CN210962301U - Intervene operation robot from end device - Google Patents
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- CN210962301U CN210962301U CN201822259153.4U CN201822259153U CN210962301U CN 210962301 U CN210962301 U CN 210962301U CN 201822259153 U CN201822259153 U CN 201822259153U CN 210962301 U CN210962301 U CN 210962301U
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Abstract
The utility model discloses an intervene operation robot from end device belongs to wicresoft's blood vessel and intervenes operation technical field. The device comprises a main body part, a catheter holder, a guide wire clamper, a torsion assembly and a force measuring assembly; a catheter holder for holding a catheter, a guidewire gripper for gripping or releasing a guidewire, both removably mounted on the body portion; the catheter holder comprises a medical three-way valve and a holding assembly, the medical three-way valve is used for connecting a catheter and is fixed on the main body part through the holding assembly; the torsion component is used for driving a screw cap of the medical three-way valve to drive the conduit to rotate; the force measuring component is used for detecting the pushing force of the guide pipe. Wherein the torsion assembly, the catheter holder and the guidewire holder are detachably mounted on the upper cover of the main body part. The sanitary isolation film is convenient to add in the operation process, better sanitary conditions are achieved, and the device is more suitable for practical application.
Description
Technical Field
The utility model belongs to the technical field of the operation is intervene to wicresoft's blood vessel, a control technique to pipe seal wire in the intervention operation is related to, more specifically says, relates to an intervene operation robot from end device and control method thereof.
Background
Increasingly high-incidence cardiovascular and cerebrovascular diseases seriously affect national health and social life and bring huge pressure to the Chinese medical health system. Cardiovascular and cerebrovascular diseases become one of three main causes of human disease death, 1670 million people die of cardiovascular and cerebrovascular diseases every year in the world, accounting for 29.2 percent of all disease mortality, and 250 million people die of 900 million cardiovascular and cerebrovascular disease patients in China every year.
The minimally invasive interventional therapy for the cardiovascular and cerebrovascular diseases is a main treatment means for the cardiovascular and cerebrovascular diseases, can reduce the trauma and pain of patients caused by traditional craniotomy and thoracotomy, has short postoperative recovery time, and can effectively improve the utilization rate of medical resources. However, in the conventional cardiovascular and cerebrovascular interventional operation, a doctor manually sends devices such as a catheter, a guide wire and a stent into a patient. On one hand, in the operation process, due to the influence of radioactive rays, the physical strength of a doctor is reduced quickly, the attention and the stability are reduced, the operation precision is reduced, accidents such as endangium injury, perforation and rupture of blood vessels and the like caused by improper pushing force are easy to happen, and the life risk of a patient is caused. On the other hand, the cumulative damage of long-term ionizing radiation significantly increases the risk of patients suffering from leukemia, cancer and acute cataract. The problem of 'thread feeding' is already a problem which impairs the professional life of doctors and restricts the development of interventional operations to a considerable extent. The operation method for remotely operating the catheter and the guide wire by means of the robot technology can effectively solve the problem, can greatly improve the precision and the stability of the operation, and can effectively reduce the injury of radiation to a doctor of a main surgeon and reduce the occurrence probability of accidents in the operation. Therefore, the assisted robot for cardiovascular and cerebrovascular interventional surgery is more and more concerned by people and gradually becomes a key research and development object in the field of medical robots in all the science and technology strong countries at present.
Foreign vascular intervention surgical robots are relatively early studied, but have not yet fully realized clinical applications. The related research in China is started late, and mainly comprises Beijing university of justice, Tianjin university of justice, Beijing university of aerospace, Harbin university of industry and the like.
At present, a vascular interventional surgical robot mainly adopts a master-slave end operation structure to isolate a doctor from radioactive rays, for example, the application numbers applied by the university of tianjin nursing staff are as follows: 201410206956.7, publication date is: 9 month 17's of 2014 utility model patent discloses a principal and subordinate's minimal access blood vessel intervenes operation auxiliary system from operation ware device, and it includes axial push unit, rotary unit, presss from both sides and gets unit, operation pipe, operating force detecting element and the adjustable base in inclination, and its working method includes signal detection, transmission, processing, action. The advantages are that: the interventional operation action of a doctor can be simulated, the operation precision is high, and the operation safety is effectively improved; the angle which is expected by an operator can be adjusted by different receiving objects or different interventional positions; the whole device is made of aluminum alloy materials, and is small in size and light in weight. The utility model discloses a propelling movement of seal wire can be accomplished well to adopt magnetorheological suspensions to realize force feedback, there are advantages such as moving part inertia is little, the feedback is sensitive. For another example, the application numbers of the Beijing university of aerospace applications are: 201210510169.2, publication date is: patent literature 9/17/2014 discloses a master-slave teleoperation vascular interventional surgical robot, which comprises a master end control mechanism, a slave end propulsion mechanism and a PMAC controller; the main end control mechanism is used as an operation end of a doctor; the slave end propelling mechanism is used as an actuating mechanism of a robot, and replaces a doctor to hold a catheter in an operating room to complete the motion function of the catheter; the PMAC control box is used for realizing information transmission between the master end control mechanism and the slave end propelling mechanism, so that the slave end catheter propelling mechanism moves according to the motion information of the master end control mechanism, a master-slave teleoperation mode is adopted to assist a doctor to carry out an operation, and the slave end propelling mechanism realizes axial feeding and circumferential rotating motion of the catheter. For another example, the patent of the catheter robot system for intravascular minimally invasive interventional surgery, which is applied by the Harbin university of industry on 2011, 1, 17, is that a main hand handle and a computer host are arranged in a control room, a control cabinet, a catheter handle, a main intervention device, a slave intervention device, a magnetic field generator and a controllable catheter are arranged in the operating room, a position and posture signal of the main hand handle is processed by the computer host and then transmitted to the control cabinet, a motion control card and a driver are arranged in the control cabinet, the motion control card receives a command and sends an instruction to the driver, the driver transmits a control signal to each motor of the main intervention device and the slave intervention device, the intervention device is further controlled to realize the push/pull, rotation and bending operations of the controllable catheter, the position and posture sensor acquires the position and posture information of a controllable bending section, and the position and posture signal is. The scheme adopts the controllable conduit, can obtain the pose information of the bent controllable section of the controllable conduit, ensures the flexibility of the front end of the controllable conduit and the maneuverability of the intubation operation, controls the main-auxiliary intervention device through the main handle to realize the pushing, pulling, rotating and bending actions of the controllable conduit, can obtain the conveying force information of the controllable conduit in the operating room, and ensures the accuracy and stability of the intubation.
The prior art also discloses a measuring device for an interventional surgical robot, the base of which is connected with an upper cover through a hinge; the upper cover is provided with a concave limiting plate and a pushing block, when the upper cover is closed, the concave limiting plate tightly presses the column gear, the driving wheel and the idler wheel to limit vertical displacement, the pushing block pushes the left U-shaped retaining sheet to the right, and the guide wire driving auxiliary piece is clamped by the right U-shaped retaining sheet and the left U-shaped retaining sheet; the base is mounted on a slide of the linear drive assembly. The scheme can effectively reduce the loss of the pushing force in the conduction process and reduce larger errors caused by assembly or vibration and the like, but the problems of poor sterile isolation effect and the like exist in the application of the scheme.
The prior art also discloses a nondestructive clamping mechanism, a clamping control mechanism, a clamping driving mechanism and a thrust feedback mechanism to complete the operations of clamping, loosening, rotating, pushing force measurement and the like of the guide wire in the operation process, so that the accuracy of the pushing force measurement is increased, the reliability of the guide wire clamping is improved, but the structure is relatively complex, the easiness in assembly and disassembly is not greatly improved, and meanwhile, the sanitation problem in the operation implementation process is not well solved.
Problems existing in the prior art:
the above-mentioned patents or the prior art interventional surgical robotic slave devices have a common problem in their operation in that the device is not properly constructed for hygienic operation in operation.
An interventional operation robot belongs to a medical instrument and has particularly high requirements on sanitary conditions when in use. In the prior slave end device of the interventional operation robot, most of the devices are completely exposed outside in the using process; bacteria in the subject device are readily transported to the catheter holder and guidewire gripper above.
Even if the sanitary isolation film is laid above the device body, the large tearing opening is formed at the sanitary film catheter holder and the guide wire clamp due to the irregular structure of the sanitary isolation film, particularly the position of the large gear. Is not beneficial to sanitary isolation.
In medical operation, the requirement on sanitation is almost strict, and the prior device is not beneficial to the sterile isolation in actual operation and can not meet the sanitary requirement of the operation.
In addition, in medical operation, the view of the doctor should be neat and orderly, so that the doctor can focus attention on the disease operation of the patient. Extraneous objects are generally recommended to be hidden from the view of the physician.
The utility model has the following contents:
in order to solve the problem, the utility model discloses improve prior art, optimize surgical robot's structure, carry out redesign with gear wheel, pinion, pipe holder, seal wire binding clasp. The specific scheme is as follows:
an interventional surgical robotic slave end device comprising a body portion, a catheter holder and a guide wire clamp; the guide wire clamp is used for clamping or loosening a guide wire; the catheter holder and the guide wire clamp are detachably mounted on the main body part.
As a further improvement, the catheter holder comprises a medical three-way valve and a holding assembly; the medical three-way valve is used for connecting a catheter and is fixed on the main body part through the clamping component.
As a further improvement, the main body part comprises a shell and an upper cover arranged on the shell, and the catheter holder and the guide wire clamper are detachably arranged on the upper cover.
As a further improvement, the medical three-way valve further comprises a twisting component, and the twisting component is used for driving a screw cap of the medical three-way valve to drive the catheter to rotate.
As a further improvement, the torsion assembly comprises a motor, a pinion gear and a bull gear; the motor is arranged in the main body part and is connected with the pinion; the large gear is matched with a connecting sheath arranged on a screw cap of the medical three-way valve, and the connecting sheath is used for fixing the catheter; the small gear and the large gear are in meshing transmission.
As a further improvement, the pinion is arranged in the horizontal direction, the transmission shaft of the pinion penetrates out of the upper cover of the main body part, the bull gear is arranged in the vertical direction and is connected with the pinion to form power transmission, and the pinion set and the bull gear form a bevel gear set.
As a further improvement, the conduit clamp is not directly mounted on the upper cover of the main body, but is connected with the main body through a connecting rod, and in actual operation, the conduit clamp is mounted after the sanitary isolation film is laid on the main body.
As a further improvement, the guide wire clamp is detachably connected with the connecting rod, when in operation, the sanitary isolation pad is firstly covered on the main body, and then the catheter holder is arranged on the main body through the connecting rod by the sanitary isolation pad or the sanitary isolation film, so that the catheter holder is separated from the main body in operation, and therefore, the opportunity of bacteria contamination is reduced to the maximum extent.
As a further improvement, redesign the wire clamp, can dismantle from the body mechanism fast, wherein, the wire clamp includes: a base; a support member; a spring cavity; a clamping member; a compression block;
when the sanitary film or the sanitary isolation pad is covered, the covered sanitary film can pass between the clamping piece and the pressing block.
The clamping piece is screwed on the driving clamping piece, the sterile cover isolates the clamping piece from the driving clamping piece, and the sterile environment of the clamping piece is guaranteed when the guide wire is clamped. Wherein, the line wheel is hidden and is installed below the base.
As a further improvement, the device also comprises a force measuring assembly; the force measuring assembly is used for detecting the pushing force of the guide pipe.
As a further refinement, the load cell assembly comprises a diaphragm, a conduit attachment plate, and a force sensor disposed in the body portion; the conduit connecting plate is used for connecting the conduit holder and can be movably arranged through a linear guide rail pair; one end of the force sensor is connected with the partition plate, and the other end of the force sensor is connected with the conduit connecting plate.
As a further improvement, the base is provided with an insert for mounting it to an upper portion of the body portion.
In another aspect, the present application provides a control method for a slave device of an interventional surgical robot, comprising: wherein the surgical robot slave end device includes: a body portion and a catheter holder, a guidewire clamp, a torsion assembly;
the catheter clamp and the guide wire clamp are detachably arranged on the upper cover of the main body part;
when in operation, the sanitary isolation pad or the sanitary isolation film is firstly provided with a hole at the motor shaft to cover the main body, and then the components in the catheter holder and the guide wire clamp are arranged on the main body through respective structures by the sanitary isolation pad or the sanitary isolation film, so that the catheter holder, the guide wire clamp, the pinion and the gearwheel are isolated from the main body.
When the guide wire clamping device is covered with a sanitary film or a sanitary isolation pad, the covered sanitary film can pass between the clamping piece and the pressing block.
The clamping piece is screwed on the driving clamping piece, the sterile cover isolates the clamping piece from the driving clamping piece, and the sterile environment of the clamping piece is guaranteed when the guide wire is clamped.
The torsion component is used for driving a screw cap of the medical three-way valve to drive the conduit to rotate; the torsion assembly comprises a motor, a pinion and a bull gear; the motor is arranged in the main body part and is connected with the pinion; the large gear is matched with the connecting sheath; the small gear and the large gear are in meshing transmission;
the torsion control step of the catheter comprises the following steps: the motor acts and drives the connecting sheath and the screw cap of the medical three-way valve to rotate together through the meshing transmission of the pinion and the gearwheel, so as to drive the catheter to twist.
As a further improvement, the device also comprises a force measuring component for detecting the pushing force of the guide pipe; the force measuring assembly comprises a partition plate arranged in the main body part, a conduit connecting plate and a force sensor; the conduit connecting plate is used for connecting the conduit holder and can be movably arranged through a linear guide rail pair; one end of the force sensor is connected with the partition plate, and the other end of the force sensor is connected with the conduit connecting plate;
the detection steps of the push force of the guide pipe are as follows: the movable platform drives the main body part to be pushed forwards, the pushing force of the main body part is transmitted to the guide pipe clamp holder through the partition plate, the force sensor and the guide pipe connecting plate, in the pushing process, the force sensor receives the pushing force information and converts the pushing force information into electric signals to be output, and then the pushing force detection of the guide pipe is achieved.
Advantageous effects
Compared with the prior art, the beneficial effects of the utility model are that:
(1) the operation of being convenient for, for current intervention robot, the utility model discloses a construct more reasonable, only will twist reverse subassembly, pipe holder, seal wire binding clasp and present doctor in the front in actual operation, and hide irrelevant part, the doctor of being convenient for concentrates on when the operation.
(2) The main part top that will intervene the robot is relatively flat, in actual operation, can be before carrying out the operation, with health barrier film or health isolation pad tiling in the main part top, punch in pinion drive shaft department, will install pipe holder and seal wire binding clasp on the main part through pipe holder connecting rod and seal wire binding clasp connecting rod again, form and just expose bevel gear group, pipe holder, seal wire binding clasp on health barrier film or health isolation pad. On one hand, the operation is convenient, on the other hand, the parts such as the main body and the like which are irrelevant to the operation are isolated to the maximum extent, the aseptic isolation is effectively realized in the actual operation, and the pollution to the operation caused by the parts such as the main body and the like which are irrelevant to the operation is effectively prevented.
(3) The catheter clamp and the guide wire clamp are detachably arranged on the main body part, the catheter clamp and the guide wire clamp are simple in combination mode and convenient to disassemble and assemble, the catheter clamp can clamp a catheter, and the guide wire clamp can clamp or release a guide wire, so that the catheter clamp and the guide wire clamp are matched with each other to cooperatively operate, and the cooperative action control of the catheter and the guide wire can be completed;
(4) the slave end device of the interventional operation robot has simple integral structure, adopts modular structure design, is simple and convenient to disassemble and assemble, has compact structure, can be made of plastic for most parts, has light integral weight and lower manufacturing cost;
drawings
Fig. 1 is a schematic perspective view of the slave device of the interventional surgical robot of the present invention;
FIG. 2 is a schematic front view of the main body of the slave device of the interventional surgical robot of the present invention;
FIG. 3 is a schematic view of the interventional surgical robot detaching a catheter holder connector from the end device;
fig. 4 is a structural view of the guide wire clamp in the slave end device of the interventional surgical robot of the present invention.
The reference numbers of the figures denote:
a body portion (1); an upper cover (120);
a guide wire clamper (2); a base (210); a support (220); a spring cavity (221); a clamping member (230); a compression block (231);
a catheter holder (3); a medical three-way valve (310); a clamp assembly (320); a switch base (321); a clamping block (322); a switch (323); a connection sheath (324);
a torsion assembly (4); a motor (401); a pinion (402); a bull gear (403);
a force measuring assembly (5);
Detailed Description
The invention will be further described with reference to specific embodiments and drawings.
Example 1
A slave end device of an interventional operation robot mainly comprises four parts, namely a main body part 1, a guide wire clamper 2, a catheter clamper 3 and a torsion assembly 4; the main body part 1 is a mounting base of other four parts, the catheter holder 3 and the guide wire clamper 2 are both detachably mounted on the main body part 1 through a guide wire clamper connecting shaft and a catheter holder connecting shaft, wherein the catheter holder 3 and the guide wire clamper 2 are respectively detachably mounted on an upper cover of the main body part 1. The guide wire clamp 2 is used for clamping or releasing the guide wire, the catheter clamp 3 is used for clamping the catheter, and the twisting component 4 is used for completing twisting operation of the catheter. The device can complete the clamping, pushing and twisting of the catheter and the clamping or loosening of the guide wire through the mutual matching of the parts, so that the cooperation of the catheter and the guide wire can be realized, and the requirement of an operation can be met.
Example 2
A slave end device of an interventional operation robot mainly comprises four parts, namely a main body part 1, a guide wire clamper 2, a catheter clamper 3 and a torsion assembly 4; wherein, main part 1 is the installation basis of other four parts, and pipe holder 3 and wire clamp 2 are all through wire clamp connecting axle and pipe holder connecting axle demountable installation on main part 1, and wherein twist reverse subassembly (4) and include: a pinion (402), a gearwheel (403) and a motor (401), wherein the pinion (402) is connected with the gearwheel (403) for power transmission, and the pinion (402) and the gearwheel (403) form a bevel gear set. The guide wire clamp 2 is used for clamping or releasing the guide wire, the catheter clamp 3 is used for clamping the catheter, and the twisting component 4 is used for completing twisting operation of the catheter. The device can complete the clamping, pushing and twisting of the catheter and the clamping or loosening of the guide wire through the mutual matching of the parts, so that the cooperation of the catheter and the guide wire can be realized, and the requirement of an operation can be met. Wherein, the catheter holder (3) and the guide wire clamper (2) are both detachably arranged on the upper cover of the main body part (1).
Example 3
A slave end device of an interventional operation robot mainly comprises four parts, namely a main body part 1, a guide wire clamper 2, a catheter clamper 3 and a torsion assembly 4; the catheter clamp comprises a main body part (1), a catheter clamp connecting shaft and a catheter clamp connecting shaft, wherein the main body part (1) is an installation foundation of other four parts, the catheter clamp (3) and the catheter clamp (2) are detachably installed on the main body part (1) through the catheter clamp connecting shaft and the catheter clamp connecting shaft, and the catheter clamp (3) and the catheter clamp (2) are detachably installed on an upper cover of the main body part (1); wherein the torsion assembly (4) comprises: a pinion (402), a gearwheel (403) and a motor (401), wherein the pinion (402) is connected with the gearwheel (403) for power transmission, and the pinion (402) and the gearwheel (403) form a bevel gear set. The transmission shaft of the small gear penetrates out of the upper part of the main body part (1), and the large gear (403) is arranged in the vertical direction and is connected with the small gear (402) to form power transmission. The guide wire clamp 2 is used for clamping or releasing the guide wire, the catheter clamp 3 is used for clamping the catheter, and the twisting component 4 is used for completing twisting operation of the catheter. The device can complete the clamping, pushing and twisting of the catheter and the clamping or loosening of the guide wire through the mutual matching of the parts, so that the cooperation of the catheter and the guide wire can be realized, and the requirement of an operation can be met. Wherein, the catheter holder (3) and the guide wire clamper (2) are both detachably arranged on the upper cover of the main body part (1).
Example 4
A slave end device of an interventional operation robot mainly comprises four parts, namely a main body part 1, a guide wire clamper 2, a catheter clamper 3 and a torsion assembly 4; the catheter clamp comprises a main body part (1), a catheter clamp connecting shaft and a catheter clamp connecting shaft, wherein the main body part (1) is an installation foundation of other four parts, the catheter clamp (3) and the catheter clamp (2) are detachably installed on the main body part (1) through the catheter clamp connecting shaft and the catheter clamp connecting shaft, and the catheter clamp (3) and the catheter clamp (2) are detachably installed on an upper cover of the main body part (1); the conduit holder (3) is connected to the upper cover (120) of the main body through a connecting rod (350), and the conduit holder (3) is detachably connected with the pipe holder connecting rod (350). The catheter holder (3) is 5cm away from the body. Wherein the torsion assembly (4) comprises: a pinion (402), a gearwheel (403) and a motor (401), wherein the pinion (402) is connected with the gearwheel (403) for power transmission, and the pinion (402) and the gearwheel (403) form a bevel gear set.
Example 5
A slave end device of an interventional operation robot mainly comprises four parts, namely a main body part 1, a guide wire clamper 2, a catheter clamper 3 and a torsion assembly 4; the catheter clamp comprises a main body part (1), a catheter clamp connecting shaft and a catheter clamp connecting shaft, wherein the main body part (1) is an installation foundation of other four parts, the catheter clamp (3) and the catheter clamp (2) are detachably installed on the main body part (1) through the catheter clamp connecting shaft and the catheter clamp connecting shaft, and the catheter clamp (3) and the catheter clamp (2) are detachably installed on an upper cover of the main body part (1); the conduit holder (3) is connected to the upper cover (120) of the main body through a connecting rod (350), and the conduit holder (3) is connected with the pipe holder connecting rod (350) in an inserting way. The catheter holder (3) is at a distance of 10cm from the body. Wherein the torsion assembly (4) comprises: a pinion (402), a gearwheel (403) and a motor (401), wherein the pinion (402) is connected with the gearwheel (403) for power transmission, and the pinion (402) and the gearwheel (403) form a bevel gear set.
Example 6
A slave end device of an interventional operation robot mainly comprises four parts, namely a main body part 1, a guide wire clamper 2, a catheter clamper 3 and a torsion assembly 4; the catheter clamp comprises a main body part (1), a catheter clamp connecting shaft and a catheter clamp connecting shaft, wherein the main body part (1) is an installation foundation of other four parts, the catheter clamp (3) and the catheter clamp (2) are detachably installed on the main body part (1) through the catheter clamp connecting shaft and the catheter clamp connecting shaft, and the catheter clamp (3) and the catheter clamp (2) are detachably installed on an upper cover of the main body part (1); the conduit holder (3) is connected to the upper cover (120) of the main body through a connecting rod (350), and the conduit holder (3) is connected with the pipe holder connecting rod (350) in an inserting way. The catheter holder (3) is 6cm from the body. Wherein the torsion assembly (4) comprises: a pinion (402), a gearwheel (403) and a motor (401), wherein the pinion (402) is connected with the gearwheel (403) for power transmission, and the pinion (402) and the gearwheel (403) form a bevel gear set. Wherein the guide wire clamper 2 comprises: a base (210); a support (220); a spring cavity (221); a clamping member (230); a compression block (231); wherein, after the base (210) is combined with the upper cover, the upper cover is kept flat; a support (220) in mountable connection with the base (210); in this embodiment, the bases and 210 of the supporting member 220 are connected by a circular groove and fixed by screws. The compression block 231 is nested in the spring cavity 221 and inserted into the support member 220. The clamping member 230 is connected to a clamping block 231.
Example 7
A slave end device of an interventional operation robot mainly comprises four parts, namely a main body part 1, a guide wire clamper 2, a catheter clamper 3 and a torsion assembly 4; the catheter clamp comprises a main body part (1), a catheter clamp connecting shaft and a catheter clamp connecting shaft, wherein the main body part (1) is an installation foundation of other four parts, the catheter clamp (3) and the catheter clamp (2) are detachably installed on the main body part (1) through the catheter clamp connecting shaft and the catheter clamp connecting shaft, and the catheter clamp (3) and the catheter clamp (2) are detachably installed on an upper cover of the main body part (1); the conduit holder (3) is connected to the upper cover (120) of the main body through a connecting rod (350), and the conduit holder (3) is connected with the pipe holder connecting rod (350) in an inserting way. The catheter holder (3) is 6cm from the body. Wherein the torsion assembly (4) comprises: a pinion (402), a gearwheel (403) and a motor (401), wherein the pinion (402) is connected with the gearwheel (403) for power transmission, and the pinion (402) and the gearwheel (403) form a bevel gear set. The guide wire clamp (2) further comprises a wire wheel, wherein the wire wheel is arranged below the base (210).
Claims (11)
1. A slave-end device of an interventional operation robot comprises a main body part (1), a guide wire clamper (2), a catheter clamper (3) and a torsion assembly (4); the method is characterized in that: the catheter holder (3) and the guide wire clamp (2) are both detachably arranged on an upper cover (120) of the main body part (1), wherein the torsion assembly (4) comprises: a pinion (402), a gearwheel (403) and a motor (401), wherein the pinion (402) is connected with the gearwheel (403) for power transmission, the pinion (402) and the gearwheel (403) form a bevel gear set, and the height between the catheter holder (3) and the body part (1) is 3-20 cm.
2. The slave end device of claim 1, wherein the pinion (402) is horizontally arranged, the transmission shaft of the pinion penetrates out of the upper part of the main body part (1), and the gearwheel (403) is vertically arranged and is connected with the pinion (402) to form power transmission.
3. An interventional surgical robotic slave device according to claim 1, wherein the catheter holder (3) does not directly rest on the body part upper cover (120) but is connected to the body part (1) by means of a catheter holder connection rod (350), the catheter holder (3) being detachably connected to the catheter holder connection rod (350).
4. An interventional surgical robotic slave according to claim 3, wherein the catheter holder (3) does not directly engage the body part upper cover (120) but is connected to the body part (1) by a catheter holder connection rod (350), the catheter holder (3) and the catheter holder connection rod (350) being in a bayonet connection.
5. An interventional surgical robotic slave device according to claim 4, wherein the height between the catheter holder (3) and the body portion (1) is 5-10 cm.
6. An interventional surgical robotic slave device according to claim 4, wherein the height between the catheter holder (3) and the body portion (1) is 5 cm.
7. The slave end device of an interventional surgical robot according to claim 1, wherein the guide wire clamper (2) comprises: a base (210); a support (220); a spring cavity (221); a clamping member (230); a compression block (231); wherein, after the base (210) is combined with the upper cover, the upper cover is kept flat; the support member (220) is detachably connected to the base (210).
8. The slave end device of claim 7, wherein the guide wire clamper (2) further comprises a reel, wherein the reel is disposed below the base (210).
9. The slave end device of claim 7, wherein the base of the supporting member (220) is connected with the base (210) through a circular groove and is fixed through screws; the pressing block (231) is sleeved in the spring cavity (221) and is inserted into the supporting piece (220), and the clamping piece (230) is inserted into the pressing block (231).
10. An interventional surgical robotic slave according to claim 1, wherein the upper side of the catheter holder (3) is openable to allow a tee to be fitted therein.
11. Interventional surgical robotic slave end device according to any of the claims 1-9, characterized in that the interventional surgical robotic slave end device further comprises a force measuring assembly (5).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822259153.4U CN210962301U (en) | 2018-12-29 | 2018-12-29 | Intervene operation robot from end device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822259153.4U CN210962301U (en) | 2018-12-29 | 2018-12-29 | Intervene operation robot from end device |
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| CN210962301U true CN210962301U (en) | 2020-07-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022088535A1 (en) * | 2020-10-29 | 2022-05-05 | 北京唯迈医疗设备有限公司 | General-use robot for interventional angiographic and therapeutic surgery |
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2018
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022088535A1 (en) * | 2020-10-29 | 2022-05-05 | 北京唯迈医疗设备有限公司 | General-use robot for interventional angiographic and therapeutic surgery |
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