CN209136865U - A kind of robot is from end device, operating system - Google Patents
A kind of robot is from end device, operating system Download PDFInfo
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- CN209136865U CN209136865U CN201721101960.2U CN201721101960U CN209136865U CN 209136865 U CN209136865 U CN 209136865U CN 201721101960 U CN201721101960 U CN 201721101960U CN 209136865 U CN209136865 U CN 209136865U
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Abstract
The utility model discloses a kind of robots from end device, operating system, belongs to interventional surgery technical field.The operation includes installation catheter controller on a mobile platform and guidewire controller from end device, and system includes main side part and from end part, and main side part is by the connection of wirelessly or non-wirelessly communication modes from end part；Main side part receives operation signal, and control is acted from end part, and receives the feedback signal from end part；The operation signal that main side part issues is received and performed from end part；, easily disinfection simple from the design of end device structure, and solve the problems, such as that existing robot is difficult to complete to conduit and seal wire cooperating, six-axis force sensor, displacement measuring device, IP camera are installed on device, doctor's hand is set remotely to perceive the resistance generated in moving process, moving distance, whole camera record, realization more accurately operate.
Description
Technical field
The utility model belongs to interventional surgery technical field, be related to it is a kind of from end device, operating system and its
Control method.The robot can be used for radiography, interventional surgery virtual reality surgery training and operation from end device
In practical operation.It solves the problems, such as that existing robot is difficult to complete to conduit and seal wire cooperating, while being equipped with multiple power and examining
Sensor, camera are surveyed, doctor's hand is enable to perceive strength used, whole camera record, realization more accurately operates.If
Height adjustable base and angle adjustable pedestal are set, operating platform height is adjusted, is suitble to requirement of the different doctors to height, is adjusted
Conduit, seal wire angle adapt to different operations and need.
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, and the whole world has 16,700,000 every year
People dies of cardiovascular and cerebrovascular disease, and the 29.2% of Zhan Suoyou mortality, in annual 9000000 Patients with Cardiovascular/Cerebrovascular Diseases of China just
There are 2,500,000 people dead.
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, BJ University of Aeronautics & Astronautics applies
Application No. is: 201210510169.2 patent of invention discloses a kind of Master-slave teleoperation vascular intervention surgical robot, packet
Include main side operating-controlling mechanism, from end propulsive mechanism, PMAC controller；Operating side of the main side operating-controlling mechanism as doctor；It is promoted from end
Executing agency of the mechanism as robot replaces doctor to hold conduit, completes the motor function of conduit in operating room；PMAC control
Case processed be used to realize main side operating-controlling mechanism and from end propulsive mechanism between information transmit, thus make from end conduit propulsive mechanism according to
The motion information of main side operating-controlling mechanism is moved, and uses principal and subordinate's remote operating mode that doctor is assisted to implement operation, is promoted from end
Mechanism realizes the axial feed of conduit and the movement that rotates in a circumferential direction.For another example, Harbin Institute of Technology is in a kind of entitled use of application
In the patent of the catheter robot system of intravascular minimally invasive intervention operation, steerable catheter is used, can get steerable catheter bending
The posture information of controllable segment guarantees the flexibility of steerable catheter front end and the navigability of intubation operation, while passing through main hand
Handle control principal and subordinate's intervention device realize steerable catheter push away draw, rotation and flexure operation, and operating room steerable catheter can be obtained
Force information is conveyed, guarantees the accuracy and stability of intubation.As Beijing Institute of Technology apply application No. is:
201510064919.1 disclose a kind of measuring device for intervention operation robot, its pedestal has been connected by hinge
Lid；Upper cover is equipped with spill limit plate and pushing block, and when upper cover closure, spill limit plate is by stud wheel and driving wheel, idle pulley pressure
Tightly, the displacement of limitation vertical direction, pushing block promote the U-shaped baffle in left side to the right, and separately the U-shaped baffle in right side, the U-shaped baffle in left side will be led
Silk driving auxiliary member clamps；Pedestal is mounted on the sliding block of linear drives component.The program can effectively reduce push power and conduct
Loss in the process is reduced because of large error caused by the reasons such as assembling or vibrating, but it is served only for driving seal wire, is unable to complete
The cooperating of catheter guide wire also can not understand during surgery seal wire in the blood vessels, the opposite position between seal wire head end and vascular wall
It sets.
Above scheme is the domestic research relatively advanced for blood vessel intervention operation robot, but they all exist it is following several
Aspect problem: (1) can only individually push seal wire or conduit, cannot cooperate with push conduit and seal wire in the course of surgery, cannot be complete
The operational motion of full simulation doctor, and need wire catheter some while the position of advance being cooperated to be difficult to operate, Jin Erzao
, surgical inefficiency low at operation precision, low to the auxiliary degree of doctor, there are some potential safety problemss；(2) operating platform and
Controller architecture is complicated, and not only manufacturing cost is high, but also influences operation precision；(3) dismounting of catheter guide wire is inconvenient, is not easy to
Catheter guide wire is replaced in operation, it has not been convenient to carry out disinfection processing to conduit, seal wire and interface；(4) conduit can not be known in operation
The relative position of seal wire in the blood vessels, operation risk are higher.
By can be seen that prior art analysis, in the operation of actual operation, it usually needs conduit, seal wire and auxiliary
Mechanism can arbitrarily realize linear motion respectively in the axial direction, and generally require catheter guide wire cooperating, cooperate
Advance.And the prior art has the following problems: (1) volume weight is big: due to manipulated respectively using two sets of sliding rails conduit and
Seal wire, device volume is big, take up a large area, weight is big, therefore is not suitable for being placed in operating room and carries out clinical operation operation；(2)
The actual act of doctor's operation by human hand cannot be reproduced, the collaboration push of conduit and seal wire cannot be completed, do not meet actual operation behaviour
Make demand；(3) scalability is poor: in surgical procedure, need to conduit and seal wire progress auxiliary operation, and the axial direction of auxiliary operation
It when moving along a straight line asynchronous with the movement of conduit, seal wire, needs to increase sliding rail, and uses the form of existing line slide rail, utilize
Sliding rail axis arrangement, respective stroke is not intersection, therefore cannot complete the extension to its function.(4) operation carries out body
Internal portion, what the contact force between blood vessel and conduit cannot be detected.Doctor operates in main side in Minimally Invasive Surgery, cannot directly feel
Received information by from terminal tool and tissue.Currently, needing to provide one kind in a hurry can be realized catheter guide wire collaboration behaviour
Make, and has the operating robot of tactile data visual feedback from end operating device and operating system.
The utility model people and Beijing Institute of Technology cooperate research, persistently to the technology progress of intervention operation robot
Research is dedicated to improving the mode of operation of device, more meets doctor's actual demand, structure is simpler, and dynamometry more comprehensively, is easy to tear open
The device of dress.
Utility model content
In view of the drawbacks of the prior art, the utility model aim be to provide a kind of robot from end device, operating system and
Its control method, slave end device and operating system purpose are to solve the prior art to be difficult to meet catheter guide wire cooperating to want
It asks, while cannot be as operating traditional operation the problem of direct feel tactile data.This is used to intervene operation or radiography or training
The robot of instruction is equipped with catheter controller and guidewire controller from end device, and conduit and seal wire is enabled to operate control simultaneously
System, and is equipped with multiple sensors, solves existing robot and is difficult to complete to conduit and seal wire cooperating and can not be intuitive
The problem of experiencing surgical procedure improves intervention operation or the safety and operability of radiography, height is adjusted, solves existing machine
Device people can not adapt to the problem of different doctors, and structure is simple and easy to implement, while the device can also be used to operation training or teaching
Training.
The utility model is achieved through the following technical solutions:
It is a kind of for radiography or the robot of intervention operation or training from end device, it is characterised in that: be arranged from end device
On the operational platform, the operating platform has more than two platform sliding blocks, includes catheter controller and seal wire control from end device
Device processed, the catheter controller and guidewire controller are separately mounted on the platform sliding block (1030), the platform sliding block peace
It is mounted on same line slideway auxiliary D (1020), catheter controller and guidewire controller is carried out on same rectilinear orbit straight
The mobile control of line；It is installed below height adjustable base (1101) in operating platform 1110, the height adjustable base is risen by two
Platform is dropped to constitute；The lifting platform mounting plate is mounted on lifting platform A and lifting platform B；The IP camera collection site is schemed in real time
Picture.The catheter controller includes catheter controller main part (1), conduit clamp system (3), seal wire auxiliary clamp mechanism
(2) and angular adjustment pedestal A (11), conduit are the surgical catheters with side wall contact force sensor；The guidewire controller
Including seal wire basic body (6), the seal wire clamp system (7) being mounted on basic body (6), clamp switching mechanism (8), the survey of six axle powers
Power component (9) and angular adjustment pedestal B, seal wire clamp system (7) clamp switching mechanism (8) for driving for clamping seal wire
Seal wire clamp system (7) unclamps the clamping to seal wire,
The conduit clamp system (3) for clamping conduit, lead for clamp or release by seal wire auxiliary clamp mechanism (2)
Silk；The conduit clamp system (3) and seal wire auxiliary clamp mechanism (2) is removably mounted at catheter controller main part
(1) on.
The conduit clamp system (3) includes medical three-way valve (310) and clamp assemblies (320)；Medical three-way valve packet
Three-way body, control valve and screw-cap are included, screw-cap can be rotated relative to three-way body.
The medical three-way valve (310) is used for connecting conduit, it is fixed on main part by clamp assemblies (320)
(1) on；The main part (1) includes shell A (110) and the upper cover (120) being mounted on shell A (110), clamping group
Part (320) is removably mounted on upper cover (120).
Seal wire auxiliary clamp mechanism 2 is fixed on the rear end of shell 110, and a pair of of plate 111 is arranged in the bottom of shell 110, right
It should be arranged on platform sliding block 1130 and connect hole fastly, the insertion of plate 111 connects hole fastly, and pin hole is arranged on plate 111, is passed through by pin
Platform sliding block 1130 is inserted into pin hole.
Catheter controller further includes conduit torsion component (4), including motor A (401), pinion gear A (402) and gear wheel A
(403), motor A401 driving pinion A402 is rotated, and passes through pinion gear A402 and gear wheel A403 engaged transmission, gear wheel
A403 drives connecting utricle 324 to rotate, so that conduit be driven to reverse, can adjust the angle of conduit head end, the center of gear wheel A403
The hole to match with 324 shape of connecting utricle is set, and connecting utricle 324 is inserted into can be by connecting utricle 324 and gear wheel A403 in the hole
Connection.Torque sensor 47 for detecting rotation torque, the torque sensor 47 be mounted on motor A (401) output end and
Between pinion gear A (402)；After torque sensor 47 detects the output torque of motor A401, real-time output torque is subtracted
Output torque when unloaded, real-time torque when can be obtained to operation catheter manipulation；
The angular adjustment pedestal (11) is mounted on platform sliding block (1130), by pan frontward end vertical plate 24, pony sill 25,
Support plate 52, vertical plate connecting shaft 27, casing 26, casing connection axis 53, adjustment bar 28, connecting shaft 36 and fastening screw 35 are constituted,
Have in support plate 52 and connects hole fastly.
The seal wire auxiliary clamp mechanism (2) includes supporting element (220), clamping element (230) and driving element；The folder
Tight part (230) is arranged in supporting element (220) by spring (240) support, and the upper end of clamping element (230) has compact heap
(231), driving element can driving support member (220) lower movement in the vertical direction.
The driving element is steering engine A (250), and steering engine A (250) connection line wheel (260), line wheel is wound on (260)
One end of line, line connects clamping element (230).
The seal wire clamp system (7) includes seal wire locking sleeve (710), seal wire locking rod (720) and seal wire lock device
(730)。
It further include displacement measuring device 1170 from end device, institute's displacement measurement device is arranged on a platform sliding block,
For measuring the displacement of conduit, seal wire, and by collected axial displacement and swing offset, sends computer to and calculate and divide
Analysis.Surgical catheters are the surgical catheters of force sensor；Before the sensor is duct wall contact force sensor and conduit
End collision force snesor.
Further, a kind of robot is from end device remote operating system, including main side part and from end part, from end
Dividing includes catheter controller and guidewire controller, and main side part is connected by wirelessly or non-wirelessly communication modes from end part, special
Sign is: the main side part receives operation signal, and control is acted from end part, and receives the feedback signal from end part；Institute
It states from end part and receives and performs the operation signal that main side part issues.
Beneficial effect
Compared with the prior art, the utility model has the following beneficial effects:
(1) the slave end device of the utility model is equipped with catheter controller using the multiple platform sliding blocks of a track and leads
The mode of silk controller can complete the collaboration push of the front and back on the same track of conduit and seal wire, continuous, accurate to promote
With rotary guide pipe and seal wire, as needed simultaneously it is successive or it is independent conduit and seal wire are controlled respectively, meet practical hand
Art operational requirements simulate doctor's practical operation completely, effectively improve procedure efficiency, reduce medical staff contact radiation device when
Between；
(2) the slave end device of the utility model, it is small in size, it is light-weight, it is at low cost, clinical hand can be preferably applied for
Art；
(3) the slave end device of the utility model, can allow for doctor to go to operate as traditional operation, installing force sensing
Device, using have side wall sensor conduit, can be realized to the information monitoring during operation, real-time tactile data is straight
That sees feeds back to doctor, improves the safety and operability of intervention operation.
(4) in the utility model catheter controller by by conduit clamp system and seal wire auxiliary clamp mechanism removably
Be mounted in main part, this clamp system structure is simple, overcomes the defect for being not easy to sterilize in the prior art, it is easy to disassemble more
Disinfection is changed, and cooperates guidewire controller, it can be achieved that conduit, seal wire are individually or simultaneously pushed, can copy doctor's hand
Dynamic cooperating；
(5) the creative use clamp assemblies of conduit clamp system clamp Medical tee joint in the utility model catheter controller
The structure type of valve, dismounting combination is simple, enormously simplifies clamp structure, medical three-way valve not only can be simple and quick with conduit
Connection can be in the course of surgery to blood vessel convenient for the disinfection of their junctions, and more important is by medical three-way valve
Contrast agent is inside squeezed into, radiography, and then the relative position of observable catheter guide wire and blood vessel are carried out to internal blood vessel, convenient for conduit
The further operating of seal wire improves the safety of operation；In addition, cost is relatively low for medical three-way valve, and it can be disposable, it is finished
It is i.e. discardable, it does not need to sterilize as existing clamping device repeated disassembled and assembled；
(6) twist operation to conduit can be realized by reversing component by conduit in the utility model catheter controller, thus
Meet in surgical procedure and the angle of conduit head end is controlled, guarantees that conduit can be promoted smoothly to predetermined position in the blood vessels；It leads
Silk torsion component have the effect of similarly it is simple and convenient, easily controllable operation can be reversed, can be surveyed by torque sensor
Measure torque；
(7) clamp assemblies of conduit clamp system can be simply to medical three-way valve in the utility model catheter controller
Reliable retention is carried out, and by the switching toggle in clamp assemblies, can be rapidly completed in conduit holder and dynamometry component
The dismounting of conduit connecting plate, smart structural design；
(8) seal wire auxiliary clamp mechanism innovatively uses servo driving line wheel to drive in the utility model catheter controller
The structure type that line pulls clamping element to be clamped seal wire, the opposition of spring can make clamping element unclamp seal wire, operation
It is simple and convenient, convenient for control, conduit clamp system can be cooperated to complete to operate the coordinated of catheter guide wire；
(9) the utility model intervention operation robot is provided with angular adjustment pedestal from end device, can be directed to different
Patient or operation intervention position, 0-45 ° of any intervention angle is obtained by adjusting angular adjustment pedestal；Adjustment bar deeply covers
The length of pipe determines the size of intervention angle, when the length for adjusting bar and going deep into casing reaches the desired intervention angle of doctor,
It is fixed by fastening screw, overall structure is simple, and catheter controller and guidewire controller are all made of modular construction and set
Meter, dismounting combination is easy, compact-sized, and major part all can be used plastics and be made, and overall weight is light, and manufacturing cost is lower.
Detailed description of the invention
Fig. 1 is operating platform schematic perspective view viewed from above；
Fig. 2 is schematic perspective view of the operating platform from downside；
Fig. 3 is the schematic perspective view of strainer in operating platform；
Fig. 4 is the configuration schematic diagram of strainer in operating platform；
Fig. 5 is the schematic perspective view of catheter controller；
Fig. 6 is the schematic view of the front view of main part in catheter controller；
Fig. 7 is A-A cross-sectional view in Fig. 6；
Fig. 8 is B-B cross-sectional view in Fig. 7；
Fig. 9 is the explosive view of main part in catheter controller；
Figure 10 is the schematic view of the front view of conduit clamping device in catheter controller；
Figure 11 is C-C cross-sectional view in Figure 10；
Figure 12 is the schematic perspective view of conduit clamping device in catheter controller；
Figure 13 is the explosive view of conduit clamping device in catheter controller；
Figure 14 is the schematic perspective view of seal wire auxiliary clamp mechanism in catheter controller；
Figure 15 is the explosive view of seal wire auxiliary clamp mechanism in catheter controller；
Figure 16 is the schematic perspective view of guidewire controller in the utility model；
Figure 17 is the schematic view of the front view of basic body in guidewire controller；
Figure 18 is the cross-sectional view of D-D in Figure 17；
Figure 19 is the cross-sectional view of E-E in Figure 18；
Figure 20 is displacement measuring device structural schematic diagram
Figure 21 is the schematic view of the front view of seal wire clamp system in guidewire controller；
Figure 22 is the cross-sectional view of F-F in Figure 21；
Figure 23 is the cross-sectional view of H-H in Figure 22；
Figure 24 is the perspective view of the explosion of seal wire clamp system in guidewire controller；
Figure 25 is the schematic perspective view that switching mechanism is clamped in guidewire controller；
Figure 26 is the explosive view that switching mechanism is clamped in guidewire controller.
Figure 27 angle adjustable schematic diagram of base structure；
Figure 28 height adjustable base structural schematic diagram；
In figure: catheter controller main part 1, seal wire auxiliary clamp mechanism 2, conduit clamp system 3, conduit reverse component
4 and conduit dynamometry component 5
1 catheter controller main part；110 shells；111 plates；120 upper covers；
2 seal wire auxiliary clamp mechanisms；210 pedestals；211 inserted blocks；220 supporting elements；221 spring cavitys；230 clamping elements；231
Compact heap；240 springs；250 steering engine A；260 line wheels；
3 conduit clamp systems；310 medical three-way valves；320 clamp assemblies；321 switch pedestals；322 grip blocks；323 switches
A；324 connecting utricles；
4 conduits reverse component；401 motors；402 pinion gears；403 gear wheels；
5 conduit dynamometry components；510 partitions；520 line slideway auxiliaries；530 supporting plates；540 conduit connecting plates；541 grafting
Plate；542 spliced eyes；550 force snesors；560 sensor fixation plates；
6 guidewire controller basic bodies；610 shells；611 plates；620 cover boards；630 seal wires reverse component；631 motors；632
Pinion gear；633 gear wheels；
7 seal wire clamp systems；710 seal wire locking sleeves；720 seal wire locking rods；730 seal wire lock devices；740 switching bullets
Spring；750 gaskets；760 lock device end caps；770 lock device pulling plates；780 bearings；790 housing supports components；791 positioning bases；
792 locking 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 pair；
9 seal wire, six axle power dynamometry component；910 partitions；920 line slideway auxiliaries；930 supporting plates；940 seal wire connectors；941
Plugboard；942 spliced eyes；950 six-axis force sensors；960 sensor fixation plates；
11 adjustable angle pedestals；24 vertical plates；25 pedestals；52 support plates；27 vertical plate connecting shafts；26 casings；53 casing connections
Axis；28 adjustment bars；36 connecting shafts；35 fastening screws；
1110 operating platforms；1120 line slideway auxiliaries；1130 platform sliding blocks；1140 driving mechanisms；1141 ropes；1142 drive
Dynamic motor；1143, rope sheave；1150, strainer；1151, it is oriented to fixing sleeve；1152, Adjusting bolt Adjusting screw；1153, guide rod；
1154, it is tensioned bracket；1155, directive wheel；1156, screw rod, 1170 displacement measuring devices；1180IP camera；1101 height can
Adjust pedestal；
203 laser mouse displacement sensors；207,208 intervention apparatus guide pipe；204,205 guide pipe fixing seat；206 lead
Rail.
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 robots from end device, is being equipped with operating platform 1110, platform sliding block 1130 and driving
On the operating platform of mechanism 1140, catheter controller and guidewire controller are installed respectively on two platform sliding blocks 1030.Its
In, platform sliding block 1130 is arranged on operating platform 1110 by line slideway auxiliary 1020, and each platform sliding block 1130 passes through
Driving mechanism 1140 is operated alone, and driving mechanism quantity is consistent with platform sliding block quantity, and catheter controller is used to clamp conduit simultaneously
Conduit is rotated and pushes power detection etc., guidewire controller is used to clamp seal wire and power inspection is rotated and pushed to seal wire
Survey etc..
Each driving mechanism 1140 includes driving motor 1142, rope 1141 and strainer 1150；Wherein, it drives
Dynamic motor 1142 is fixed on the bottom of operating platform 1110, it is connected with rope sheave 1143, and rope sheave 1143 is for driving rope 1141
Band moving platform sliding block 1130 is mobile；There are two the tools of strainer 1150, is separately positioned on the both ends of operating platform 1110, uses
In support cable 1141, and it is tensioned rope 1141, rope sheave 1143 is wrapped on two strainers 1150, and rope sheave 1143 connects
Connect platform sliding block 1130.
Height adjustable base 1101 is installed below in operating platform 1110, the height adjustable base 1101 is by lifting platform A
It is constituted with lifting platform；Wherein, the lifting platform A is by lifting platform bottom plate 1-1, threaded rod 1-2, axis A1-3, axis B1-4, lifting platform top
Plate 1-5 and lifting platform support rod 1-6 is constituted；Wherein, the lower end lifting platform support rod 1-6 is mounted on lifting platform bottom plate 1-1
On, upper end supports lifting platform top plate 1-5；Rotary shaft of the axis A1-3 as lifting platform support rod 1-6；The axis B1-4 is to rise
The rotary shaft of platform support rod 1-6 drops；The threaded rod 1-2 passes through axis A1-3 and axis B1-4, and the company with axis A1-3 and axis B1-4
Hand of spiral is connect on the contrary, lifting platform top plate is equipped with bracket, bracket is bonded with operating platform.The lifting platform B and lifting
Platform A has identical structure, and lifting platform A, B are mounted at operating platform both ends.It adjusts the proper height of operator: performing the operation
When operation, according to different doctors to the requirement for height of operator, lifting platform A and lifting platform B is manually adjusted first and is obtained；Described
Lifting platform A has positive/negative thread on threaded rod, axis A and axis B can be made to draw close or separate when rotating threaded rod manually, to adjust
The distance between lifting platform bottom plate and lifting platform top plate is saved, the effect of lifting is played；
Institute displacement measurement device A1170 is that the grating scale of 1110 side of operating platform is arranged in and is fixed on platform sliding block
Grating ruler reading head composition on 1130.Along the direction of motion setting of platform sliding block, there are two reversed on the grating ruler reading head
Limit sensors.IP camera collection site realtime graphic is installed on operating platform, the realtime graphic that IP camera is sent back,
Doctor is showed in the form of image window after correcting.
The device is by devising operating platform 1110, platform sliding 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, with always
On trajectory, linear movement control is carried out；Force sensor, displacement measuring device and IP camera are installed simultaneously, can be fed back
Doctor's operation by human hand active force.Convenient with installation and adjustment, control precision is high, and conduit and seal wire can cooperate with push simultaneously, instead
It presents the mechanical power of the intervention such as wire catheter and feels sense, the true advantage of feel.
The structure of catheter controller and guidewire controller is described in detail.
One, the structure of catheter controller
Catheter controller mainly includes six parts, respectively catheter controller main part 1, seal wire auxiliary clamp mechanism
2, conduit clamp system 3, conduit torsion component 4, conduit dynamometry component 5 and angular adjustment pedestal A (11)；Wherein, conduit controls
Device main part 1 is the installation foundation of other four parts, and conduit clamp system 3 and seal wire auxiliary clamp mechanism 2 are detachable
Ground is mounted in main part 1, and seal wire auxiliary clamp mechanism 2 is used to carry out auxiliary clamp to seal wire or loosen, conduit clamping machine
Structure 3 is used to complete the twist operation to conduit for clamping conduit, conduit torsion component 4, and conduit dynamometry component 5 is then for detecting
The push power of conduit.The device is achievable to the clamping of conduit, push, torsion and dynamometry by the mutual cooperation of each section, with
And to the auxiliary clamp of seal wire or loosen, so that the coordinated of conduit and seal wire can be realized, complete the demand of operation.
Main part 1 includes shell 110 and upper cover 120, and in the present embodiment, shell 110 is that top and rear end are open
Shell-like structure, upper cover 120 are mounted on the top of shell 110, so that comparatively closed space is formed in shell 110, for peace
Fill the creation space of conduit torsion component 4 and conduit dynamometry component 5.Conduit clamp system 3 is mounted on the top of upper cover 120, and
Seal wire auxiliary clamp mechanism 2 is fixed on the rear end of shell 110, installation site reasonable distribution.It is arranged in the bottom of shell 110 a pair of
Plate 111, and corresponding be arranged in the support plate 52 of angular adjustment pedestal A11 connects hole 51 fastly, the insertion of plate 111 connects hole fastly,
Pin hole is set on plate 111, so that plate 111 is reliably connected with support plate 52, and easy to disassemble.
The angular adjustment pedestal is by pan frontward end vertical plate 24, pony sill 25, support plate 52, vertical plate connecting shaft 27, casing
26, casing connection axis 53, adjustment bar 28, connecting shaft 36 and fastening screw 35 are constituted；The pan frontward end vertical plate 24 is mounted on bottom
On mounting 25；Described sleeve pipe 26 is connect with pony sill 25, and can be rotated around casing connection axis 53；The adjustment bar 28 is according to adjustable
The fastening screw 35 of whole embedded length is embedded in casing 26；The support plate 52 of the angular adjustment pedestal is connected by vertical plate respectively
Spindle 27 is connect with pan frontward end vertical plate 24, is connect by connecting shaft 36 with adjustment bar 28, vertical plate connecting shaft 27 and connecting shaft 36
It is rotatable connecting shaft.
For different curers or operation intervention position, 0-45 ° is obtained by adjusting angular adjustment pedestal
Any intervention angle；The length that adjustment bar gos deep into casing determines the size of intervention angle, when adjustment bar gos deep into the length of casing
When reaching the desired intervention angle of doctor, it is fixed by fastening screw；
Conduit dynamometry component 5 is mounted in shell 110, it mainly includes partition 510, conduit connecting plate 540 and power sensing
Device 550；Wherein, partition 510 is fixed on the centre of shell 110, and space in shell 110 is broadly divided into two parts up and down, partition
The opposite sides side of A510 flips up to form side plate, and a line slideway auxiliary 520, line slideway auxiliary are respectively installed on two side plates
520 connecting conduit connecting plates 540, thus conduit connecting plate 540 can opposed separators 510 it is mobile, this be also it is subsequent can be to conduit
Carry out the premise of push power detection.In the present embodiment, line slideway auxiliary 520 preferably use ball line slideway auxiliary, frictional force compared with
It is small almost to ignore, so that the resistance of motion of conduit connecting plate 540 is negligible, guarantee the high-precision of catheter propelling power detection.
Line slideway auxiliary 520 includes guide rail and sliding block, and guide rail is fixed on the side plate of partition 510, and sliding block passes through supporting plate 530 and conduit
Connecting plate 540 is attached, and conduit connecting plate 540 is used for connecting conduit clamp system 3.One is also installed on partition 510 in L
One end of the sensor fixation plate 560 of shape, force snesor 550 is connect with conduit connecting plate 540, the other end and sensor fixation plate
560 connections, in this way, the thrust of conduit is transmitted on conduit connecting plate 540 by conduit clamp system 3,540 phase of conduit connecting plate
It is mobile to partition 510, it can be incuded by the conversion element of force snesor 550, such as foil gauge, force signal is converted into electric signal and defeated
Out, to obtain the size of power.
It is able to detect push power of conduit during push by conduit dynamometry component 5, reaches the accurate control of conduit,
Improve operation safety；Real-time dynamic force feedback is carried out using force snesor 550, for surgical control push power size；
The conduit dynamometry component 5 is mounted in shell 110, compact-sized, structure relative closure, can be good at protecting force snesor
550, and the dynamometry form of force snesor 550 is simple and convenient, intermediate connector is relatively fewer, and dynamometry accuracy is high.
In order to facilitate the connection between conduit connecting plate 540 and conduit clamp system 3, the present embodiment, in conduit connecting plate
A pair of plugboard 541 with spliced eye 542 is set on 540, and plugboard 541 passes through upper cover 120 out of shell 110, makes grafting
Hole 542 is higher by the surface of upper cover 120, by it enable conduit connecting plate 540 quickly connect with conduit clamp system 3 or
It removes.At the same time, it is the structure type for adapting to conduit connecting plate 540, also has specifically to the structure of conduit clamp system 3
It is required that.
Conduit clamp system 3 includes medical three-way valve 310 and clamp assemblies 320；Wherein, medical three-way valve 310 is for connecting
Conduit is connect, it is existing clinically common medical instruments, but is never used for minimally-invasive vascular intervention in the prior art
Field of surgery is innovatively used in herein in the clamping control of conduit, it mainly includes three-way body, control valve and spiral
Cap, screw-cap can be rotated relative to three-way body.When in use, conduit is first coupled on connecting utricle 324, then again by connecting utricle 324
It is threadedly coupled with screw-cap, to connect the conduit on medical three-way valve 310, and is relatively rotatable to each other.Clamp assemblies 320 are
For gripping to medical three-way valve 310, fixed is the three-way body of medical three-way valve 310, and there are two its tools, is taken up a job as a doctor
It is gripped with the two sides of triple valve 310, it includes grip block 322, and the one side of grip block 322 has and Medical tee joint
The card slot that the shape of the three-way body half of valve 310 fastens, the card slot of two grip blocks 322, which is combined, is combined into one
The three-way body of medical three-way valve 310 can reliably be clamped, while not influence the rotation of screw-cap by card chamber.Certainly, on to adapt to
The connection structure of conduit connecting plate 540 is stated, herein, there is open slot in the downside of grip block 322, be equipped in open slot
Switch pedestal 321, and the switch 323 that can be stirred is set between grip block 322 and switch pedestal 321, switch 323 is used for
Lock or unlock conduit connecting plate 540.Switch 323 is made of horizontal snap-gauge and vertical swinging plate, and snap-gauge is slidably arranged in
In sliding slot in switch pedestal 321, after swinging plate passes through the hole on grip block 322, for stirring.Pacify by conduit clamp system 3
When being attached to the top of upper cover 120, what is formed between the insertion grip block 322 of plugboard 541 and switch pedestal 321 connects hole fastly vertically
In, by toggle switch 323, may make the spliced eye 542 of snap-gauge insertion plugboard 541, thus realize conduit connecting plate 540 with
Conduit clamp system 3 is detachably connected.
From the foregoing, it will be observed that conduit clamp system 3 clamps the structure type of medical three-way valve 310, dismounting using clamp assemblies 320
Combination is simple, enormously simplifies clamp structure.Novelty uses 310 connecting conduit of medical three-way valve, it not only can be with conduit
Simple and quick connection can perform the operation convenient for the disinfection of their junctions, and more important is by medical three-way valve 310
Squeeze into contrast agent to intravascular in the process, at conduit head end internal blood vessel carry out radiography, and then observable catheter guide wire with
The safety of operation is improved convenient for the further operating to catheter guide wire in the relative position of blood vessel；In addition, medical three-way valve 310
Cost is relatively low, can be disposable, and being finished can drop, and does not have to also repeated disassembled and assembled be needed to disappear as existing clamping device
Poison.
It includes motor 401, pinion gear 402 and gear wheel 403 that conduit, which reverses component 4,；Wherein, motor 401 is fixed on shell
In 110, there is good protective effect, the output axis connection pinion gear 402 of motor 401, the company of gear wheel 403 and fixed catheter
Connect the connection of sheath 324,403 engaged transmission of pinion gear 402 and gear wheel；In use, 401 driving pinion 402 of motor rotates, pass through
403 engaged transmission of pinion gear 402 and gear wheel, gear wheel 403 drives connecting utricle 324 to rotate, so that conduit is driven to reverse, it is adjustable
The angle of whole conduit head end guarantees that conduit can be promoted smoothly in the blood vessels.Center setting and the connecting utricle 324 of gear wheel 403
The hole that shape matches, connecting utricle 324 are inserted into the hole and can connect connecting utricle 324 with gear wheel 403.
The twist operation to conduit can be realized by reversing component 4 by conduit, to meet in surgical procedure to conduit head end
Angle control, guarantee conduit in the blood vessels can smoothly to predetermined position promote；Conduit is reversed component 4 and is driven using motor 401
The velocity of rotation of conduit, and gear wheel A403 and doctor can be adjusted by adjusting the transmission ratio of big pinion gear in the form of moving gear
It is realized with the connection of triple valve by connecting utricle 324, the torsion driving of conduit can be completed and simply and easily pacifies conduit
It is attached to 310 on medical three-way valve.Torque sensor is mounted between the output end of motor and pinion gear；When torque sensor detects
To after the output torque of rotary drive motor, real-time output torque subtracts output torque when zero load, can be obtained to operation
Real-time torque when catheter manipulation.
Seal wire auxiliary clamp mechanism 2 includes pedestal 210, supporting element 220, clamping element 230 and driving element；Wherein, pedestal
210 for being installed to shell A110 for seal wire auxiliary clamp mechanism 2, and supporting element 220 and driving element are all mounted on pedestal
On 210, clamping element 230 is arranged in supporting element 220 by the support of spring 240, it can be in vertical side by driving element driving
It moves up and down, seal wire is clamped or unclamps.There is accommodating chamber, spring 240 is located in accommodating chamber on supporting element 220；Folder
Tight part 230 is rod-like structure, and the upper end has compact heap 231, and lower end has aperture, and lower end is from across supporting element 220
Top is inserted into accommodating chamber, and after passing through spring 240, the lower section through supporting element 220 is stretched out, and connects driving element.Driving element is only
It wants that clamping element 230 can be driven to move up and down, but the present embodiment driving element uses steering engine 250, steering engine 250 connects line wheel
260, wind in line wheel 260 wired, one end of line penetrates the aperture of 230 lower end of clamping element to connect clamping element 230.It uses
When, steering engine 250 drives line wheel 260 to rotate, and drive clamping element 230 to move down compressed spring 240 by line, 230 upper end of clamping element
Compact heap 231 moves down the upper surface that seal wire is pressed on to supporting element 220, to realize the clamping to seal wire.
In addition, pedestal 210 is equipped with for being pacified for convenience of seal wire auxiliary clamp mechanism 2 to be installed on shell A110
A pair of of the inserted block 211 being attached on shell A110, the rear side of shell A110 is inserted by this to inserted block 211, and blending bolt carries out tight
Gu.
In summary illustrate, catheter controller device has the advantage that
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. it can be achieved at the same time the auxiliary clamp of the clamping of conduit, push, torsion and dynamometry and seal wire or loosen, from
And guidewire controller can be cooperated to complete to control the cooperating of catheter guide wire, meet the various operational requirements of operation；
3. more closed structure type all has preferable protection to sensor and motor；
Radiography is carried out to blood vessel at conduit head end 4. in the course of surgery, can conveniently realize, is led to understand
Pipe seal wire has the relative positional relationship of blood vessel, improves operation safety.
Conduit and seal wire are controlled using above-mentioned catheter controller, the main clamping, push, torsion completed to conduit
And dynamometry and seal wire clamping and loosen, the cooperation of catheter guide wire is controlled, the operational requirements of intervention operation are met, below
Corresponding operation step is described in detail.
Firstly, main part 1 is installed to connecing in hole fastly for platform sliding block 1130 by plate 111, and fixed by pin.
Then, conduit clamp system 3 clamps conduit and installation, specifically: the tail end of conduit is first connected to connection
On sheath 324, gear wheel 403 and connecting utricle 324 are coupled simultaneously when this step, reverse component 4 for further conduit and be driven and do
Prepare；Connecting utricle 324 is screwed onto again on the screw-cap of medical three-way valve 310；Then pass through the grip block of clamp assemblies 320
322 are fixedly clamped medical three-way valve 310 from two sides；Finally, the clamp assemblies 320 clamped after medical three-way valve 310 are plugged into
On the conduit connecting plate 540 of 120 top of upper cover, lockked in the spliced eye 542 of toggle switch A323 insertion conduit connecting plate 540,
So that conduit clamp system 3 is connected and fixed with conduit connecting plate 540, at this point, pinion gear 402 and gear wheel 403 also engaged transmission
Connection；Clamping of the conduit clamp system 3 to conduit is completed, and is installed in main part 1.
Then, after guidewire controller clamps seal wire, the head end of seal wire is penetrated in conduit through medical three-way valve 310, is protected
The seal wire for demonstrate,proving 310 rear of medical three-way valve passes through the compact heap of supporting element 220 and clamping element 230 in seal wire auxiliary clamp mechanism 2
Between 231, so that seal wire is installed in place.
After above preparation, catheter controller can control accordingly conduit and seal wire, specific as follows:
(1) when being separately controlled conduit
Seal wire auxiliary clamp mechanism 2 unclamps seal wire, i.e. 250 power loss of steering engine, clamping element 230 under the active force of spring 240,
Its surface of compact heap 231 far from supporting element 220, so that compact heap 231 will not compress seal wire；Platform sliding block 1130 is mobile, band
Dynamic main part 1 is mobile, and then drives conduit clamp system 3 mobile, and control conduit is individually moved, and completes push.
(2) when needing while controlling conduit and seal wire
2 auxiliary clamp seal wire of seal wire auxiliary clamp mechanism, i.e. steering engine 250 obtain electric, the driving rotation of line wheel 260, and line wheel 260 is logical
It crosses line to pull down clamping element 230, clamping element 230 overcomes 240 resistance of spring to move downward, until compact heap 231 is by seal wire pressure
Tightly on the surface of supporting element 220, the clamping to seal wire is completed；Platform sliding block 1130 drives main part 1 mobile, and then vessel clamp
Tight mechanism 3 drives conduit mobile, meanwhile, seal wire auxiliary clamp mechanism 2 drives seal wire synchronization action, realizes the same of conduit and seal wire
Step push.
(3) when being separately controlled seal wire
Operating platform stopping movement, conduit clamp system 3 is motionless, and seal wire auxiliary clamp mechanism 2 unclamps seal wire, seal wire control
Device drive seal wire can carry out the independent push of seal wire.
(4) torsion of conduit is controlled
Motor A401 movement drives connecting utricle 324 and medical three by the engaged transmission of pinion gear 402 and gear wheel 403
The screw-cap of port valve 310 rotates together, and then drives conduit torsion, completes the twist operation to conduit, realizes conduit head end
Angular adjustment.Torque sensor measures output torque.
(5) to the detection of catheter propelling power
Operating platform movement, drives main part 1 to push forward, motive force is through partition A510, force snesor 550 and leads
Pipe connecting plate 540 is transmitted to conduit clamp system 3, and during push, force snesor 550 receives thrust information, and is converted into
Electric signal output, and then reach the push power detection of conduit.
Pass through the achievable additional lock to the clamping of conduit, push, torsion and the detection of push power and seal wire of above step
Tightly and loosen, orderly work between each step, and cooperates guidewire controller that the cooperating to catheter guide wire can be completed, from
And the various operational requirements in surgical procedure can be met.Guidewire controller is described in detail below.
Two, the mechanism of guidewire controller
Guidewire controller mainly includes six parts, respectively basic body 6, seal wire clamp system 7, clamp switching mechanism 8,
Seal wire reverses component 630 and six-axis force sensor 10；Wherein, basic body 6 is the installation foundation of other four parts, and seal wire clamps
Mechanism 7 and clamping switching mechanism 8 are removably mounted in basic body 6, and seal wire clamp system 7 is located at the upside of basic body 6, folder
Tight switching mechanism 8 is located at the rear side of basic body 6, and seal wire clamp system 7 clamps switching mechanism 8 for driving for clamping seal wire
Seal wire clamp system 7 unclamps the clamping to seal wire, and seal wire torsion component 630 is used to complete the twist operation to seal wire, six axis
Force snesor is used to detect the resistance and the moment of resistance of seal wire, is made of fixing end and force side, and seal wire is passed across six axle power
Sensor, and clamped and connected by the force side of clamping device and the six-axis force sensor.The device is mutual by each section
Cooperation, the achievable clamping seal wire are loosened, push, reversing, the resistance described in dynamometry and Real-time Feedback between conduit and vascular wall
And the moment of resistance completes the coordinated in surgical procedure to cooperate control of the catheter controller to conduit.Separately below to each
Partial specific structure is described in detail respectively.
6 structure of basic body and 1 structure of main part are essentially identical, mainly include shell 610 and cover board 620；In this implementation
In example, shell 610 is the shell-like structure that top and rear end open, and cover board 620 is mounted on the top of shell 610, so that shell 610
It is interior to form comparatively closed space, the installation vacating space of component 630 is reversed for subsequent seal wire.Seal wire clamp system 7 is pacified
Mounted in the top of cover board 620, and the rear side that switching mechanism 8 is fixed on shell 610 is clamped, installation site reasonable distribution also complies with
The needs that respective function is realized.Due to part based on basic body 6, whole device is that platform sliding block 1130 is installed to by it
For the convenience of installation a pair of of plate 611 is arranged in the bottom of shell B610, plate 611 is inserted into upper carry out corresponding operation
Hole is connect fastly, then is fixed by pin.
In order to facilitate the connection between seal wire connector 940 and seal wire clamp system 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 cover board 620 out of shell 610, makes grafting
Hole 942 is higher by the surface of cover board 620, by it enable seal wire connector 940 quickly connect with seal wire clamp system 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 clamp system 7
It is required that.
Seal wire clamp system 7 includes seal wire locking sleeve 710, seal wire locking rod 720, seal wire lock device 730 and sleeve branch
Support component 790；Wherein, seal wire locking sleeve 710, seal wire locking rod 720 and seal wire lock device 730 all have and pass through along respective axis
The centre bore worn, so that seal wire passes through；Seal wire lock device 730 is in similar mushroom-shaped structure, and both ends are not of uniform size, lesser one end
It can be inserted into the end of seal wire locking rod 720, biggish one end exposes outside, and has male cone (strobilus masculinus), and the circumferencial direction along male cone (strobilus masculinus) is opened
If at least two notch, 4 notch are opened up in the present embodiment, and tapered end is cut into uniform 4 parts；And it is packed into seal wire locking
The seal wire locking rod 720 of device 730 is inserted into seal wire locking sleeve 710, and is had and seal wire lock device in seal wire lock device 730
The taper hole that 730 male cone (strobilus masculinus) matches.Meanwhile seal wire locking rod 720 has baffle ring close to one end of seal wire locking rod 720, leads
Switching spring 740 is cased on silk locking rod 720, one end of switching spring 740 is limited by baffle ring, then in seal wire locking sleeve 710
End install lock device end cap 760, will switching spring 740 be fitted in seal wire locking sleeve 710, in lock device end cap 760
Gasket 750 is set between the end of switching spring 740, so that lock device end cap 760 preferably compresses switching spring 740.This
Sample, lock device end cap 760 squeeze switching spring 740, and switching spring 740 applies thrust to seal wire locking rod 720, and then seal wire is locked
Only bar 720 squeezes seal wire lock device 730, so that the taper hole surface of the male cone (strobilus masculinus) of seal wire lock device 730 and seal wire locking sleeve 710
It relatively moves, due to the presence of 730 upper cut of seal wire lock device, so that seal wire lock device 730 has the end meeting of the conical surface
Radial contraction clamps seal wire, and area is big, and clamping is reliable, right to, all by chucking power, accommodating in seal wire whole circumference for such mode
The damage of seal wire is small.
Component 630 is reversed to meet connection and subsequent seal wire of the above-mentioned seal wire clamp system 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 in basic body 6 by housing supports component 790.The housing supports component 790 packet
Include positioning base 791, bearing plate 794 and positioning pressuring plate 795；Wherein, positioning base 791 has the accommodating chamber of U-shaped, accommodating chamber
There are two bearing card slot, the both ends of seal wire locking sleeve 710 respectively to install a bearing 780 for interior tool, and two bearings 780 are stuck in bearing
In card slot, bearing is pushed down above bearing 780 with bearing plate 794, the axial float of seal wire locking sleeve 710 can be prevented,
Bearing plate 794 is fixed by positioning pressuring plate 795 again, prevents the radial-play of seal wire locking sleeve 710, bearing plate 794 with
Plug connection mode is used between positioning base 791, inserting is convenient.In addition, respectively opening up one in the two sides of 791 bottom of positioning base
A open slot is equipped with attachment base 793 in open slot, and sets in the space between positioning base 791 and attachment base 793
The locking switch 792 that can be stirred is set, locking switch 792 is for lockking or unlocking seal wire connector 940.Locking switch 792 by
Horizontal snap-gauge and vertical swinging plate composition, snap-gauge are slidably arranged in the sliding slot on attachment base 793, and swinging plate passes through positioning
The surface of attachment base 793 is exposed, for stirring in hole on pedestal 791.The top of cover board 620 is installed in seal wire clamp system 7
When, what is formed between plugboard B941 insertion positioning base 791 and attachment base 793 connects in hole fastly vertically, is opened by stirring locking
792 are closed, in the spliced eye B942 that may make snap-gauge insertion plugboard B941, to realize that seal wire clamp system 7 is connect with seal wire
Part 940 is detachably connected.
The structure that seal wire reverses component 630 includes motor 631, pinion gear 632 and gear wheel 633；Wherein, motor 631 is solid
It is scheduled in shell 610, there is good protective effect, the output axis connection pinion gear 632 of motor 631, gear wheel 633 passes through key
It is connect with the front end of seal wire locking sleeve 710,633 engaged transmission of pinion gear 632 and gear wheel.In use, motor 631 drives
Pinion gear 632 rotates, and by big pinion gear engaged transmission, gear wheel 633 drives seal wire locking sleeve 710 to rotate, and presss from both sides in seal wire
Under the premise of tight, seal wire can root rotated together with seal wire locking sleeve 710, so that the angle of adjustable guidewire tip, guarantees to lead
Pipe can be promoted smoothly in the blood vessels.
The twist operation to seal wire can be realized by reversing component 630 by seal wire, 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 reverses component
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.
Clamping switching mechanism 8 includes steering engine seat 810 and steering engine 820；Wherein, steering engine seat 810 will be for that will clamp switching mechanism 8
It is installed on shell 610, steering engine 820 is mounted on steering engine seat 810, and steering engine 820 is connected with turntable 830, and can drive turntable 830
Rotation, winds on turntable 830 wired, and the free end of line unclamps seal wire locking rod 720 pair for pulling seal wire locking rod 720
The extruding of seal wire lock device 730, so that seal wire lock device 730 be made to unclamp the clamping to seal wire.In order to realize above-mentioned function,
And the clamping under the usual state of seal wire to seal wire is not influenced, the connection structure of line and seal wire locking rod 720 is designed, at this
In implementation, the end of seal wire locking rod 720 is connected through a screw thread a lock device pulling plate 770, lock device pulling plate 770 and locking
Between device end cap 760 at a distance, this distance can be matched by lock device pulling plate 770 and the screw thread of seal wire locking rod 720
Close length adjustment；Meanwhile switch boards 840 are provided with by line slideway auxiliary 850 on partition 910, switch boards 840 have circle
Arc notch, by the notch, switch boards 840 are stuck between lock device end cap 760 and lock device pulling plate 770, and turntable 830 is online
It is connect with switch boards 840, so that steering engine 820 drives turntable 830 to rotate, pulls switch boards 840 to move backward by line, switch boards
840, which are locked up device pulling plate 770, blocks, and drives seal wire locking rod 720 that switching spring 740 is overcome to move backward, 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 clamp system 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 and force feedback, six axis installed on device
Force snesor can pass the power and moment information of seal wire back in real time, thus during alloing operator remotely to perceive wire feed
The resistance of generation provides strong guidance for the subsequent action of operator, and cooperation catheter controller cooperates with catheter guide wire
Control operation, meets the various operational requirements of operation；
3. more closed structure type, all has preferable protection to 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, basic body 6 is inserted connecing in hole fastly to platform sliding block 1130 by plate 611, and fixed with pin.So
Afterwards, the front end of seal wire is sequentially passed through into seal wire locking rod 720, seal wire lock device 730, and from the front end of seal wire locking sleeve 710
It stretches out, tightens lock device end cap 760, seal wire lock device 730 is made to clamp seal wire.Certainly cooperate above-mentioned catheter controller, seal wire
End is inserted into conduit through medical three-way valve 310.
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 sliding block 1130 is mobile, to drive seal wire
It 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, six-axis force sensor through clamping device
Deformation, the resistance and the moment of resistance of real-time measurement seal wire are generated, doctor's hand contacts control stick, and hand is capable of the size of direct feel power.
(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.
Displacement measurement component B1170 can also be arranged on third platform link block, comprising: laser mouse displacement sensing
Device 203, intervention apparatus guide pipe 207,208, guide pipe fixing seat 204,205, guide rail 206.Laser mouse displacement sensor is solid
It is scheduled on platform link block 1130, two pipe fixing seats are located at laser mouse displacement sensor both ends, and bottom passes through wedge
Shape face is cooperated with guide rail, and guide rail is screwed on platform link block 1130, and intervention apparatus guide pipe is fixed on guiding
In pipe fixing seat.
For complete machine, above-mentioned intervention operation robot from end device to the control method of catheter guide wire cooperating,
It is the relative position of catheter controller and guidewire controller in the direction of movement to be controlled by operating platform, and conduit is cooperated to control
The control action of device and guidewire controller to conduit and seal wire, orderly completion；The clamping of conduit and seal wire can be controlled simultaneously, put
Pine, push, torsion, dynamometry or force feedback, complete complicated surgical action；Wherein it should be strongly noted that being controlled in seal wire
It when device pushes seal wire close to catheter controller, needs to move back guidewire controller at this time, then catheter controller passes through seal wire auxiliary
Clamp system 2 clamps seal wire, and after guidewire controller unclamps seal wire and is pushed back into required position, seal wire clamper presss from both sides again
Tight seal wire, seal wire auxiliary clamp mechanism 2 can unclamp seal wire at this time, realize the switching action during seal wire push, such form
Guarantee that seal wire position will not change in handoff 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 (11)
1. a kind of robot is from end device, it is characterised in that: on the operational platform from end device setting, there are three operating platform tools
Platform sliding block includes catheter controller and guidewire controller from end device, catheter controller and guidewire controller and displacement measurement
Device is separately mounted on the platform sliding block (1030), and the platform sliding block (1030) is mounted on same line slideway auxiliary D
(1020) on, linear movement control is carried out on same rectilinear orbit to catheter controller and guidewire controller, in operating platform
(1110) it is installed below height adjustable base (1101), the height adjustable base (1101) is made of two liftings；On platform
IP camera collection site realtime graphic is installed, the catheter controller includes catheter controller main body (1), conduit clamping machine
Structure (3), seal wire auxiliary clamp mechanism (2) and angular adjustment pedestal (11), conduit are the operations with side wall contact force sensor
Conduit；It wherein, further include displacement measuring device from end device, displacement measuring device is arranged on third platform sliding block, comprising:
Laser mouse displacement sensor (203), intervention apparatus guide pipe, guide pipe fixing seat, guide rail (206)；For measuring conduit, leading
The displacement of silk, and by collected axial displacement and swing offset, it sends computer to and carries out calculating analysis.
2. a kind of robot according to claim 1 is from end device, it is characterised in that: the conduit clamp system (3) is used
In clamping conduit, seal wire auxiliary clamp mechanism (2) is used for clamp or release seal wire；The conduit clamp system (3) and seal wire
Auxiliary clamp mechanism (2) is removably mounted on catheter controller main body (1), the mounting height adjustable base under operating platform
(1101), height adjustable base (1101) is made of lifting platform A and lifting platform B；Wherein, the lifting platform A is by lifting platform bottom plate
(1-1), threaded rod (1-2), axis A(1-3), axis B(1-4), lifting platform top plate (1-5) and lifting platform support rod (1-6) constitute；Its
In, lifting platform support rod (1-6) lower end is mounted on lifting platform bottom plate (1-1), and upper end supports lifting platform top plate (1-5)；
The axis A(1-3) rotary shaft as lifting platform support rod (1-6)；The axis B(1-4) be lifting platform support rod (1-6) rotation
Shaft；The threaded rod (1-2) passes through axis A(1-3) and axis B(1-4), and the connection screw thread side with axis A(1-3) and axis B(1-4)
To on the contrary, lifting platform top plate is equipped with bracket, bracket is bonded with operating platform, and the lifting platform B and lifting platform A has phase
Same structure, lifting platform A, B are mounted on operating platform both ends, adjust the proper height of operator: when being operated, according to
Different doctors manually adjust lifting platform A and lifting platform B first and obtain to the requirement for height of operator；The lifting platform A, spiral shell
There is positive/negative thread on rasp bar, axis A and axis B can be made to draw close or separate when rotating threaded rod manually, to adjust lifting platform bottom
Distance between plate and lifting platform top plate plays the effect of lifting.
3. a kind of robot according to claim 1 is from end device, it is characterised in that: the conduit clamp system (3)
Including medical three-way valve (310) and clamp assemblies (320)；Medical three-way valve (310) includes three-way body, control valve and screw-cap,
Screw-cap can be rotated relative to three-way body.
4. a kind of robot according to claim 3 is from end device, it is characterised in that: the medical three-way valve (310)
For connecting conduit, it is fixed on main body (1) by clamp assemblies (320)；The main body (1) include shell (110) and
The upper cover (120) being mounted on shell (110), clamp assemblies (320) are removably mounted on upper cover (120).
5. a kind of robot according to claim 2 is from end device, it is characterised in that: seal wire auxiliary clamp mechanism (2) is solid
It is scheduled on the rear end of shell (110), a pair of of plate (111) is arranged in the bottom of shell (110), corresponding in height adjustable base (1101)
Upper setting connects hole fastly, and plate (111) insertion connects hole fastly, pin hole is arranged on plate (111), passes through height adjustable base by pin
(1101) it is inserted into pin hole.
6. a kind of robot according to claim 1 is from end device, it is characterised in that: catheter controller further includes that conduit is turned round
Turn component (4), including motor A(401), pinion gear A(402) and gear wheel A(403) torque sensor (47).
7. a kind of robot according to claim 1 is from end device, it is characterised in that: angular adjustment pedestal (11) peace
On platform sliding block (1030), by pan frontward end vertical plate (24), pony sill (25), support plate (52), vertical plate connecting shaft (27),
Casing (26), casing connection axis (53), adjustment bar (28), connecting shaft (36) and fastening screw (35) are constituted, in support plate (52)
Equipped with connecing hole fastly.
8. a kind of robot according to claim 1 is from end device, it is characterised in that: the seal wire auxiliary clamp mechanism
It (2) include supporting element (220), clamping element (230) and driving element；The clamping element (230) passes through spring (240) support setting
In supporting element (220), the upper end of clamping element (230) has compact heap (231), driving element can driving support member (220) exist
Vertical direction moves up and down.
9. a kind of robot according to claim 8 is from end device, it is characterised in that: the driving element is steering engine A
(250), steering engine A(250) line wheel (260) are connected, wired, one end connection clamping element (230) of line is wound in line wheel (260).
10. a kind of robot according to claim 1 is from end device, it is characterised in that: the guidewire controller includes
Seal wire basic body (6), the seal wire clamp system (7) being mounted on seal wire basic body (6) clamp switching mechanism (8), the survey of six axle powers
Power component (9) and angular adjustment pedestal B, seal wire clamp system (7) clamp switching mechanism (8) for driving for clamping seal wire
Seal wire clamp system (7) unclamps the clamping to seal wire, and the seal wire clamp system (7) includes seal wire locking sleeve (710), seal wire
Locking rod (720) and seal wire lock device (730).
11. a kind of described in any item robots of claim 1-10 are from the operating system of end device, including main side part and from
End part, main side part are connected by wirelessly or non-wirelessly communication modes from end part, it is characterised in that: the main side part receives
Operation signal, control are acted from end part, and receive the feedback signal from end part；It is described to receive and perform main side from end part
The operation signal that part issues.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721101960.2U CN209136865U (en) | 2017-08-31 | 2017-08-31 | A kind of robot is from end device, operating system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721101960.2U CN209136865U (en) | 2017-08-31 | 2017-08-31 | A kind of robot is from end device, operating system |
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| CN209136865U true CN209136865U (en) | 2019-07-23 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107744405A (en) * | 2017-08-31 | 2018-03-02 | 首都医科大学附属北京天坛医院 | A kind of robot is from end device, operating system and its control method |
| CN112336459A (en) * | 2020-10-29 | 2021-02-09 | 北京唯迈医疗设备有限公司 | Bionic robot for interventional radiography operation |
| CN112353491A (en) * | 2020-10-29 | 2021-02-12 | 北京唯迈医疗设备有限公司 | Universal robot for interventional radiography and therapeutic surgery |
| FR3115671A1 (en) * | 2020-10-29 | 2022-05-06 | BEIJING WEMED MEDICAL EQUIPMENT Co.,Ltd. | A GUIDEWIRE TIGHTENING FORCE CONTROL DEVICE AND METHOD FOR ROBOTIZED SURGICAL PROCEDURE |
| WO2023050342A1 (en) * | 2021-09-30 | 2023-04-06 | 中国科学院深圳先进技术研究院 | Robot system for releasing cavity particle stents |
| CN117323020A (en) * | 2023-10-11 | 2024-01-02 | 上海神玑医疗科技有限公司 | Operation robot master control end operation handle unit and master control end operation platform |
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2017
- 2017-08-31 CN CN201721101960.2U patent/CN209136865U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107744405A (en) * | 2017-08-31 | 2018-03-02 | 首都医科大学附属北京天坛医院 | A kind of robot is from end device, operating system and its control method |
| CN107744405B (en) * | 2017-08-31 | 2024-01-30 | 首都医科大学附属北京天坛医院 | Robot slave device, operating system and control method thereof |
| CN112336459A (en) * | 2020-10-29 | 2021-02-09 | 北京唯迈医疗设备有限公司 | Bionic robot for interventional radiography operation |
| CN112353491A (en) * | 2020-10-29 | 2021-02-12 | 北京唯迈医疗设备有限公司 | Universal robot for interventional radiography and therapeutic surgery |
| FR3115671A1 (en) * | 2020-10-29 | 2022-05-06 | BEIJING WEMED MEDICAL EQUIPMENT Co.,Ltd. | A GUIDEWIRE TIGHTENING FORCE CONTROL DEVICE AND METHOD FOR ROBOTIZED SURGICAL PROCEDURE |
| WO2023050342A1 (en) * | 2021-09-30 | 2023-04-06 | 中国科学院深圳先进技术研究院 | Robot system for releasing cavity particle stents |
| CN117323020A (en) * | 2023-10-11 | 2024-01-02 | 上海神玑医疗科技有限公司 | Operation robot master control end operation handle unit and master control end operation platform |
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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: 20210819 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 |
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| 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 robot slave device and operating system Granted publication date: 20190723 License type: Exclusive License Record date: 20240422 |