mechanism 8
Positioned at the rear side of guidewire controller pedestal 6, seal wire clamping device 7 clamps switching mechanism 8 for driving seal wire for clamping seal wire
Clamping device 7 unclamps the clamping to seal wire, and seal wire torsion device 630 is used to complete the twist operation to seal wire, and six axle powers pass
Sensor device for measuring force 9 is used to detect the push power of seal wire.Six-axis force sensor can be described in Real-time Feedback between seal wire and vascular wall
Resistance and the moment of resistance.The device by the mutual cooperation of each section, loosen, push, reverse and survey by the achievable clamping to seal wire
Power completes the coordinated in surgical procedure to cooperate the control of conduit.The specific structure of each section is distinguished separately below
It is described in detail.
In conjunction with shown in Fig. 2 to Fig. 5, Figure 12, guidewire controller pedestal 6 mainly includes shell 610 and upper cover 620；In this reality
It applies in example, shell 610 is the shell-like structure that top and rear end open, and upper cover 620 is mounted on the top of shell 610, so that shell
Comparatively closed space is formed in 610, is the peace of subsequent seal wire torsion device 630 and six-axis force sensor device for measuring force 9
Fill vacating space.Seal wire clamping device 7 is mounted on the top of upper cover 620, and clamps after switching mechanism 8 is fixed on shell 610
Side, installation site reasonable distribution also comply with the needs that respective function is realized.Due to part based on guidewire controller pedestal 6,
Whole device is to be installed on tilt adjustable section pedestal to carry out corresponding operation by it, for the convenience of installation, in shell
A pair of of plate 611 is arranged in the bottom of B610, and plate 611 is inserted into jack 130, then is fixed by pin.
The angular adjustment pedestal is by vertical plate 110, pedestal 120, support plate 140, vertical plate connecting shaft 150, casing 160, set
Pipe connecting shaft 170, adjustment bar 180, connecting shaft 190 and fastening screw 200 are constituted；The vertical plate is mounted on the base；The set
Pipe is connect with pedestal, can be rotated around casing connection axis；The adjustment bar is embedded in casing 26, and junction is equipped with adjustable
The fastening screw of embedded length；The support plate of the angular adjustment pedestal passes through vertical plate connecting shaft respectively and connect with vertical plate, passes through
Connecting shaft is connect with adjustment bar, and vertical plate connecting shaft and connecting shaft are rotatable connecting shafts.
It needs, can be obtained by adjusting angular adjustment pedestal for different curers or operation intervention position
0-45 ° of any intervention angle；The length that adjustment bar gos deep into casing determines the size of intervention angle, when adjustment bar gos deep into casing
Length when reaching required intervention angle, bar is adjusted by fastening screw and is fixed, angle needed for keeping is constant.
In conjunction with shown in Fig. 2 to Fig. 5, six-axis force sensor device for measuring force 9 is mounted in shell 610, and structure and conduit are surveyed
Power component 5 is similar, it mainly includes partition 910, seal wire connector 940 and six-axis force sensor 950；Wherein, partition 910 is installed
In the centre of shell 610, space in shell 610 is roughly divided into two parts up and down, the opposite two sides of partition 910 flip up
Side plate is formed, a line slideway auxiliary B920 is respectively installed in the opposite inside of two side plates, and line slideway auxiliary B920 connection seal wire connects
Fitting 940, seal wire connector 940 is for connecting seal wire clamping device 7, so that seal wire connector 940 can the cunning of opposed separators 910
Dynamic, this is also the subsequent premise that push power detection can be carried out to seal wire.In the present embodiment, line slideway auxiliary B920 is it is also preferred that adopt
With ball line slideway auxiliary, friction is small can almost ignore, so that the resistance of motion of seal wire connector 940 is negligible, protect
Demonstrate,prove the high-precision of seal wire push power detection.Line slideway auxiliary B920 includes guide rail and sliding block, and guide rail is fixed on the side plate of partition 910
On, sliding block is attached by supporting plate 930 with seal wire connector 940.One L-shaped sensing is also installed on partition 910
One end of device fixed plate 960, sensor 950 is connect with seal wire connector 940, and the other end is connect with sensor fixation plate 960,
In this way, the thrust of seal wire is transmitted on seal wire connector 940 by seal wire clamping device 7,940 opposed separators of seal wire connector
910 is mobile, generates pulling force to six-axis force sensor 950, can pass through conduit described in 10 real-time measurement of six-axis force sensor
Resistance and the moment of resistance between vascular wall.
Pedestal is equipped with guide rail, and displacement acquisition unit 1150 is installed on the base, comprising: laser mouse displacement sensor
51, intervention apparatus guide pipe 52, guide pipe fixing seat 53, guide rail 54.Laser mouse displacement sensor 51 is fixed on the base, and two
A pipe fixing seat 53 is located at 51 both ends of laser mouse displacement sensor, and bottom is matched by lozenges with guide rail 54
It closes, guide rail 54 is screwed on the base, and intervention apparatus guide pipe 52 is fixed in guide pipe fixing seat 53.
Seal wire passes through the measured zone of laser mouse displacement sensor 51 along intervention apparatus guide pipe 52, and enters guiding
Pipe 52, at this point, the axial displacement and swing offset of 51 real-time measurement seal wire of laser mouse displacement sensor, and displacement signal is sent out
Computer is given to be handled；The position of guide pipe fixing seat 53 can be adjusted along guide rail 54.
In order to facilitate the connection between seal wire connector 940 and seal wire clamping device 7, the present embodiment is in seal wire connector
A pair of plugboard 941 with spliced eye 942 is set on 940, and plugboard 941 passes through upper cover 620 out of shell 610, makes grafting
Hole 942 is higher by the surface of upper cover 620, by it enable seal wire connector 940 quickly connect with seal wire clamping device 7 or
It removes.At the same time, it is the structure type for adapting to seal wire connector 940, also has specifically to the structure of seal wire clamping device 7
It is required that can illustrate below.
As shown in Fig. 6 to 9, seal wire clamping device 7 includes seal wire locking sleeve 710, seal wire locking rod 720, seal wire locking
Device 730 and housing supports component 790；Wherein, seal wire locking sleeve 710, seal wire locking rod 720 and seal wire lock device 730 all have
Have along the perforative centre bore of respective axis, so that seal wire passes through；Seal wire lock device 730 is in similar mushroom-shaped structure, both ends size
Different, lesser one end can be inserted into the end of seal wire locking rod 720, and biggish one end exposes outside, and have male cone (strobilus masculinus), along outer cone
The circumferencial direction in face opens up at least two notch, opens up 4 notch in the present embodiment, and tapered end is cut into uniform 4
Part；And the seal wire locking rod 720 for being packed into seal wire lock device 730 is inserted into seal wire locking sleeve 710, and in seal wire lock device 730
With the taper hole matched with the male cone (strobilus masculinus) of seal wire lock device 730.Meanwhile seal wire locking rod 720 is close to seal wire locking rod 720
One end there is baffle ring, be cased with spring 740 on seal wire locking rod 720, one end of spring 740 is limited by baffle ring, then is locked in seal wire
Only lock device end cap 760 is installed in the end of sleeve 710, spring 740 is fitted in seal wire locking sleeve 710, at lock device end
Gasket 750 is set between lid 760 and the end of spring 740, so that the better holddown spring 740 of lock device end cap 760.In this way,
Lock device end cap 760 squeezes spring 740, and spring 740 applies thrust to seal wire locking rod 720, and then seal wire locking rod 720 squeezes
Seal wire lock device 730, so that opposite move occurs for the taper hole surface of the male cone (strobilus masculinus) of seal wire lock device 730 and seal wire locking sleeve 710
It is dynamic, due to the presence of 730 upper cut of seal wire lock device, so that seal wire lock device 730 has the end meeting radial contraction of the conical surface, folder
Tight seal wire, area is big, and clamping is reliable, the damage to seal wire to, all by chucking power, accommodating in seal wire whole circumference for such mode
It is small.
To meet connection and subsequent seal wire torsion device 630 of the above-mentioned seal wire clamping device 7 with seal wire connector 940
It can be realized the torsion to seal wire, the present embodiment is designed the support construction of seal wire locking sleeve 710, using seal wire locking
Sleeve 710 supports the structure type being arranged on guidewire controller pedestal 6 by housing supports component 790.The housing supports group
Part 790 includes positioning base 791, bearing plate 794 and positioning pressuring plate 795；Wherein, positioning base 791 has the receiving of U-shaped
Chamber, there are two bearing card slots for the interior tool of accommodating chamber, and a bearing 780, two bearings are respectively installed in the both ends of seal wire locking sleeve 710
780 are stuck in bearing card slot, push down bearing above bearing 780 with bearing plate 794, can prevent seal wire locking sleeve 710
Axial float, it is fixed by positioning pressuring plate 795 again in bearing plate 794, prevent the radial-play of seal wire locking sleeve 710, axis
Plug connection mode is used between bearing plate 794 and positioning base 791, inserting is convenient.In addition, in 791 bottom of positioning base
Two sides respectively open up an open slot, attachment base 793 are equipped in open slot, and in positioning base 791 and attachment base 793
Between space in the locking switch 792 that can stir is set, locking switch 792 is for lockking or unlocking seal wire connector 940.
Locking switch 792 is made of horizontal snap-gauge and vertical swinging plate, and snap-gauge is slidably arranged in the sliding slot on attachment base 793,
Swinging plate passes through the hole on positioning base 791, exposes the surface of attachment base 793, for stirring.It is installed in seal wire clamping device 7
When the top of upper cover 620, plugboard B941 is inserted into the vertical jack formed between positioning base 791 and attachment base 793, is passed through
Locking switch 792 is stirred, in the spliced eye B942 that may make snap-gauge insertion plugboard B941, to realize seal wire clamping device 7
With being detachably connected for seal wire connector 940.
In conjunction with shown in Fig. 1 to Fig. 5, the structure of seal wire torsion device 630 includes motor 631, pinion gear 632 and gear wheel
633；Wherein, motor 631 is fixed in shell 610, has good protective effect, the output axis connection pinion gear of motor 631
632, gear wheel 633 is connect by key with the front end of seal wire locking sleeve 710,633 engaged transmission of pinion gear 632 and gear wheel.
Torque sensor is mounted between the output end of motor and pinion gear.
In use, 631 driving pinion 632 of motor rotates, by big pinion gear engaged transmission, the drive of gear wheel 633 is led
Silk locking sleeve 710 rotates, under the premise of seal wire clamps, seal wire can root rotated together with seal wire locking sleeve 710, so as to
The angle of guidewire tip is adjusted, guarantees that conduit can be promoted smoothly in the blood vessels.When torque sensor detects rotation driving electricity
After the output torque of machine, real-time output torque subtracts output torque when zero load, when can be obtained to operation catheter manipulation
Real-time torque.
The twist operation to seal wire can be realized by seal wire torsion device 630, to meet in surgical procedure to conductive filament head
The angle at end controls, and guarantees seal wire in conduit and intravascular can smoothly promote to predetermined position；Seal wire torsion device
630 drive the form of gear that the velocity of rotation of seal wire can be adjusted by adjusting the transmission ratio of big pinion gear using motor 631.
In conjunction with shown in Figure 10 and Figure 11, clamping switching mechanism 8 includes steering engine seat 810 and steering engine 820；Wherein, steering engine seat 810
It is installed to shell 610 for switching mechanism 8 will to be clamped, steering engine 820 is mounted on steering engine seat 810, and steering engine 820 is connected with turntable
830, and turntable 830 can be driven to rotate, wind on turntable 830 wired, the free end of line makes for pulling seal wire locking rod 720
Seal wire locking rod 720 unclamps the extruding to seal wire lock device 730, so that seal wire lock device 730 be made to unclamp the clamping to seal wire.For
It can be realized above-mentioned function, and do not influence the clamping under the usual state of seal wire to seal wire, to line and seal wire locking rod 720
Connection structure is designed, and in this embodiment, the end of seal wire locking rod 720 is connected through a screw thread a lock device pulling plate 770,
Between lock device pulling plate 770 and lock device end cap 760 at a distance, this distance can by lock device pulling plate 770 with lead
Silk locking rod 720 is threadedly engaged length adjustment；Meanwhile switch boards are provided with by line slideway auxiliary 850A on partition 910
840, switch boards 840 have arc gap, and by the notch, switch boards 840 are stuck in lock device end cap 760 and lock device pulling plate
Between 770, turntable 830 is online to be connect with switch boards 840, so that steering engine 820 drives turntable 830 to rotate, is pulled and is switched by line
Plate 840 moves backward, and switch boards 840 are locked up device pulling plate 770 and block, and seal wire locking rod 720 is driven to overcome spring 740 backward
It is mobile, to unclamp seal wire.
Clamping switching mechanism 8 will be led for convenience to be installed on shell 610, steering engine seat 810 is equipped with for attaching it to shell
A pair of of grafting block 811 on body 610, the rear side of shell 610 is inserted by this grafting block 811, and blending bolt is fixed
Complete connection.
In the prior art for the clamping of seal wire and to loosen realized by the same mechanism, they are not grasped separately
Make, causes clamp structure relatively complicated, but when specifically used, seal wire is all to need to clamp in most cases
, generally in conduit and seal wire cooperation operation, only reaches capacity position, need in conduit clip position and seal wire clip position
Just unclamped when the adjustment of seal wire clip position and need to unclamp seal wire, therefore, the present embodiment is considering to actually use situation, will
The clamping and release of seal wire are separately controlled, and the default of seal wire clamping device 7 clamps always seal wire, and when needing to unclamp seal wire, lead to
It crosses clamping switching mechanism 8 to switch over, seal wire is unclamped, so that structure is optimized significantly.
In summary illustrate, to the structure and its connection relationship of intervention operation robot guidewire controller each section
Clear and complete statement has been carried out, has been had the advantage that are as follows:
1. overall structure is simple, designed using modular structure, it is comparatively independent between each section, by simple
Assembling can be completed in combination, and dismounting is all convenient, and compact-sized small in size；Most of modular construction is simple, and plastics can be used
Product is made, light-weight, and substantially reduces manufacturing cost；
2. can be achieved at the same time the clamping of seal wire, release, push, torsion, dynamometry, displacement monitoring and force feedback, on device
The six-axis force sensor of installation can pass the power and moment information of seal wire back, so that operator be allow remotely to perceive in real time
The resistance generated during wire feed provides strong guidance for the subsequent action of operator, cooperates catheter controller to leading
The operation of pipe seal wire Collaborative Control, meets the various operational requirements of operation；
3. having angle adjustable pedestal, angle can be adjusted according to operation demand, adaptability is wider, more seals
The structure type closed all has preferable protection to sensor and motor；
Can mainly be completed using above-mentioned guidewire controller the clamping to seal wire, loosen, push, reversing, dynamometry and power it is anti-
Feedback meets the various operational requirements of intervention operation, its corresponding operation step is described in detail below.
Firstly, guidewire controller pedestal 6 is inserted by plate 611 into the jack of angular adjustment pedestal, and solid with pin
Fixed, angular adjustment pedestal is reliably connected with platform link block.Then, the front end of seal wire sequentially passed through into seal wire locking rod 720, led
Silk lock device 730, and stretched out from the front end of seal wire locking sleeve 710, lock device end cap 760 is tightened, seal wire lock device 730 is pressed from both sides
Tight seal wire.
After above preparation, seal wire can be controlled accordingly, specific as follows:
(1) push operation of seal wire
Steering engine B820 is failure to actuate, and seal wire is clamped by seal wire lock device 730, and platform link block 1130 is mobile, leads to drive
Silk moves forward together, realizes the push of seal wire.
(2) the push power detection of seal wire
During seal wire push, the thrust of seal wire is transferred to six-axis force sensor 950, six axis through seal wire clamping device 7
Force snesor B950 generates deformation, and force signal is transformed into electric signal output, to measure push power size.
(3) twist operation of seal wire
Under the premise of seal wire clamps, motor 631 must be electric, passes through the engaged transmission of pinion gear 632 and gear wheel 633, drives
Dynamic seal wire locking sleeve 710 rotates, so that seal wire be driven to rotate, realizes the twist operation of seal wire.
(4) the release operation of seal wire
Steering engine 820 must be electric, and driving turntable 830 rotates, and line is wound on turntable 830, first switch boards 840 is driven to move back, cut
Changing plate 840 pulls seal wire locking rod 720 mobile, and seal wire lock device 730 unclamps the clamping to seal wire.
The clamping of seal wire, release, push, torsion and push power are detected by the way that above step is achievable, between each step
The orderly cooperating for can be completed seal wire cooperation conduit, so as to meet the various operational requirements in surgical procedure.
The clamping of seal wire, release, push, torsion and push power are detected by the way that above step is achievable, between each step
The orderly cooperating for can be completed seal wire cooperation conduit, so as to meet the various operational requirements in surgical procedure.
Example described in the utility model is only that preferred embodiments of the present invention are described, not to this reality
It is defined with novel conception and scope, under the premise of not departing from the design concept of the utility model, this field engineering technology people
The various changes and improvements that member makes the technical solution of the utility model, should all fall into the protection scope of the utility model.
Claims (8)
1. a kind of guidewire controller, it is characterised in that: including guidewire controller pedestal (6) and be mounted on guidewire controller pedestal
(6) seal wire clamping device (7) on, the clamping switching mechanism (8) being mounted on guidewire controller pedestal (6), six axle powers sensing
Device device for measuring force (9) is equipped with angular adjustment pedestal (10) under pedestal, and seal wire clamping device (7) for clamping seal wire, cut by clamping
Structure (8) are changed planes for driving seal wire clamping device (7) to unclamp the clamping to seal wire, six-axis force sensor device for measuring force (9) is used for
Resistance or the moment of resistance, seal wire clamping device (7) during measurement guide wire motion are located at the upside of guidewire controller pedestal (6),
The rear side that switching mechanism (8) are located at guidewire controller pedestal (6) is clamped, the seal wire clamping device (7) includes seal wire lock sleeve
Cylinder (710), seal wire locking rod (720), seal wire lock device (730) and housing supports component (790), the clamping switching mechanism
It (8) include steering engine seat (810) and steering engine (820), steering engine (820) is connect with turntable (830), and turntable (830) can be driven to rotate, and is turned
Wind wired on disk (830), the end of line unclamps seal wire locking rod (720) to seal wire for pulling seal wire locking rod (720)
The extruding of lock device (730), the angular adjustment pedestal (10), including it is vertical plate (110), pedestal (120), support plate (140), vertical
Plate connecting shaft (150), casing (160), casing connection axis (170), adjustment bar (180), connecting shaft (190) and fastening screw
(200)。
2. guidewire controller according to claim 1, it is characterised in that: clamping switching mechanism (8) the connection seal wire lock
Only bar (720) can pull seal wire locking rod (720) compressed spring (740), unclamp seal wire locking rod (720) to seal wire locking
The extruding of device (730), so that seal wire lock device (730) be made to unclamp the clamping to seal wire, the end of seal wire locking rod (720) passes through
It is threadedly coupled lock device pulling plate (770), the guidewire controller pedestal (6) includes shell (610) and covers on shell (610)
Upper cover (620), partition (910) is mounted in shell (610), and the plugboard (941) of seal wire connector (940) passes through upper cover
(620), on a pair of of plate (611) of the bottom of shell (610) setting, the support plate (140) on angular adjustment pedestal (10) top
It is provided with jack, plate (611) is inserted into jack, fixes by pin.
3. guidewire controller according to claim 2, it is characterised in that: the clamping switching mechanism (8) is provided with straight line
Guideway A (850) is provided with switch boards (840) on line slideway auxiliary A (850)；Switch boards (840) have arc gap, lead to
The notch is crossed, switch boards (840) are stuck between lock device end cap (760) and lock device pulling plate (770), the line on turntable (830)
It is connect with switch boards (840), the six-axis force sensor device for measuring force (9) includes being arranged in guidewire controller pedestal (6)
Partition (910), seal wire connector (940) and six-axis force sensor (950)；The seal wire connector (940) is for connecting
Housing supports component (790), it is removably set on partition (910) by line slideway auxiliary B (920)；Six axle power passes
One end of sensor (950) is connect with partition (910), and the other end is connect with seal wire connector (940).
4. guidewire controller described in any one of -3 according to claim 1, it is characterised in that: steering engine seat (810) is equipped with
A pair of of grafting block (811), by the rear side of grafting block (811) insertion guidewire controller shell (610), blending bolt is fixed
Connection.
5. guidewire controller described in any one of -3 according to claim 1, it is characterised in that: guidewire controller further includes leading
Silk torsion device (630)；The seal wire torsion device (630) is for driving seal wire locking sleeve (710) to rotate.
6. guidewire controller according to claim 5, it is characterised in that: the seal wire torsion device (630) includes setting
Motor (631) on guidewire controller pedestal (6), motor (631) connect pinion gear (632)；The seal wire locking sleeve
(710) gear wheel (633) engaged with pinion gear (632) is installed, torque sensor is mounted on the output end of motor and small on
Between gear；After torque sensor detects the output torque of rotary drive motor, when real-time output torque subtracts zero load
Output torque, obtain to operation catheter manipulation when real-time torque.
7. guidewire controller according to claim 5, it is characterised in that: the seal wire locking sleeve (710) passes through set
Cylinder support component (790), which supports, to be arranged on guidewire controller pedestal (6)；The housing supports component (790) includes positioning bottom
Seat (791), seal wire locking sleeve (710) are mounted in positioning base (791) by bearing (780).
8. guidewire controller according to claim 7, it is characterised in that: the bottom of the positioning base (791) passes through company
Joint chair (793) is provided with the locking switch (792) that can be stirred；The seal wire connector (940) is provided with spliced eye (942)
Plugboard (941), stir locking switch (792) can by locking switch (792) be inserted into spliced eye (942) in, thus lock lead
Silk connector (940).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721136592.5U CN208876745U (en) | 2017-08-31 | 2017-08-31 | A kind of guidewire controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721136592.5U CN208876745U (en) | 2017-08-31 | 2017-08-31 | A kind of guidewire controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208876745U true CN208876745U (en) | 2019-05-21 |
Family
ID=66489705
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721136592.5U Active CN208876745U (en) | 2017-08-31 | 2017-08-31 | A kind of guidewire controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208876745U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110236680A (en) * | 2019-07-10 | 2019-09-17 | 北京唯迈医疗设备有限公司 | A kind of intervention operation robot reciprocator |
| CN110269999A (en) * | 2019-07-12 | 2019-09-24 | 中国科学院深圳先进技术研究院 | Blood vessel intervention operation device |
| CN111672011A (en) * | 2020-06-17 | 2020-09-18 | 清华大学 | Multi-action cooperative intervention operation manipulator with multi-dimensional force perception |
| CN114587616A (en) * | 2022-02-23 | 2022-06-07 | 上海奥朋医疗科技有限公司 | Guide wire catheter conveying device |
-
2017
- 2017-08-31 CN CN201721136592.5U patent/CN208876745U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110236680A (en) * | 2019-07-10 | 2019-09-17 | 北京唯迈医疗设备有限公司 | A kind of intervention operation robot reciprocator |
| CN110269999A (en) * | 2019-07-12 | 2019-09-24 | 中国科学院深圳先进技术研究院 | Blood vessel intervention operation device |
| CN110269999B (en) * | 2019-07-12 | 2020-06-16 | 中国科学院深圳先进技术研究院 | Vascular intervention operation device |
| CN111672011A (en) * | 2020-06-17 | 2020-09-18 | 清华大学 | Multi-action cooperative intervention operation manipulator with multi-dimensional force perception |
| CN111672011B (en) * | 2020-06-17 | 2021-07-09 | 清华大学 | Multi-action cooperative intervention operation manipulator with multi-dimensional force perception |
| CN114587616A (en) * | 2022-02-23 | 2022-06-07 | 上海奥朋医疗科技有限公司 | Guide wire catheter conveying device |
| CN114587616B (en) * | 2022-02-23 | 2023-04-25 | 上海奥朋医疗科技有限公司 | Guide wire catheter conveying device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208893426U (en) | A kind of seal wire auxiliary clamping device | |
| CN107744405A (en) | A kind of robot is from end device, operating system and its control method | |
| CN209136865U (en) | A kind of robot is from end device, operating system | |
| CN208876745U (en) | A kind of guidewire controller | |
| CN107754072A (en) | A kind of guidewire controller and its operating method | |
| CN209137698U (en) | A kind of catheter controller | |
| CN107753107A (en) | A kind of guidewire controller and its operating method | |
| CN105662586B (en) | A kind of intervention operation robot and its control method of catheter guide wire collaboration push | |
| CN107789720A (en) | A kind of seal wire auxiliary clamping device and its method for controlling seal wire | |
| CN105662588B (en) | A kind of master-slave mode interventional surgery remote operating system | |
| CN107744406A (en) | A kind of robot manipulation's platform and its operating method | |
| CN107374738A (en) | A kind of intervention operation robot from end and its mobile platform and control method | |
| CN107374739B (en) | Slave end device of interventional operation robot and control method thereof | |
| CN107307909A (en) | One kind intervention robot remote operating system and its control method | |
| CN205814427U (en) | A kind of master-slave mode interventional surgery remote operating system | |
| CN108888848B (en) | Robot mechanical system for precision intervention operation of micro-fine wire tube | |
| US7881823B2 (en) | Robotic positioning and orientation device and needle holder comprising one such device | |
| CN207970143U (en) | A kind of intervention operation robot is from end device | |
| CN110151310B (en) | Catheter/guide wire rotary pushing device of minimally invasive vascular interventional surgical robot | |
| CN109567947A (en) | A kind of intervention operation robot is from end device and its control method | |
| CN101991901B (en) | Robotic drive for catheter | |
| CN208989133U (en) | A kind of robot manipulation's platform | |
| CN207979771U (en) | A kind of intervention operation robot is from end device and its operating platform | |
| CN106175917A (en) | Intersection of sliding perspective orthopaedics pedicle screw inserts auxiliary equipment | |
| CN107744616A (en) | A kind of catheter controller and its application method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210823 Address after: 100160 119 South 4th Ring Road West, Fengtai District, Beijing Patentee after: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Address before: 100050 Tiantan Xili 6, Dongcheng District, Beijing Patentee before: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Patentee before: Li Youxiang Patentee before: Jiang Yuhua |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Beijing wansi Medical Technology Co.,Ltd. Assignor: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Contract record no.: X2024980004749 Denomination of utility model: A wire guide controller Granted publication date: 20190521 License type: Exclusive License Record date: 20240422 |