CN211044621U - Manual operation device based on blood vessel intervention operation training system - Google Patents
Manual operation device based on blood vessel intervention operation training system Download PDFInfo
- Publication number
- CN211044621U CN211044621U CN201922451361.9U CN201922451361U CN211044621U CN 211044621 U CN211044621 U CN 211044621U CN 201922451361 U CN201922451361 U CN 201922451361U CN 211044621 U CN211044621 U CN 211044621U
- Authority
- CN
- China
- Prior art keywords
- force
- detection
- guide shaft
- transmission block
- detecting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Instructional Devices (AREA)
Abstract
The utility model provides a manual control operation device based on a blood vessel intervention operation training system, which belongs to the technical field of medical training equipment and comprises a catheter, a guide shaft, a force/moment detection mechanism and a mechanism for realizing two-degree-of-freedom motion and force touch feedback; the force/moment detection mechanism is used for detecting the operation force applied to the axial direction of the guide shaft and detecting the operation moment applied to the circumferential direction of the guide shaft; the force/torque detection mechanism comprises a transmission block capable of rotating coaxially with the guide shaft, a first detection assembly for detecting the operation force of the transmission block in the axial direction and a second detection assembly for detecting the operation torque of the transmission block in the circumferential direction, and the first detection assembly is positioned in the axial direction of the transmission block; the second detection assembly is located in the circumferential direction of the transmission block. The device is used for accurately detecting the force/moment of an operator in a blood vessel interventional training operation, timely realizes motion and force touch feedback, provides a real training environment for the operator, and achieves the purpose of improving the operation skill of the operator.
Description
Technical Field
The utility model relates to a medical training equipment's technical field particularly, relates to a manual operating means based on operation training system is intervene to blood vessel.
Background
Vascular interventional surgery is a very effective treatment method which has gradually emerged in the last decade, and has the advantages of small wound, less bleeding, accurate interventional position and the like. Meanwhile, the incidence rate of the complications of the vascular interventional operation is inversely related to the contrast cases of the patients, which indicates that the more skillful the operation is, the less the possibility of the complications is.
However, the number of doctors who can actually perform the vascular interventional operation is far from the number of the increasing number of the patients with cardiovascular and cerebrovascular diseases year by year, and thus more excellent doctors for the vascular interventional operation need to be trained.
The traditional vascular intervention training mode comprises: corpse, human phantom model, animal etc. carry out the training operation through training equipment, in the training process, often hardly hold the motion trail of pipe, for example how correctly advance, retreat or rotate, when meetting the hindrance in the training process, how to realize force feedback and then training that can be more accurate.
The prior patent CN 201210185159-a device for measuring the catheter intervention force and moment in the cardiovascular intervention operation in real time, which is characterized in that the thumb and the index finger of a doctor are respectively worn in the device, and the detection and feedback are performed by the force and moment device, although the device can be directly contacted with the finger operation of the doctor, the operation time of the doctor is long due to the requirement of the vascular intervention operation, the doctor is easy to fatigue in such a posture for a long time, and thus a large operation error is caused, so the device is not beneficial to the operation of the doctor; in addition, the pressure sensor in the above-mentioned patent is 3 groups, and the equidistant distribution is in outer cylinder shell inner wall, when detecting force and moment, can have certain error.
A device capable of more accurately detecting force and moment and feeding back force and moment is urgently needed, and operation and training of doctors are facilitated.
SUMMERY OF THE UTILITY MODEL
An object of the embodiment of the utility model is to provide a manual operating means based on operation training system is intervene to blood vessel for realize that accurate detection blood vessel intervenes operator's power/moment in the training operation, and timely motion and power tactile feedback provide truer training environment for the training person, in order to reach the technological effect who improves training person's operating skill.
The utility model discloses a following technical scheme realizes: comprises a catheter, a guide shaft, a force/moment detection mechanism and a mechanism for realizing two-degree-of-freedom motion and force touch feedback;
the force/moment detection mechanism is used for detecting the operation force/moment applied to the axial direction of the guide shaft and detecting the operation force/moment applied to the circumferential direction of the guide shaft;
the force/torque detection mechanism comprises a transmission block capable of rotating coaxially with the guide shaft, a first detection assembly and a second detection assembly, the first detection assembly is used for detecting the operation force of the transmission block in the axial direction, the second detection assembly is used for detecting the operation torque of the transmission block in the circumferential direction, and the first detection assembly is located in the axial direction of the transmission block; the second detection assembly is located in the circumferential direction of the transmission block.
In order to better realize the utility model discloses, it is further, detection mechanism still includes the casing, the casing movable sleeve is located the guiding axle surface, casing one side is equipped with and is used for driving block axial displacement or circumferential direction's movable chamber, movable intracavity wall is equipped with the first mounting groove that is used for installing first determine module and the second mounting groove that is used for installing the second determine module, first mounting groove is located casing axial direction, the second mounting groove is located casing circumferential direction.
In order to better realize the utility model, further, the first detecting component comprises 2 detecting blocks; the second detection assembly comprises 2 detection blocks; the number of the first mounting grooves is 2, the number of the second mounting grooves is 2, and the transmission block is located between the two detection blocks in the axial direction of the shell; the transmission block is located between the two detection blocks in the circumferential direction of the shell.
In order to better realize the utility model, further, the mechanism for realizing two-degree-of-freedom motion and force tactile feedback comprises a guide component for stabilizing the guide shaft and a driving component for driving the catheter to move axially;
a sliding piece is arranged at the bottom of the guide assembly;
the driving assembly comprises a servo motor, the output end of the servo motor is connected with a ball screw, the slider is movably connected with the ball screw, and the guide shaft is driven by the servo motor to move forwards or backwards in the axial direction. In order to better realize the utility model discloses, it is further, the mechanism that realizes two degree of freedom motions and power tactile feedback still includes the first encoder that is used for detecting guiding axle circumference direction motion, first encoder with guiding axle coaxial coupling.
In order to better realize the utility model discloses, it is further, the direction subassembly includes backup pad and bottom plate, the saddle is located bottom plate.
In order to better realize the utility model discloses, it is further, the mechanism that realizes two degree of freedom motions and power tactile feedback still includes the hysteresis brake, first encoder with the hysteresis brake all with guiding axle coaxial coupling.
For better realization the utility model discloses, it is further, first determine module with the detection piece of second determine module is pressure sensor.
The embodiment of the utility model provides a beneficial effect is: the utility model provides a manual control operating means based on intervene operation training system, through power/moment detection mechanism to the operator exert the power/moment of guiding axle to detect accurately, this detection is in horizontal direction and direction of rotation to the mechanism that realizes two degree of freedom motions and power tactile feedback provides real-time accurate data for follow-up, and then provides more real training environment for the operator; achieving better training effect.
The utility model provides an among the power/moment detection mechanism through setting up with the coaxial pivoted drive block of guiding axle, this drive block can be in the activity chamber activity in the casing to carry out the detection of power/moment through axial or ascending detection piece in week. The structure can realize the detection of the force/moment of the guide shaft, and can also realize the decoupling detection of two freedom forces/moments, so that the detection is more visual and accurate.
The manual control operation device based on the blood vessel intervention operation training system provided by the utility model can realize the movement of the guide shaft in the axial direction and the force feedback of the axial movement through the force/moment detection mechanism, the servo motor and the guide assembly; force feedback of the guide shaft in the circumferential direction can be achieved through the force/moment detection mechanism, the first encoder and the hysteresis brake, and force feedback of two degrees of freedom greatly helps training of a trainer, so that the training effect can be improved.
The utility model provides a manual operating means based on operation training system is intervene to blood vessel, its simple structure, the processing ease accords with doctor's actual operation custom.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to these drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a manual operation device based on a training system for vascular intervention surgery according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a force/torque detection mechanism according to an embodiment of the present invention;
fig. 3 is a front view of a force/torque detecting mechanism according to an embodiment of the present invention.
Icon: 10-guide tube, 100-guide shaft, 200-force/moment detection mechanism, 210-shell, 211-movable cavity, 214-first detection component, 215-second detection component, 217-transmission block, 220-first encoder, 310-guide component, 311-support plate, 312-bottom plate, 313-slider, 320-servo motor, 321-ball screw and 330-hysteresis brake.
Detailed Description
The technical solution in the embodiment of the present invention will be described below with reference to the accompanying drawings in the embodiment of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Please refer to fig. 1, the manual control device based on the training system for vascular intervention operation provided by the embodiment of the present invention mainly comprises a catheter 10, a guiding shaft 100, a force/torque detection mechanism 200 and a mechanism for realizing two-degree-of-freedom motion and force tactile feedback, wherein the guiding shaft 100 is a manual control shaft, an operator operates the guiding shaft 100 and performs force/torque detection through the force/torque detection mechanism 200, then performs certain control signal conversion, and then performs motion of the catheter 10 or the guiding shaft 100 through the mechanism for realizing two-degree-of-freedom motion and force tactile feedback, and the control signal conversion is a prior art, so that too many descriptions are not performed here.
Whether in the training operation process or the doctor practical application process, the detection of force and moment is the very important part, and the current force/moment detection is comparatively crude, can not obtain corresponding data more accurately to can lead to the distance of final guide shaft 100's motion, direction etc. not accurate enough, influence operator, training person's training.
In order to solve the technical problem, the utility model provides a power/moment detection mechanism 200, this power/moment detection mechanism 200 can realize the detection of two degrees of freedom operating force/moment, and two degrees of freedom mainly refer to axial direction and circumference direction, and concrete structure is: include with the coaxial pivoted transmission piece 217 of guiding axle 100, and distribute in the peripheral first detecting element 214 and the second detecting element 215 of transmission piece 217, first detecting element 214 is mainly used for detecting the power that transmission piece 217 was exerted at the axial direction, second detecting element 215 is mainly used for detecting the transmission at the power moment that the circumference direction was exerted, through the detection to the power/moment of axial direction and two degrees of freedom of circumference direction, can be better control operator's application of force direction and size, thereby obtain more accurate application of force information, and then make motion control's realization can be more accurate, reach the purpose that improves the training effect.
In the actual training process, whether an operator applies force in the axial (horizontal) direction or the circumferential (rotating) direction independently or applies force in the axial (horizontal) direction and the circumferential (rotating) direction simultaneously, the force/torque detection mechanism can be used for detecting the force/torque information, so that the force/torque information detected by the detection mechanism for realizing decoupling detection is more visual and accurate, and stronger force/torque information can be provided for training.
The physical strength/moment detecting mechanism 200 includes a housing 210, as shown in fig. 2 and 3, a movable cavity 211 is opened at one side of the housing 210, the space of the movable chamber 211 is not large, and is fan-shaped as viewed in a cross section in a radial direction, the driving block 217 follows the guide shaft 100 in the movable chamber 211 to perform a corresponding movement, i.e., axially or circumferentially, and by placing the first mounting groove and the second mounting groove in the movable chamber 211, the first sensing member 214 is mounted in the first mounting slot, the second sensing member 215 is mounted in the second mounting slot, the first and second mounting grooves are 2 each, and the first and second sensing members 214 and 215 are 2 pressure sensors, as shown in fig. 3, wherein the pressure sensor of the first detecting component 214 is located in the axial direction of the driving block 217, and the pressure sensor of the second detecting component 215 is located in the circumferential direction of the driving block 217.
The force/torque detection mechanism 200 adopts the transmission block 217 which coaxially rotates with the guide shaft 100 to convert the motion information of the guide shaft 100, so that the situation that a pressure sensor is directly arranged around the guide shaft 100 is avoided, if the pressure sensor is directly arranged around the guide shaft 100, the motion detection deviation of the axial direction is not too large, but the detection deviation of the circumferential direction has great influence, the scheme disclosed by the prior patent No. 201210185159, a device for measuring the catheter intervention force and torque in the cardiovascular intervention operation in real time, can be used for obtaining the result, when an operator controls the rotation, the possibility that the detection mechanism and the guide shaft 100 rotate together exists, and the rotating force of the guide shaft 100 cannot be detected more accurately.
The utility model discloses a set up driving block 217, this driving block 217 and the coaxial rotation of guiding axle 100, when guiding axle 100 is rotatory, driving block 217 also can produce corresponding rotation, the pressure sensor that then can contact corresponding circumference direction after driving block 217 rotates then just can directly detect corresponding revolving force/moment, because casing 210 establishes with guiding axle 100 is the movable sleeve, behind the pressure sensor of the circumference direction of driving block 217 contact, if guiding axle 100 is rotatory if continuing, driving block 217 also will receive rotatory driving force, owing to be the movable sleeve establishes, under the effect of a small part driving force, whole casing 210 also will rotate, here, explain very much, the utility model provides a power/moment detection mechanism 200 is compact, lightweight.
Meanwhile, in order to detect the rotation angle of the manual operation device more accurately, the first encoder 220 is disposed at the other end of the guide shaft 100, the first encoder 220 is also coaxially connected with the guide shaft 100, and the rotation angle of the guide shaft 100 can be recorded in real time through the first encoder 220.
The force/torque detecting mechanism 200 accurately detects the operation information of the operation guide shaft 100, which is converted to be the control signal for implementing the motion and force tactile feedback mechanism, the conversion is performed by an algorithm, the algorithm is the prior art, and therefore, not much elaborated herein, the mechanism for implementing the two-degree-of-freedom motion and force tactile feedback mainly comprises a guide component 310 for stabilizing the guide shaft 100 and a driving component for driving the guide shaft 100 to move axially, the guide component 310 is provided with a supporting plate 311 as shown in fig. 1, a bottom plate 312 is arranged at the bottom of the supporting plate 311, a slider 313 is arranged at the bottom of the bottom plate 312, the slider 313 is connected with the driving component, specifically, the driving component comprises a servo motor 320, a ball screw 321 is arranged at the output end of the servo motor 320, and is movably connected with the ball screw 321 through the slider 313, under the driving of the servo motor 320, the guide assembly 310 above the slider 313 slides to move the guide shaft 100 in the axial direction, which may be forward or backward.
The mechanism for realizing two-degree-of-freedom motion and force tactile feedback further comprises a hysteresis brake 330, and the hysteresis brake 330 and the first encoder are coaxially connected with the guide shaft 100.
The detailed operation will now be described with respect to the movement of the guide shaft 100 in the axial (horizontal) direction:
s1: the operator pinches the guide shaft 100 by the thumb and the forefinger to move forwards;
s2: the transmission block 217 on the force/moment detection mechanism 200 touches the pressure sensor in front forward, i.e. the information of forward movement is obtained; (particularly, the first detection component and the second detection component of the force/moment detection mechanism can realize the decoupling of the transmission block in different movement directions, so that the force/moment detection is more intuitive and accurate)
S3: the information of the forward motion is converted into a control signal of a mechanism for realizing two-degree-of-freedom motion and force touch feedback through the existing algorithm, and the specific control mechanism drives the ball screw 321 to drive the guide assembly 310 to move forward through the servo motor 320, so that the purpose of forward movement of the guide shaft 100 is realized;
s4: a second encoder in the servo motor 320 records the distance of the forward movement, converts the distance of the forward movement into an axial movement control signal of a virtual end catheter, and transmits the axial movement control signal to a virtual end (specifically, the virtual end is a device in the prior art, such as a computer, VR and the like), wherein the virtual end simulates the state of a human blood vessel, and is convenient for a trainer to operate, and the virtual end advances according to the distance of the forward movement;
s5: when the virtual end detects that the virtual catheter is subjected to resistance in the axial direction, particularly when the axial resistance is increased, the axial resistance and the force detected by the force/moment detection mechanism 200 are superposed to obtain a resultant force, the resultant force is reduced and is converted into a control signal of the servo motor 320, so that the rotating speed of the servo motor 320 is reduced, force touch feedback in the axial direction is realized, and an algorithm and a signal of the resultant force are converted into the prior art, so that excessive explanation is not performed; the resultant force of the axial driving force and the axial resistance is used as the axial movement driving force of the guide shaft 100, which is more suitable for the actual situation of the operation of the doctor;
s6: after feeling the force tactile feedback, the operator changes the movement in the original axial direction and adjusts the movement mode, namely, the movement mode can be backward or rotary; or to change the magnitude of the applied force.
The detailed operation will now be described with respect to the movement of the guide shaft 100 in the circumferential (rotational) direction:
s1: the trainer rotates the guide shaft 100, which may be clockwise or counterclockwise;
s2: the driving block 217 of the force/torque detection mechanism 200 rotates to contact the pressure sensor in the circumferential direction, and then detects the rotating torque, and then detects the rotating angle of the guide shaft 100 by detecting the guide shaft 100 through the first encoder 220;
s3: converting the force detected by the force/torque detection mechanism 200 or the rotation angle detected by the first encoder 220 into an input signal of the rotation angle of the virtual end catheter by using the existing algorithm, so as to realize the rotation of the virtual end catheter;
s4: when the virtual end feedback conduit receives resistance in the rotating direction, the hysteresis brake 330 generates torque in the same direction as the resistance received by the virtual end, so that force touch feedback in the rotating direction is effectively realized;
s5: after feeling the force tactile feedback in the rotating direction, the operator changes the motion mode, and the operation can be movement in the horizontal direction or rotation in the rotating direction; or to change the magnitude of the applied force.
The utility model provides a manual operating means based on operation training system is intervene to blood vessel, the device can realize the accurate detection of the power/moment of two degrees of freedom and through realizing motion and power touch feedback to provide the training environment of more real intervention operation for the operator.
The utility model provides a manual operating means based on operation training system is intervene to blood vessel can realize the decoupling zero of horizontal motion and rotary motion, accords with actual operation more.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A manual control operation device based on a vascular intervention operation training system comprises a catheter, a guide shaft, a force/moment detection mechanism and a mechanism for realizing two-degree-of-freedom motion and force touch feedback;
the force/moment detection mechanism is used for detecting an operating force applied to the axial direction of the guide shaft and detecting an operating moment applied to the circumferential direction of the guide shaft;
the method is characterized in that: the force/torque detection mechanism comprises a transmission block capable of rotating coaxially with the guide shaft, a first detection assembly and a second detection assembly, the first detection assembly is used for detecting the operation force of the transmission block in the axial direction, the second detection assembly is used for detecting the operation torque of the transmission block in the circumferential direction, and the first detection assembly is located in the axial direction of the transmission block; the second detection assembly is located in the circumferential direction of the transmission block.
2. The manual operation device according to claim 1, wherein the detection mechanism further includes a housing, the housing is movably sleeved on the surface of the guide shaft, a movable cavity is disposed on one side of the housing for axial movement or circumferential movement of the transmission block, a first mounting groove for mounting a first detection assembly and a second mounting groove for mounting a second detection assembly are disposed on an inner wall of the movable cavity, the first mounting groove is disposed in the axial direction of the housing, and the second mounting groove is disposed in the circumferential direction of the housing.
3. The manual operating device of claim 2, wherein said first detection assembly includes 2 detection blocks; the second detection assembly comprises 2 detection blocks; the number of the first mounting grooves is 2, the number of the second mounting grooves is 2, and the transmission block is located between the two detection blocks in the axial direction of the shell; the transmission block is located between the two detection blocks in the circumferential direction of the shell.
4. The manual operation device according to any one of claims 1 to 3, characterized in that: the mechanism for realizing two-degree-of-freedom motion and force tactile feedback comprises a guide component for stabilizing the guide shaft and a driving component for driving the catheter to move axially;
a sliding piece is arranged at the bottom of the guide assembly;
the driving assembly comprises a servo motor, the output end of the servo motor is connected with a ball screw, the slider is movably connected with the ball screw, and the guide shaft is driven by the servo motor to move forwards or backwards in the axial direction.
5. The manual operating device of claim 4 wherein said means for achieving two degree of freedom motion and force tactile feedback further comprises a first encoder for detecting motion of the guide shaft in a circumferential direction, said first encoder being coaxially connected to said guide shaft.
6. The manual operating device of claim 5, wherein said guide assembly includes a support plate and a base plate, said slide being disposed at a bottom of said base plate.
7. The manual operator of claim 5 wherein the means for achieving two degrees of freedom motion and force tactile feedback further comprises a hysteresis brake, the first encoder and the hysteresis brake being coaxially connected to the pilot shaft.
8. The manual operating device of claim 1, wherein the sensing blocks of the first and second sensing assemblies are pressure sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922451361.9U CN211044621U (en) | 2019-12-30 | 2019-12-30 | Manual operation device based on blood vessel intervention operation training system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922451361.9U CN211044621U (en) | 2019-12-30 | 2019-12-30 | Manual operation device based on blood vessel intervention operation training system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211044621U true CN211044621U (en) | 2020-07-17 |
Family
ID=71567573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922451361.9U Active CN211044621U (en) | 2019-12-30 | 2019-12-30 | Manual operation device based on blood vessel intervention operation training system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211044621U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111047940A (en) * | 2019-12-30 | 2020-04-21 | 西南石油大学 | Manual operation device based on blood vessel intervention operation training system |
| CN112562445A (en) * | 2020-12-28 | 2021-03-26 | 西南石油大学 | Catheter manipulation active guiding mechanism and device for interventional operation training system |
-
2019
- 2019-12-30 CN CN201922451361.9U patent/CN211044621U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111047940A (en) * | 2019-12-30 | 2020-04-21 | 西南石油大学 | Manual operation device based on blood vessel intervention operation training system |
| CN111047940B (en) * | 2019-12-30 | 2024-05-14 | 西南石油大学 | Manual operation device based on vascular intervention operation training system |
| CN112562445A (en) * | 2020-12-28 | 2021-03-26 | 西南石油大学 | Catheter manipulation active guiding mechanism and device for interventional operation training system |
| CN112562445B (en) * | 2020-12-28 | 2024-05-28 | 西南石油大学 | Catheter control active guiding mechanism and device for interventional operation training system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113729961B (en) | Main end operating handle of interventional operation robot | |
| CN211044621U (en) | Manual operation device based on blood vessel intervention operation training system | |
| JP7349229B2 (en) | Vascular interventional robot operating handle with guidewire catheter propulsion resistance feedback | |
| CN110141365B (en) | Blood vessel intervention operation auxiliary device remote control system for simulating doctor operation | |
| CN107184274B (en) | Vascular intervention operation robot operating handle with hand feeling and control method thereof | |
| CN110236686A (en) | A kind of intervention operation robot main side operating device and control method | |
| CN105662589A (en) | Slave side of master-slave minimally invasive vascular intervention surgical robot and controlling method of slave side | |
| CN109481022A (en) | A kind of main hand end operating mechanism of master-slave operation blood vessel intervention operation robot | |
| EP2104455A2 (en) | Haptic feedback medical scanning methods and systems | |
| CN103280145A (en) | Cardiovascular interventional virtual surgery force-feedback system | |
| CN113729960B (en) | Main end control module of interventional operation robot | |
| JP2018019987A (en) | Catheter/guide wire link insertion system | |
| CN215874929U (en) | Control main terminal of interventional operation robot | |
| CN116212199A (en) | Force feedback main end device for vascular intervention operation | |
| WO2023029582A1 (en) | Interventional surgical robot master end control apparatus having accidential-touch prevention function | |
| CN113827343A (en) | Minimally invasive vascular intervention operation robot operating device | |
| CN111047940A (en) | Manual operation device based on blood vessel intervention operation training system | |
| CN213935257U (en) | Catheter manipulation active guiding mechanism and device for interventional operation training system | |
| CN207044177U (en) | A kind of precision machinery people control system | |
| CN216628700U (en) | Guide wire catheter control and force feedback device of endovascular interventional surgical robot | |
| CN103860186B (en) | The device supported for medical equipment motorized motions and method | |
| CN112562445B (en) | Catheter control active guiding mechanism and device for interventional operation training system | |
| CN116019559A (en) | Guide wire catheter control and force feedback device of endovascular interventional surgical robot | |
| CN106923848B (en) | Electric power-assisted control device of mobile X-ray equipment and mobile X-ray equipment | |
| CN209947135U (en) | Vascular intervention operation training device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |