WO2018176458A1

WO2018176458A1 - Catheter advancing controlling method and catheter advancing device for vessel interventional surgery robot

Info

Publication number: WO2018176458A1
Application number: PCT/CN2017/079270
Authority: WO
Inventors: 任岭雪; 张一�; 严伟玮; 王磊
Original assignee: 中国科学院深圳先进技术研究院
Priority date: 2017-04-01
Filing date: 2017-04-01
Publication date: 2018-10-04
Also published as: CN107106155A; CN107106155B

Abstract

A catheter advancing controlling method and a catheter advancing device for a vessel interventional surgery robot, wherein the catheter advancing controlling method comprises a force measuring step and an adjusting and controlling step. The adjusting and controlling step comprises providing a controller for adjusting and controlling motion parameters of a catheter (2) during the advancement thereof, to prevent the catheter (2) from puncturing a vessel during the advancement thereof. The force measuring step comprises: providing, on a friction block component (1) for clamping and twisting the catheter (2) to rotate, a pressure sensor (51) for measuring the force of pressure exerted by the friction block component (1) on the catheter (2); and providing, on a supporting base (6), a torque sensor (52) that allows the catheter (2) to pass therethrough and is for measuring the torque on the catheter (2). This indirect measuring method can measure, at the same time, the resistance at the tip of the catheter (2) and the torque on the catheter (2), so as to achieve the goal of effective displacement control of the catheter (2). The indirect measuring method enables remote control by a doctor, significantly reducing surgical risks to medical staff and a patient.

Description

Catheter push control method for vascular interventional surgery robot and catheter pushing device

Technical field

[0001] The present invention belongs to the field of medical devices, and in particular, to a catheter push control method for a vascular interventional surgery robot and a catheter pushing device.

Background technique

[0002] In recent years, the incidence of cardiovascular disease has increased year by year and has been recognized as one of the important killers of human health. In China, as the population ages sharply, cardiovascular diseases are becoming more and more serious to the health of the elderly, and people are paying more and more attention to such diseases. The treatment of cardiovascular diseases includes drug therapy and interventional therapy. Among them, interventional therapy is a method of directly exposing the lesion and treatment without using a large area file. Specifically, the operation mode of the interventional therapy is: For a few millimeters, only tiny channels that can be inserted into the catheter, the lesions are locally examined and treated under the guidance of medical imaging equipment to minimize trauma. In traditional technology, vascular interventional surgery is mainly done by manual direct operation, which has the following drawbacks: (1) The doctor has long-term work in an X-ray environment, which is very harmful to the body; (2) Strong operational skills, risk Higher, it requires long-term training for specialist surgeons, which is not conducive to the promotion and application of this technology; (3) Due to complicated operation, long operation time, fatigue of doctors and unstable operation of hands, it will directly affect surgery. Quality, which in turn affects the quality of life of patients. These shortcomings limit the wide application of traditional vascular interventional techniques. Therefore, the combination of robotic technology and vascular intervention technology is an effective way to solve the above problems.

[0003] In order to solve the above problems in the conventional interventional treatment, the prior art proposes a scheme in which a vascular interventional surgery robot is used instead of a doctor for surgery. Vascular interventional surgery robot refers to the doctor's guidance under the digital subtraction angiography machine (DSA) to guide the catheter to move in the blood vessels of the human body, to deliver the drug to the lesion, to dissolve the thrombus, expand the narrow blood vessel and the like. Because the main task of vascular interventional surgery is to send the catheter to the lesion site, and then to diagnose and treat accordingly, how to accurately deliver the catheter to the lesion site will directly affect the quality of the entire procedure. Because the blood vessels in the human body are irregular and there are too many branches, in order to prevent the catheter from damaging the blood vessel wall or invading the blood vessel branch during the advancement, the guide of the vascular interventional operation robot The tube push device needs to have the function of pulling back the catheter and more accurate force detection.

The catheter pushing device of the existing vascular interventional surgery robot generally has the following deficiencies in the specific application: 1) The linear feeding of the catheter is driven by the rotation of the roller or the pulley, which is easy to cause slippage.

, Feed accuracy is not high.

[0005] 2) The electric push rod feeding scheme either causes the device to be oversized, or the designed device is too small in size, and the distance between each pushing the catheter is too short, which is laborious.

[0006] 3) Measuring the force of the catheter head is mainly divided into direct measurement and indirect measurement. The direct measurement method is to install a micro force sensor on the catheter head to measure the contact force between the catheter head and the blood vessel, but because the catheter is more Fine, it is not easy to fix the micro force sensor, so the current method of measuring force is only under research and has not been put into practical use. The indirect measurement method is to measure the force of the catheter head by installing the sensor on the part of the catheter protruding from the skin. It is common practice to install the pressure sensor under the moving finger or on the hand wheel, but these installation methods exist. Some problems: Firstly, the pressure sensor is mounted on the moving finger by lever force measurement, that is, the contact force between the catheter head and the blood vessel is measured by the principle of the lever, which can effectively eliminate the friction of the transmission mechanism and the mechanism itself. The influence of the force on the catheter, but if the catheter has multiple bends, the blood vessel will exert pressure on multiple parts of the catheter, which will lead to the failure of the measurement method and affect the accuracy of the measured force signal data. Therefore, the lever method can only be applied to the blood vessel. Secondly, the contact between the head of the tube and the inner wall of the blood vessel by the lever method is not comprehensive, and the pressure strain gauge of the pressure sensor cannot recognize the torque signal of the catheter, and thus cannot be displayed in the control system; Install the torque sensor between the main and the slave gears, and pass the main and slave gears. Different to generate the torque signal, but the measurement method is susceptible to the force of the transmission member of the device itself, and is not accurate enough. Finally, a rotary encoder is installed in the hand wheel to indirectly operate the catheter rotation through the control system. However, this method uses the human hand to sense the torque and still causes the operator to fatigue, and can not be operated remotely. This is inconsistent with the goal of designing the doctor to operate away from the operating table, so it has no practical value.

technical problem

[0007] The object of the present invention is to overcome at least one of the deficiencies of the prior art described above, and provide a catheter push control method for a vascular interventional surgery robot and a catheter push device, which solves the catheter push device measurement of the existing vascular interventional surgery robot. Technical problems with inaccurate force data. Problem solution

Technical solution

[0008] In order to achieve the above object, the technical solution adopted by the present invention is: a catheter push control method for a vascular interventional surgery robot, comprising a force measurement step and a regulation step, wherein the regulation step is: setting a controller for regulating the catheter Pushing a motion parameter during the procedure to prevent the catheter from being punctured during the catheter push; the force measuring step includes:

[0009] A pressure sensor is disposed on the friction block assembly for clamping and tilting the rotation of the catheter for detecting a pressure of the friction block assembly to the conduit;

[0010] A torque sensor is provided on the support base for the passage of the conduit for detecting the torque of the conduit.

[0011] Preferably, the adjusting step comprises: presetting a critical withstand pressure F0 of the blood vessel in the controller, the controller actually controlling the pressure of the two friction block assemblies on the conduit, so that The resistance f of the catheter during the pushing process is less than or equal to F0.

[0012] Preferably, the initial pressure of the friction block assembly to the conduit is defined as F1, the pressure of the friction block assembly to the conduit during the pushing process is defined as F2, and the conduit and the friction block are defined The coefficient of friction between the components is u, W\i= Fl+u (F2- F1) ≤ F0.

[0013] Preferably, in the adjusting step, when the digital subtraction angiography machine detects that the catheter encounters an obstacle during the pushing process, the controller controls the catheter pushing device to slow down the advancement speed of the catheter Simultaneously, the controller controls the two friction block assemblies to slowly increase the pressure on the conduit until the conduit passes the obstacle uniformly, and the controller controls the two friction block assemblies to slowly increase. During the pressure on the conduit, Fl+u (F2-F1) ≤ F0 is guaranteed.

[0014] Preferably, the friction block assembly includes a friction block and a rubber sheet disposed on the friction block, and a friction coefficient u between the conduit and the friction block assembly is the conduit and the rubber sheet Coefficient of friction between

[0015] Preferably, the adjusting step comprises: presetting a critical torque TO of the blood vessel in the controller, and the controller actually controls a speed at which the two friction block assemblies sway the rotation of the catheter, So that the torque T1 measured by the torque sensor is less than or equal to το.

[0016] Preferably, the conduit orbiting device is configured to control the two friction block assemblies to sway the rotation of the conduit The output power is P, the radius of the conduit is defined as r, the angular velocity of the conduit is defined as w, and the linear velocity of the conduit is defined as V, according to the formula P=F*r*w, T=F*r, V= r* w, can get Tl= (P*r) /V≤T0

[0017] Preferably, in the adjusting step, when the digital subtraction angiography machine detects that the catheter encounters a blood vessel branch or a bending flaw during the pushing process, the controller raises the catheter turning device The linear velocity of rotation of the catheter is reduced to reduce the torque of the catheter at the branch or bend of the vessel.

[0018] Further, an embodiment of the present invention further provides a catheter pushing device for a vascular interventional surgery robot, which comprises two spaced-apart friction block assemblies for driving two friction block assembly clamping catheters or loose catheters or a conduit turning device for rotating the conduit, a conduit propulsion device for driving the conduit orbiting device to drive the two friction block assemblies and the conduit, and a force for measuring the force of the conduit a digital subtraction angiography machine for imaging guidance of movement of the catheter within a blood vessel and for controlling the magnitude of pressure of the two friction block assemblies to the catheter and/or for controlling a friction block assembly that biases a rotation speed of the conduit, the force measurement assembly including a pressure sensor disposed on the friction block assembly and/or disposed on a support base for the conduit to pass through Torque sensor.

[0019] Preferably, the ducting device includes a fixing seat mounted on the duct propelling device, and is mounted on the fixing base for regulating a horizontal distance between the two friction block assemblies to realize a clamping Holding or loosening the tensioning mechanism of the catheter and a spinning mechanism mounted on the fixing seat for driving the two friction block assemblies to move up and down to sway the rotation of the catheter; and/or

[0020] the duct propulsion device includes a fixing plate, a bearing member slidable on the fixing plate, and a propulsion mechanism mounted on the fixing plate for driving the bearing member to linearly reciprocate, the conduit 捻a rotating device is mounted on the carrying member, the supporting seat is mounted on the fixing plate; and/or

[0021] The friction block assembly includes a friction block and a rubber sheet disposed on the friction block, the friction block is coupled to the conduit orbiting device, and the pressure sensor is embedded and mounted on a friction block; And/or,

[0022] Preferably, the fixing base comprises a bottom plate mounted on the duct propulsion device, a top plate spaced apart from the bottom plate, and a connection between the bottom plate and the top plate and located at the horizontal sliding member a side panel on the side, the tensioning mechanism is mounted on the top plate, and the orbiting mechanism is mounted on the bottom plate; and/or [0023] the tensioning mechanism includes two sliding seats spaced apart and slidable on the fixing seat, and an adjusting assembly for adjusting a horizontal distance between the two sliding seats, the two friction blocks The components are respectively mounted on the two sliding seats; and/or

[0024] the spinning mechanism includes a horizontal sliding member slidable on the fixing seat, a horizontal driving assembly mounted on the fixing seat for driving the horizontal sliding member to perform horizontal linear reciprocating movement, and two Connecting to the link assembly between the two friction block assemblies and the horizontal sliding member; and/or,

[0025] the propulsion mechanism includes a first motor mounted on the fixed plate and a first screw connected between the first motor and the carrying member, and the carrying member passes through the first screw sleeve Threading the first screw or the bearing member is provided with a first threaded hole threadedly engaged with the first screw; and/or

[0026] The catheter propulsion device further includes a first horizontal sliding structure disposed between the fixing plate and the bearing member; and/or,

[0027] The rubber sheet is fixed to the friction block by bonding.

[0028] Preferably, the adjustment assembly includes a first adjustment structure coupled to one of the carriages and a second adjustment structure coupled to the other of the carriages; and/or,

[0029] the tensioning mechanism further includes a second horizontal sliding structure disposed between the fixing seat and the sliding seat;

/ or,

[0030] The ducting device further includes two vertical sliding structures, wherein one of the vertical sliding structures is disposed between one of the friction block assemblies and one of the sliding blocks, and the other of the vertically guiding guides a sliding structure is disposed between the other of the friction block assembly and the other of the carriages; and/or

[0031] the horizontal drive assembly includes a second motor mounted on the fixed seat and a second lead screw connected between the second motor and the horizontal sliding member, the horizontal sliding member passing through the second a threaded rod sleeve is threadedly coupled to the second lead screw or the horizontal sliding member is provided with a second threaded hole threadedly engaged with the second threaded rod; and/or

[0032] the link assembly includes a vertical rod slidably coupled to the horizontal sliding member and a diagonal rod connected between the vertical rod and the friction block assembly, the horizontal sliding member being provided with the a first curved chute slidingly fitted with a pole; and/or,

[0033] the spinning mechanism further includes a third horizontal sliding structure disposed between the fixing seat and the horizontal sliding member; and/or [0034] The first horizontal sliding structure includes two first horizontal guides spaced apart from each other on the fixed plate, and two first horizontal sliders respectively slidably engaged with the two first horizontal guides. Both ends of the bearing member are respectively mounted on the two first horizontal sliders.

[0035] Preferably, the first adjustment structure comprises a mounting seat mounted on the fixing base and an adjusting screw connected between the mounting seat and a sliding seat, the sliding seat passes through the third screw a sleeve threadedly connecting the adjusting screw or having a third threaded hole threadedly engaged with the adjusting screw on the sliding seat; and/or, the second adjusting structure comprises a mounting on the fixing seat a third motor and a third screw connected between the third motor and the other sliding seat, the sliding seat is screwed to the third screw by a fourth screw sleeve or disposed on the sliding seat a fourth threaded bore threadedly engaged with the third lead screw; and/or

[0037] the second horizontal sliding structure comprises a second horizontal rail disposed on the fixing plate and two second horizontal sliding blocks slidably engaged with the second horizontal rail, and the two sliding seats are respectively installed On the two second horizontal sliders; and/or,

[0038] the vertical guide sliding structure includes a vertical rail disposed on the sliding seat and a vertical sliding block slidably engaged with the vertical rail, and the friction block assembly is mounted on the vertical sliding block And/or,

[0039] the bottom end of the pole is slidably mounted in the first curved chute through a first hinge shaft, and the top end of the pole is connected to the bottom end of the diagonal rod through a second hinge shaft, a top end of the diagonal rod is coupled to the friction block assembly by a third hinge; and/or

[0040] the third horizontal sliding structure includes a third horizontal rail disposed on the fixing seat and a third horizontal sliding block slidably engaged with the third horizontal rail, and the horizontal sliding component is mounted on the On the third horizontal slider; and/or,

[0041] The bearing member is an inverted "convex" shaped plate-shaped member.

[0042] Preferably, one end of the first hinge shaft is rotatably mounted on the fixing seat by a first bearing, and the other end of the first hinge shaft is mounted to the level by two spaced second bearings. The sliding member has a bottom end fixedly coupled to the first hinge shaft and located between the two second bearings.

[0043] Preferably, the horizontal sliding component is provided with two second curved chutes respectively located on two sides of the first curved chute, and the two second bearings on both sides of the vertical bar respectively Slidingly mounted in the two second curved chutes.

[0044] Preferably, one end of the second hinge shaft is rotatably mounted on the fixing seat by a third bearing, The other end of the two hinge shaft is connected to the top end of the vertical rod and the bottom end of the diagonal rod; one end of the third hinge shaft is fixed on the friction block assembly, and the other end of the third hinge shaft The beneficial effects of the invention of the top mountain connected to the inclined rod

Beneficial effect

[0045] The catheter push control method and the catheter pushing device of the vascular interventional surgery robot provided by the present invention detect the pressure of the clamping pipe of the two friction block assemblies by providing a pressure sensor on the friction block assembly, by using the catheter rotation device The torque sensor is arranged to detect the torque information of the catheter. In this way, the resistance of the catheter head and the torque of the catheter can be measured by the indirect measurement method, and the measurement data is accurate, and the purpose of effectively controlling the movement of the catheter can be achieved. In a specific application, the pressure variation of the catheter head can be controlled by controlling the pressure change of the two friction block assemblies to adjust the amplitude of the force change of the catheter head so as to be in a reasonable interval, and the linear velocity of the rotation of the catheter can be pulsated by the two friction block assemblies. The way to control the torque of the catheter is within a controllable range, thereby effectively preventing the catheter from puncturing the blood vessel due to excessive force or excessive torque. At the same time, since the catheter pushing control method of the present invention can remotely control the medical staff, the harm to the medical staff and the patient is effectively reduced.

Brief description of the drawing

DRAWINGS

1 is a perspective view of a catheter pushing device of a vascular interventional surgery robot according to an embodiment of the present invention;

2 is a front plan view of a catheter pushing device of a vascular interventional surgery robot according to an embodiment of the present invention;

3 is a top plan view of a catheter pushing device of a vascular interventional surgery robot according to an embodiment of the present invention;

4 is a left side plan view of a catheter pushing device of a vascular interventional surgery robot according to an embodiment of the present invention;

[0050] FIG. 5 is a perspective view of a friction block assembly, a conduit turning device, and a bearing member according to an embodiment of the present invention;

[0051] FIG. 6 is a front view assembly of a friction block assembly, a conduit turning device, and a load bearing member according to an embodiment of the present invention. Schematic plan view.

Embodiments of the invention

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0053] It should be noted that when an element is referred to as being "fixed" or "in" another element, it can be directly on the other element or possibly the same. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or.

[0054] It should also be noted that the left, right, top, bottom, top, bottom and other orientation terms in the following embodiments are only relative concepts or reference to the normal use state of the product, and should not be used. It is considered to be restrictive.

[0055] As shown in FIG. 1-6, a catheter pushing control method for a vascular interventional surgery robot according to an embodiment of the present invention includes a force measuring step and a regulating step, wherein the adjusting step is: setting a controller (not shown), It is used to regulate the motion parameters during the catheter 2 push process to prevent the blood vessel from being punctured during the catheter 2 push. The force measuring step includes: providing a pressure sensor 51 on the friction block assembly 1 for clamping and tilting the rotation of the catheter 2 for detecting the pressure of the friction block assembly 1 against the catheter 2; A torque sensor 52 through which the conduit 2 passes is used to detect the amount of torque of the conduit 2. The catheter pushing control method of the vascular interventional surgery robot provided by the embodiment of the present invention detects the pressure of the two friction block assemblies 1 clamping the catheter 2 by providing the pressure sensor 51 on the friction block assembly 1 through the catheter rotation device 3 The torque sensor 52 is provided on the way to detect the torque of the catheter 2, and the measurement data is accurate. In a specific application, the magnitude of the force change of the head of the catheter 2 (the end of the catheter 2 near the torque sensor 52) can be adjusted by controlling the pressure change of the two friction block assemblies 1 to clamp the catheter 2 to make it reasonable. In the interval, the torque of the conduit 2 can be controlled within a controllable range by the two friction block assemblies 1 swaying the linear velocity of the rotation of the conduit 2, thereby effectively preventing the catheter 2 from being overstressed or excessively torqued. Broken blood vessels. At the same time, since the catheter pushing control method of the present invention allows the medical staff to remotely control, the harm to the medical care and the patient can be effectively reduced.

[0056] Specifically, referring to FIG. 1-4, the guide of the vascular interventional surgery robot provided by the embodiment of the present invention is provided. The tube pushing control method has the following supporting structure: two spaced-apart friction block assemblies 1 for clamping the catheter 2 or the loose tube 2 or the tilting tube 2 to rotate, and the pressure sensor 51 is embedded in one of the friction block assemblies 1 a conduit turning device 3 for driving the two friction block assemblies 1 to clamp the conduit 2 or the loose conduit 2 or the tilting conduit 2 to rotate; the conduit propulsion device 4 for driving the conduit turning device 3 to drive the two friction block assemblies 1 And the catheter 2 moves; a digital subtraction angiography machine (not shown) for guiding the movement of the catheter 2 within the blood vessel. The catheter convoluting device 3, the catheter advancing device 4, the digital subtraction angiography machine (DSA), the pressure sensor 51 and the torque sensor 52 are all electrically connected to the controller, the digital subtraction angiography machine, the pressure sensor 51 and the torque sensor 52. The detection information can be fed back to the controller, so that the controller can regulate the catheter tuner 3 and the catheter propulsion device 4, thereby facilitating the phenomenon that the catheter 2 punctures the blood vessel.

[0057] Preferably, the adjusting step comprises: presetting a critical withstand pressure F0 of the blood vessel in the controller, and the controller actually controls the pressure of the two friction block assemblies 1 on the catheter 2 so that the catheter 2 is in the pushing process. The resistance f is less than or equal to F0. The pressure sensor 51 is used for detecting the pressure of the two friction block assemblies 1 on the catheter 2, and the controller controls the operation of the catheter rotation device 3 according to the detection information of the pressure sensor 51, thereby ensuring that during the pushing of the catheter 2, The resistance f of the catheter 2 is less than or equal to the critical withstand pressure F0 of the blood vessel, which in turn prevents the catheter 2 from being overstressed and punctures the blood vessel.

[0058] Preferably, the initial pressure of the two friction block assemblies 1 to the conduit 2 is defined as F1, the pressure of the friction block assembly 1 for the conduit 2 during the pushing process is defined as F2, and the friction between the conduit 2 and the friction block assembly 1 is defined. The coefficient is u, then f = Fl + _U (F2- F1) ≤ F0. Thus, in a specific application, by controlling the data (F2-F1) of the pressure sensor 51 before and after the change, the advancement force of the catheter 2 through the obstruction can be controlled, thereby preventing the blood vessel from being puncture due to excessive force on the head of the catheter 2.

[0059] Preferably, in the adjusting step, when the digital subtraction angiography machine detects that the catheter 2 encounters an obstacle during the pushing process, the controller controls the catheter propelling device 4 to slow down the advancement speed of the catheter 2, at the same time, control The two friction blocks are controlled to slowly increase the pressure on the conduit 2 until the conduit 2 passes through the obstacle at a constant speed, and in the process of controlling the two friction blocks to slowly increase the pressure on the conduit 2, the Fl+u (F2-F1 is guaranteed). ) <F0. In a specific application, under the guidance of the digital subtraction angiography machine, the controller controls the catheter advancement device 4 to uniformly advance the catheter 2 without encountering an obstacle or a branching or bending of the blood vessel; and if the catheter 2 encounters an obstacle in the blood vessel, Then the controller controls the conduit propulsion device 4 and controls the conduit cyclone device 3 to slowly increase the two frictions The pressure of the block assembly 1 on the catheter 2 is to ensure that the guide wire in the catheter 2 can pass through the balloon after the balloon is released, and in the process, Fl+u (F2-F1) ≤ F0 is always ensured to effectively prevent the catheter 2 Through the obstacle, the blood vessel is puncture due to excessive force on the head of the catheter 2.

Preferably, the friction block assembly 1 includes a friction block and a rubber sheet disposed on the friction block, and a coefficient of friction u between the tube 2 and the friction block assembly 1 is a coefficient of friction between the tube 2 and the rubber sheet. The rubber sheet has good elasticity and wear resistance, does not crush the duct 2, and can increase the friction and improve the reliability of the friction block assembly 1 to clamp the duct 2.

[0061] Preferably, the adjusting step further includes: presetting a critical torque TO of the blood vessel in the controller, and the controller actually controls the speed of the rotation of the two friction block assemblies 1 to rotate the catheter 2, so that the torque sensor 52 measures The torque T1 obtained is less than or equal to T0. Due to the influence of vascular resistance, the actual torque Τ2 of the head of the catheter 2 is slightly larger than the torque T1 measured by the torque sensor 52, so that as long as T1 is less than or equal to Τ0, the bay 1JT2 is necessarily smaller than Τ0. The torque sensor 52 is used to accurately detect the torque of the conduit 2, and the controller controls the operation of the conduit orbiting device 3 based on the detection information of the torque sensor 52, thereby ensuring that the torque sensor 52 is measured during the pushing of the conduit 2. The torque T1 is less than or equal to the critical torque Τ0 of the blood vessel, which in turn can effectively prevent the torque of the head of the catheter 2 from being excessively large and puncture the blood vessel.

[0062] Preferably, the conduit tuke device 3 is defined to control the output power of the two friction block assemblies 1 to rotate the conduit 2 to Ρ, define the radius of the conduit 2 to be r, define the angular velocity of the conduit 2 to be w, define the line of the conduit 2 When the speed is V, according to the formula P=F*r*w, T=F*r, V= r* w, Tl=(P*r) /V≤T0 can be obtained. When the power P and the radius r are constant values, the larger the linear velocity V is, the smaller the torque T is. Thus, in a specific application, as long as the linear velocity V of the conduit 2 is appropriately increased, the torque of the head of the catheter 2 can be correspondingly reduced. Thus, it is possible to avoid puncture of blood vessels.

[0063] Preferably, in the regulating step, when the digital subtraction angiography machine detects that the catheter 2 encounters a blood vessel branch or a bending flaw during the pushing process, the controller increases the linear velocity at which the catheter orbiting device 3 twitches the rotation of the catheter 2, In order to reduce the torque of the catheter 2 at the branch or bend of the blood vessel, it is possible to avoid puncture of the blood vessel due to excessive torque of the catheter 2 head.

[0064] Referring to FIG. 1-6 together, a catheter pushing device for a vascular interventional surgery robot according to an embodiment of the present invention includes two spaced-apart friction block assemblies 1 for driving two friction block assemblies 1 to clamp a catheter 2 or a ducting device 3 for rotating the loose tube 2 or the tilting tube 2, a catheter pushing device 4 for driving the tube turning device 3 to move the two friction block assemblies 1 and the catheter 2, for measuring the force of the catheter 2 Force measurement The assembly 5, a digital subtraction angiography machine for imaging guiding the movement of the catheter 2 in the blood vessel and for controlling the pressure of the two friction block assemblies 1 against the catheter 2 and/or for controlling the two friction block assemblies 1 A controller for squeezing the rotational speed of the catheter 2, the force measuring assembly 5 includes a pressure sensor 51 disposed on the friction block assembly 1 and/or a torque sensor 52 disposed on a support base 6 for passage of the catheter 2. The catheter pushing device of the vascular interventional surgery robot provided by the embodiment of the invention can sufficiently measure the resistance of the head of the catheter 2 and the torque of the catheter 2 at the same time, and can also allow the doctor to operate remotely. It reduces the harm of surgery to doctors and patients, and its compact structure, small size, light weight and convenient disinfection make it easy to promote its application in medical treatment.

[0065] Preferably, the torque sensor 52 is connected to the conduit 2 by a base hole, and the conduit 2 passes through the torque sensor 52 in a clearance fit manner, so that the torque sensor 52 can be prevented from excessively rubbing against the conduit 2 to damage the torque sensor 52, Thereby, the service life of the torque sensor 52 is sufficiently ensured.

[0066] Preferably, as shown in FIG. 1-4, the conduit turning device 3 includes a fixing base 31 mounted on the catheter propelling device 4, and is mounted on the fixing base 31 for regulating the two friction block assemblies 1. The horizontal distance between the two further realizes the tensioning mechanism 33 for clamping or loosening the duct 2 and the turning mechanism 33 mounted on the fixed seat 31 for driving the lifting and lowering movement of the two friction block assemblies 1 to sway the rotation of the duct 2. The tensioning mechanism 32 can increase the horizontal distance between the two friction block assemblies 1, and can also reduce the horizontal distance between the two friction block assemblies 1, so that the two friction block assemblies 1 can clamp or loosen the catheter 2, and It is possible to enable the two friction block assemblies 1 to be used for clamping the catheters 2 of different diameters, the clamping of the catheter 2 is also relatively reliable, and the removal and placement of the catheter 2 is also convenient. The rotator mechanism 33 can drive the two friction block assemblies 1 to move up and down, so that the catheter 2 can be rotated, and the problem of elastic sliding does not occur by using the gyration method, and the motor can be prevented from directly driving the sensor to drive the catheter 2 The problem of the winding of the sensor by the rotation ultimately ensures the continuous and reliable rotation of the catheter 2.

[0067] Preferably, as shown in FIG. 1, FIG. 4, FIG. 5 and FIG. 6, the fixing base 31 includes a bottom plate 311 mounted on the duct propelling device 4, a top plate 312 spaced above the bottom plate 311, and connected to The side plate 313 is disposed between the bottom plate 311 and the top plate 312 and located on the side of the horizontal sliding member 331. The stretching mechanism 32 is mounted on the top plate 312, and the swing mechanism 33 is mounted on the bottom plate 311. The bottom plate 311, the side plates 313 and the top plate 312 may be integrally formed

It can also be formed by splitting and then joined by welding or screwing or riveting. The fixing fingers can be mounted on the side plates 313 by welding or screwing or riveting. [0068] Preferably, as shown in FIG. 1, FIG. 4, FIG. 5 and FIG. 6, the tensioning mechanism 32 includes two sliding seats 321 which are spaced apart and are slidable on the fixing base 31 and are used for adjusting the two slidings. The horizontal distance adjusting component 322 between the seats 321 and the two friction block assemblies 1 are respectively mounted on the two sliding blocks 321 . The two sliders 321 are mounted on the top plate 312 at a specific interval. In a specific application, the horizontal distance between the two sliding blocks 321 is adjusted by the adjusting component 322, and the horizontal distance between the two friction block assemblies 1 can be adjusted, thereby clamping or loosening the two friction block assemblies 1 to the catheter 2, and Clamping of conduits 2 of different diameters can be achieved by adjustment of the adjustment assembly 322.

[0069] Preferably, referring to FIG. 1, FIG. 5 and FIG. 6, the adjustment assembly 322 includes a first adjustment structure 3221 connected to one slide 321 and a second adjustment structure 3222 connected to the other slide 321 . Here, the two carriages 321 are respectively driven and driven by two different adjustment structures, which are convenient to adjust and facilitate the clamping of the conduits 2 of different diameters.

For convenience of description, here, the carriage 321 connected to the first adjustment structure 3221 is described as a first carriage, and the carriage 321 connected to the second adjustment structure 3222 is described as a second carriage.

[0071] Preferably, referring to FIG. 1 , FIG. 5 and FIG. 6 , the first adjusting structure 3221 includes a mounting seat 32211 mounted on the fixing base 31 and connecting between the mounting seat 32211 and the first sliding seat. Adjustment screw 32212. In a specific application, by rotating the adjustment screw 32212, the first carriage can be driven to move toward or away from the second carriage, so that clamping of the conduits 2 of different diameters can be achieved.

[0072] Preferably, referring to FIG. 1, FIG. 5 and FIG. 6, the first sliding seat 321 is screwed to the adjusting screw 32212 by the third screw sleeve 3223, and the third screw sleeve 3223 is provided with an adjusting screw. 32212 threaded internal thread, the third screw sleeve 3223 is fixed to the first sliding seat by screwing or screwing. Here, the connection between the first sliding seat and the adjusting screw 32212 is realized by the third screw sleeve 3223, so that the threaded structure is not processed on the first sliding seat, which can reduce the manufacturing difficulty of the first sliding seat, and Helps reduce the cost of future maintenance of the equipment. Of course, in the specific application, the third threaded hole which is screwed with the adjusting screw 32212 can be directly disposed on the first sliding seat, that is, the first sliding seat can also be directly set as the screw seat which is screwed to the adjusting screw 32212. .

[0073] Preferably, referring to FIG. 1, FIG. 5 and FIG. 6, the second adjusting structure 3222 includes a third motor 32221 mounted on the fixed plate 41 and a third motor 32221 and a second sliding seat. Between the third screw 32222. Specifically, a third reduction gear box may be further disposed between the third motor 32221 and the third screw 32222. The third motor 322 21 can be operated in the forward and reverse directions, and the third motor 32221 is operated to drive the third screw 32222 to rotate. The rotation of the third screw 32222 can drive the second slider to move linearly. In a specific application, the third screw 32222 is driven by the third motor 32221 to control the pressure of the two friction block assemblies 1 on the catheter 2.

[0074] Preferably, referring to FIG. 1, FIG. 5 and FIG. 6, the second sliding seat is screwed to the third screw 32222 by the fourth screw sleeve 3224, and the fourth screw sleeve 3224 is provided with The third screw rod 32222 is screwed with the internal thread, and the fourth screw sleeve 3224 is fixedly fixed to the second sliding seat by screwing or screwing. Here, the connection between the second sliding seat and the third screw 32222 is realized by the fourth screw sleeve 3224, so that the threaded structure is not processed on the second sliding seat, which can reduce the manufacturing difficulty of the second sliding seat. And it will help reduce the future maintenance cost of the equipment. Of course, in the specific application, the fourth threaded hole which is screwed with the third screw 32222 can be directly disposed on the second sliding seat, that is, the second sliding seat can also be directly screwed to the third screw 32222. Screw seat.

Preferably, as shown in FIG. 1, FIG. 5 and FIG. 6, the tensioning mechanism 32 further includes a second horizontal sliding structure 323 disposed between the fixed seat 31 and the sliding seat 321 . The arrangement of the second horizontal sliding structure 323 can further improve the stability and smoothness of the horizontal movement of the sliding seat 321 .

[0076] Preferably, as shown in FIG. 1, FIG. 5 and FIG. 6, the second horizontal sliding structure 323 includes a second horizontal rail 3231 disposed on the fixing base 31 and two slidings with the second horizontal rail 3231. The second horizontal slider 3 232 is matched, and the two sliding seats 321 are respectively mounted on the two second horizontal sliders 3232. The second horizontal guide 3231 is specifically mounted on the top plate 312. The second horizontal rail 3231 can be integrally formed with the fixing base 31, that is, the second horizontal rail 3231 is a part of the fixing base 31; or the second horizontal rail 3231 can also be separately formed with the fixing base 31 and then screwed. The connection mode is mounted on the fixing base 31, the screw connection is reliable, the disassembly and assembly is convenient, and the disassembly and disinfection is convenient. The sliding seat 321 can be specifically mounted on the second horizontal sliding block 3232 by screws, which is reliable in fastening, convenient in disassembly and assembly, and convenient for disassembly and disinfection. The arrangement of the second horizontal guide 3231 and the second horizontal slider 3 232 can support the positioning of the slider 321 on the one hand, and reduce the frictional resistance during the horizontal movement of the slider 321 on the other hand.

[0077] Preferably, as shown in FIG. 1, FIG. 5 and FIG. 6, the ducting device 3 further includes two vertical sliding structures 34, wherein a vertical sliding structure 34 is disposed on a friction block assembly 1 Between one slide 321 and another slide 321 is disposed between the other friction block assembly 1 and the other slide 321 . The vertical guide sliding structure 34 is arranged to further improve the stability and smoothness of the horizontal movement of the friction block assembly 1 Sex.

[0078] Preferably, as shown in FIG. 1, FIG. 5 and FIG. 6, the vertical guide structure 34 includes a vertical rail 341 disposed on the carriage 321 and a vertical slider slidably engaged with the vertical rail 341. 342, the friction block assembly 1 is mounted on the vertical slider 342. The vertical rail 341 can be integrally formed with the sliding block 321 , that is, the vertical rail 341 is a part of the sliding seat 321 ; Alternatively, the vertical rail 341 can also be formed separately from the sliding seat 321 and then connected by screw connection or the like. The method is installed on the sliding seat 321 , the screw connection is fast and reliable, the disassembly and assembly is convenient, and the disassembly and disinfection is convenient. The friction block can be specifically mounted on the vertical slider 342 by screws, which is reliable in fastening, convenient to disassemble and assemble, and convenient for disassembly and disinfection. The arrangement of the vertical rail 341 and the vertical slider 342 can support the positioning of the friction block on the one hand, and reduce the frictional resistance during the lifting and lowering movement of the friction block on the other hand.

Preferably, referring to FIG. 1, FIG. 5 and FIG. 6, the swing mechanism 33 includes a horizontal sliding member 331 slidable on the fixing base 31, and is mounted on the fixing base 31 for driving horizontal sliding. The member 331 performs a horizontal linear reciprocating horizontal drive assembly 332 and two link assemblies 333 respectively coupled between the two friction block assemblies 1 and the horizontal slide member 331. The horizontal driving assembly 332 drives the horizontal sliding member 331 to move horizontally, and the two-link assembly 333 coupled to the horizontal sliding member 331 can drive the two friction block assemblies 1 to move up and down, thereby achieving the purpose of pivoting the catheter 2.

[0080] Preferably, as shown in FIG. 1, FIG. 5 and FIG. 6, the horizontal driving assembly 332 includes a second motor 3321 mounted on the fixing base 31 and connected between the second motor 3321 and the horizontal sliding member 331. The second screw 33 22, the second motor 3321 is specifically mounted on the bottom plate 311. A second reduction gear box may also be provided between the second motor 3321 and the second lead screw 3322. The second motor 3321 can be operated in the forward and reverse directions. The second motor 3321 operates 吋 to drive the second screw 3322 to rotate, and the second screw 3322 rotates to drive the horizontal sliding member 331 to move linearly. In a specific application, by adjusting the rotational speed of the second motor 3321, the speed at which the two friction block assemblies 1 sway the catheter 2 can be controlled.

[0081] Preferably, as shown in FIG. 1, FIG. 5 and FIG. 6, the horizontal sliding member 331 is screwed to the second screw rod 3322 by the second screw sleeve 335, and the second screw sleeve 335 is provided with The second screw rod 3322 is screwed with the internal thread, and the second screw sleeve 335 is fixed to the horizontal sliding member 331 by screwing or screwing. Here, the connection between the horizontal sliding member 331 and the second screw rod 3322 is realized by the second screw sleeve 335, so that the horizontal sliding member 331 does not need to be processed to manufacture a thread structure, which can help reduce the manufacturing difficulty of the horizontal sliding member 331. And it will help reduce the future maintenance cost of the equipment. Of course, in specific applications, A second threaded hole that is threadedly engaged with the second screw 3322 may be directly disposed on the horizontal sliding member 331, that is, the horizontal sliding member 331 may be directly set as a screw seat that is screwed to the second screw 3322.

[0082] Preferably, as shown in FIG. 1, FIG. 5 and FIG. 6, the link assembly 333 includes a vertical rod 3331 slidably coupled to the horizontal sliding member 331 and is coupled between the vertical rod 3331 and the friction block assembly 1. The slanting rod 3332 has a first curved sliding groove 3311 which is slidably engaged with the vertical rod 3331. The bottom end of the upright 3331 is slidably supported in the first curved chute 3311, and the first curved chute 3311 has an arcuate surface that is in sliding engagement with the upright 3331. The uprights 3331 are vertically disposed rods, and the inclined rods 3332 are obliquely disposed at an angle to the vertical direction. The horizontal sliding member 331 moves horizontally, and a relative sliding occurs between the vertical rod 3331 and the horizontal sliding member 331. The curved surface of the first curved sliding groove 3311 drives the vertical rod 3331 to rise or fall, and the lifting and lowering movement of the vertical rod 3331 Further, the slanting rod 3332 drives the raising or lowering movement of the friction block assembly 1 to achieve the purpose of swaying the rotation of the duct 2 by the friction block assembly 1.

[0083] Preferably, as shown in FIG. 1 , FIG. 2 , FIG. 5 and FIG. 6 , the bottom end of the vertical rod 3331 is slidably mounted in the first curved chute 3311 through the first hinge shaft 30 1 . The top end of the 3331 is connected to the bottom end of the diagonal rod 3 332 through the second hinge shaft 302, and the top end of the diagonal rod 3332 is connected to the friction block through the third hinge shaft 303. The connection between the bottom end of the upright 3331 and the first curved chute 3311 is a sliding connection, that is, the bottom end of the upright 3331 is slidable within the first arc chute 3311. The connection between the vertical rod 3331 and the first hinge shaft 301 and the second hinge shaft 302 is a fixed connection, that is, the relative rotation between the vertical rod 3331 and the first hinge shaft 301 and the second hinge shaft 302 is not possible; The connection between the 3332 and the second hinge shaft 302 and the third hinge shaft 303 is a rotational connection, that is, relative rotation between the diagonal rod 3332 and the second hinge shaft 302 and the third hinge shaft 303 can occur.

[0084] Preferably, one end of the first hinge shaft 301 is rotatably mounted on the fixing base 31 by a first bearing, and the other end of the first hinge shaft 310 is mounted on the horizontal sliding member 331 by two spaced second bearings. The bottom end of the pole 3331 is fixedly coupled to the first hinge shaft 301 and located between the two second bearings. The second bearing is disposed to support the first hinge shaft 301 by the horizontal sliding member 331, and to prevent the first hinge shaft 301 from interfering with the sliding of the horizontal sliding member 331. The bottom end of the upright 3331 can be connected to the first hinge shaft 301 by a screw connection or an interference fit, which can prevent relative rotation between the vertical rod 3331 and the first hinge shaft 301, thereby ensuring horizontal sliding. When the member 331 is horizontally moved, the curved surface of the horizontal sliding member 331 can effectively drive the up or down movement of the upright 3331.

[0085] Preferably, as shown in FIG. 1, FIG. 5 and FIG. 6, together, two horizontal sliding members 331 are respectively located. The second curved chutes 3312 on both sides of the first curved chute 3311 and the two second bearings on both sides of the vertical rod 3331 are slidably mounted in the two second curved chutes 3312, respectively. The arrangement of the second curved chute 3312 can be used for positioning and positioning of the second bearing on the one hand, and can ensure that the second bearing does not interfere with the movement of the horizontal sliding member 331 during horizontal movement of the horizontal sliding member 331 on the other hand.

[0086] Preferably, one end of the second hinge shaft 302 is rotatably mounted on the fixing seat 31 through the third bearing, and the other end of the second hinge shaft 302 is passed through the top end of the connecting rod 3331 and the bottom end of the diagonal rod 3332; One end of the third hinge shaft 303 is fixed to the friction block assembly 1, and the other end of the third hinge shaft 303 is passed through the top end of the connection diagonal rod 3332. The third hinge shaft 303 is specifically fixed to the friction block by a threaded connection. The top end of the vertical rod 3331 is fixedly connected to the second hinge shaft 302 by a screw connection or a hard fit. The bottom end of the diagonal rod 3332 is mounted on the second hinge shaft 302 through the fourth bearing, and the top end of the diagonal rod 3332 passes through the fifth. The bearing is mounted on the third hinge shaft 303

Preferably, as shown in FIG. 1, FIG. 5 and FIG. 6, the spinning mechanism 33 further includes a third horizontal sliding structure 334 disposed between the fixed seat 31 and the horizontal sliding member 331. The arrangement of the third horizontal guide structure 334 can further improve the stability and smoothness of the horizontal movement of the horizontal sliding member 331.

[0088] Preferably, as shown in FIG. 1 , FIG. 5 and FIG. 6 , the third horizontal sliding structure 334 includes a third horizontal rail 3341 disposed on the fixing base 31 and a sliding fit with the third horizontal rail 3341. The third horizontal slider 3342 and the horizontal sliding member 331 are mounted on the third horizontal slider 3342. The third horizontal guide 3341 is specifically mounted on the bottom plate 311. The third horizontal rail 3341 can be integrally formed with the bottom plate 311, that is, the third horizontal rail 334 1 can be a part of the bottom plate 311; or the third horizontal rail 3341 can be separately formed from the bottom plate 311 and then connected by screws. The connection mode is mounted on the bottom plate 311. The horizontal sliding member 331 is specifically preferably mounted to the third horizontal slider 3342 by screw connection, which is reliable in fastening and convenient to assemble and disassemble. The arrangement of the third horizontal guide 3341 and the third horizontal slider 3342 can support the horizontal sliding member 331 on the one hand, and reduce the frictional resistance received during the horizontal movement of the horizontal sliding member 331 on the other hand.

[0089] Preferably, as shown in FIGS. 1-5 together, the duct propulsion device 4 includes a fixing plate 41, a bearing member 42 slidable on the fixing plate 41, and a mounting plate 41 for driving the carrier member 42. The linear reciprocating propulsion mechanism 43 is attached to the carrier member 42 and the support base 6 is attached to the fixing plate 41. The ducting device 3 is specifically mounted to the carrier member 42 via a bottom plate 311. The propulsion mechanism 43 drives the carrying member 42 to move horizontally, and the conduit turning device 3 mounted on the carrying member 42 can drive the conduit 2 - The horizontal movement is performed to achieve the purpose of swaying the rotation of the catheter 2. The support base 6 is preferably mounted on the fixing plate 41 by screws, which is convenient for disassembly and assembly.

[0090] Preferably, the horizontal movement direction of the propulsion mechanism 43 driving the bearing member 42 and the horizontal movement direction of the horizontal driving assembly 332 driving the horizontal sliding member 331 are perpendicular to each other, and the stretching mechanism 32 drives the horizontal movement direction and the horizontal driving of the friction block assembly 1. The assembly 332 drives the horizontal moving directions of the horizontal sliding members 331 to be parallel to each other. The horizontal sliding member 331 is located above the carrier member 42, and the friction block assembly 1 is located above the horizontal sliding member 331.

[0091] Preferably, as shown in FIGS. 1-4 together, the propulsion mechanism 43 includes a first motor 41 mounted on the fixed plate 41 and a first screw connected between the first motor 431 and the carrier member 42. 432. The first motor 431 is specifically mounted on the fixing plate 41. Specifically, a first reduction gear box may be disposed between the first motor 431 and the first lead screw 432. The first motor 431 can be operated in the forward and reverse directions. The first motor 431 is operated to drive the first screw 432 to rotate, and the first screw 432 is rotated to drive the carrier member 42 to move linearly. In a specific application, the pushing speed of the duct 2 can be controlled by adjusting the rotational speed of the first motor 431. In this embodiment, the push-pull of the catheter 2 in the blood vessel is achieved by a combination of the motor and the screw rod, and the amount of feed per feed is sufficiently large.

[0092] Preferably, as shown in FIG. 1-4, the carrier member 42 is screwed to the first screw rod 432 by the first screw sleeve 44, and the first screw sleeve 44 is provided with the thread of the first screw rod 432. The mating internal thread, the first screw sleeve 44 is fixedly mounted to the carrier member 42 by screwing or screwing. Here, the connection between the bearing member 42 and the first screw rod 432 is realized by the first screw sleeve 44. Thus, the threaded structure is not required to be processed on the bearing member 42, which can reduce the manufacturing difficulty of the bearing member 42 and is beneficial to the manufacturing. Reduce the cost of future maintenance of the equipment. Of course, in the specific application, the first threaded hole which is screwed with the first screw rod 4 32 can be directly disposed on the bearing member 42, that is, the bearing member 42 can also be directly screwed to the first screw rod 432. Screw seat.

Preferably, as shown in FIGS. 1-4 together, the catheter advancement device 4 further includes a first horizontal guide structure 45 disposed between the fixed plate 41 and the carrier member 42. The arrangement of the first horizontal guide structure 45 can further improve the stability and smoothness of the horizontal movement of the bearing member 42.

[0094] Preferably, as shown in FIG. 1-4 together, the first horizontal sliding structure 45 includes two first horizontal rails 451 and two and two horizontal rails respectively disposed on the fixing plate 41. The first horizontal slider 452 of the sliding joint is 451, and two ends of the bearing member 42 are respectively mounted on the two first horizontal sliders 452. First level The guide rail 451 can be integrally formed with the fixing plate 41, that is, the first horizontal rail 451 can be a part of the solid bottom plate 311; or the first horizontal rail 451 can also be separately formed with the fixing plate 41 and then connected by screws or the like. Mounted on the fixed plate 41. The bearing member 42 is specifically mounted on the first horizontal slider 452 by screw connection, which is reliable in fastening and convenient to disassemble. The arrangement of the first horizontal rail 451 and the first horizontal slider 425 can support the bearing member 42 on the one hand and reduce the frictional resistance during the horizontal movement of the bearing member 42 on the other hand.

[0095] Preferably, the bearing member 42 is an inverted "convex" shaped plate-shaped member, which has a simple structure and is advantageous for ensuring the reliability of the bearing member 42 being connected to the first screw 432 and the two first sliders.

Preferably, the friction block assembly 1 includes a friction block and a rubber sheet disposed on the friction block, the friction block is coupled to the conduit turning device 3, and the pressure sensor 51 is embedded in a friction block. The rubber sheet has good elasticity and wear resistance, does not crush the duct 2, and can increase the friction and improve the reliability of the friction block assembly 1 to clamp the duct 2.

[0097] Preferably, the rubber sheet is fixed to the friction block by bonding, the disassembly and assembly is convenient, the installation is stable and reliable, and the rubber piece can be prevented from being mounted by using other fasteners to cause the rotation or clamping of the catheter 2 to be clamped or tilted. The firmware crushes the conduit 2.

[0098] The catheter pushing device of the vascular interventional surgery robot provided by the embodiment of the invention has the advantages of compact structure, small volume, light weight, convenient disinfection, and convenient application in medical treatment. Specifically, in the embodiment of the present invention, on the one hand, the horizontal distance between the two friction block assemblies 1 is adjusted by the tensioning mechanism 32 to drive the two friction block assemblies 1 to clamp or loosen the catheter 2, so that the embodiment of the present invention can be made The catheter pushing device of the vascular interventional robot can be adapted to adapt to the catheter 2 of different diameters, and it is convenient to take out and insert the catheter 2, and the clamping catheter 2 is also more reliable; on the other hand, the two friction blocks are driven up and down by the gyro mechanism 33. The way to sway the rotation of the catheter 2 does not cause the problem of elastic sliding, and the problem that the motor directly drives the sensor to drive the rotation of the catheter 2 to entangle the sensor is avoided, and the continuous and reliable rotation of the catheter 2 is effectively ensured; On the other hand, by inserting the pressure sensor 51 on the friction block assembly 1 , the pressure of the friction block assembly 1 on the catheter 2 is detected, thereby facilitating the controller to effectively regulate the advancement force of the head of the catheter 2 through the obstacle within a reasonable range. The blood vessel is not punctured; on the other hand, the torque sensor 52 is provided on the fixing base 31 of the catheter turning device 3 for inspection. Torque catheter 2 so as to facilitate effective control of the torque controller of the catheter 2 and the head of the burst is not too large vessels. The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. Within the scope.

Claims

Claim

The catheter pushing control method of the vascular interventional surgery robot includes a force measuring step and a regulating step, wherein the adjusting step is: setting a controller for regulating a motion parameter in the catheter pushing process to prevent the catheter from being punctured during the pushing process a blood vessel, characterized in that: the force measuring step comprises:

Providing a pressure sensor on the friction block assembly for clamping and tilting the rotation of the catheter for detecting the pressure of the friction block assembly against the catheter;

A torque sensor through which the conduit passes is disposed on a support for detecting the torque of the conduit.

The catheter push control method for a vascular interventional surgery robot according to claim 1, wherein: said adjusting step comprises: presetting a critical withstand pressure F0 of the blood vessel in said controller, said controller realizing control The pressure of the two friction block assemblies on the conduit is such that the resistance f of the conduit during the pushing process is less than or equal to F0.

A catheter push control method for a vascular interventional surgery robot according to claim 2, wherein: the initial pressure of the friction block assembly to the catheter is defined as F1, and the friction block assembly is defined in the push process The pressure of the conduit is F2, and the coefficient of friction between the conduit and the friction block assembly is defined as u, then f = Fl + u (F2 - F1) ≤ F0.

A catheter push control method for a vascular interventional surgery robot according to claim 3, wherein: in said adjusting step, when said digital subtraction angiography machine detects that said catheter encounters an obstacle during a pushing process, said The controller controls the catheter advancement device to slow the advancement speed of the catheter, and the controller controls the two friction block assemblies to slowly increase the pressure on the catheter until the catheter passes the obstacle uniformly, and In the process in which the controller controls the two friction block assemblies to slowly increase the pressure on the conduit, Fl+u (F2-F1) ≤ F0 is guaranteed.

A catheter push control method for a vascular interventional surgery robot according to claim 3 or 4, wherein: the friction block assembly includes a friction block and a rubber piece provided on the friction block, the catheter and the friction The coefficient of friction u between the block assemblies is the coefficient of friction between the conduit and the rubber sheet. [Claim 6] The catheter push control method of the vascular interventional surgery robot according to any one of claims 1 to 4, wherein: the regulating step comprises: presetting a critical torque of the blood vessel in the controller TO, the controller actually controls the speed at which the two friction block assemblies sway the rotation of the conduit such that the torque T1 measured by the torque sensor is less than or equal to T 0 .

[Claim 7] The catheter push control method of the vascular interventional surgery robot according to claim 6, wherein: the catheter rotation device is defined to control the output power of the two friction block assemblies to sway the rotation of the catheter to P, defining a radius of the conduit r, defining an angular velocity of the conduit as w, and defining a linear velocity of the conduit as V, according to the formula P=F*r*w, T=F* _r , V=r * w, can get Tl = (P * r) / V ≤ T0.

[Claim 8] The catheter push control method of the vascular interventional surgery robot according to claim 7, wherein: in the regulating step, when the digital subtraction angiography machine detects that the catheter is in a pushing process In response to vessel branching or bending, the controller increases the linear velocity at which the catheter orbiting device rotates the catheter to reduce the torque of the catheter at the branch or bend of the vessel.

[Claim 9] A catheter pushing device for a vascular interventional surgery robot, comprising: two spaced-apart friction block assemblies for driving two of the friction block assemblies to clamp a catheter or a loose catheter or to sway the catheter a rotating conduit turning device, a conduit propelling device for driving the two different friction block assemblies and the conduit to move, and a force measuring component for measuring the force of the conduit, Digital subtraction angiography machine for imaging guidance of movement of the catheter within the blood vessel and for controlling the pressure of the two friction block assemblies to the catheter and/or for controlling the friction block assembly a controller for rotating the speed of the conduit, the force measuring assembly comprising a pressure sensor disposed on the friction block assembly and/or a torque sensor disposed on a support seat and permeable to the conduit

[Claim 10] The catheter pushing device of the vascular interventional surgery robot according to claim 9, wherein: the catheter turning device includes a fixing seat mounted on the catheter advancing device, and is mounted to the fixing base Upper to adjust the horizontal distance between the two friction block assemblies a splicing mechanism for clamping or loosening the conduit and a slewing mechanism mounted on the fixed seat for driving the lifting and lowering movement of the two friction block assemblies to sway the rotation of the conduit; and/or

The duct propulsion device includes a fixing plate, a bearing member slidable on the fixing plate, and a propulsion mechanism mounted on the fixing plate for driving the bearing member to linearly reciprocate, the ducting device being installed The support base is mounted on the fixing plate on the carrying member; and/or

The friction block assembly includes a friction block and a rubber sheet disposed on the friction block, the friction block is coupled to the conduit orbiting device, and the pressure sensor is embedded in a friction block; and/or .

[Claim 11] The catheter pushing device of the vascular interventional surgery robot according to claim 10, wherein: the fixing base includes a bottom plate mounted on the catheter propelling device, and a top plate spaced apart from the bottom plate And a side plate connected between the bottom plate and the top plate and located beside the horizontal sliding member, the stretching mechanism is mounted on the top plate, and the spinning mechanism is mounted on the bottom plate; / or,

The tensioning mechanism includes two sliding seats spaced apart and slidable on the fixing seat and an adjusting assembly for adjusting a horizontal distance between the two sliding seats, and the two friction block assemblies are respectively installed On the two slides; and/or,

The spinning mechanism includes a horizontal sliding member slidable on the fixing seat, a horizontal driving assembly mounted on the fixing base for driving the horizontal sliding member to perform horizontal linear reciprocating movement, and two respectively connected to a link assembly between the friction block assembly and the horizontal slide member; and/or

The propulsion mechanism includes a first motor mounted on the fixing plate and a first screw connected between the first motor and the carrier member, and the carrier member is screwed through the first screw sleeve The first screw rod or the bearing member is provided with a first threaded hole threadedly engaged with the first screw rod; and/or

The catheter advancement device further includes a first horizontal guide structure disposed between the fixed plate and the load bearing member; and/or The rubber sheet is fixed to the friction block by bonding.

[Claim 12] The catheter pushing device of the vascular interventional surgery robot according to claim 11, wherein: the adjustment assembly includes a first adjustment structure coupled to one of the carriages and the other of the carriages a second adjustment structure of the connection; and/or,

The tensioning mechanism further includes a second horizontal sliding structure disposed between the fixing seat and the sliding seat; and/or,

The ducting device further includes two vertical sliding structures, wherein one of the vertical sliding structures is disposed between one of the friction block assemblies and one of the sliding blocks, and the other of the vertically guided sliding structures is Between another of the friction block assemblies and another of the carriages; and/or,

The horizontal drive assembly includes a second motor mounted on the mount and a second screw coupled between the second motor and the horizontal slide member, the horizontal slide member passing through the second screw sleeve Threading the second lead screw or the horizontal sliding member is provided with a second threaded hole threadedly engaged with the second threaded rod; and/or

The link assembly includes a vertical rod slidably coupled to the horizontal sliding member and a diagonal rod connected between the vertical rod and the friction block assembly, and the horizontal sliding member is provided to slide with the vertical rod Fitted first curved chute; and/or,

The spinning mechanism further includes a third horizontal sliding structure disposed between the fixing seat and the horizontal sliding member; and/or, the first horizontal sliding structure includes two intervals parallelly disposed on the a first horizontal rail on the fixing plate and two first horizontal sliders respectively slidably engaged with the two first horizontal rails, and two ends of the bearing member are respectively mounted on the two first horizontal sliders.

[Claim 13] The catheter pushing device of the vascular interventional surgery robot according to claim 12, wherein: the first adjustment structure includes a mounting seat mounted on the fixing base and is coupled to the mounting seat and An adjusting screw between the sliding blocks, the sliding seat is screwed to the adjusting screw through a third screw sleeve or a third threaded hole is threaded on the sliding seat with the adjusting screw; and/or ,

The second adjustment structure includes a third motor mounted on the fixing base and connected to the a third screw rod between the third motor and the other sliding seat, the sliding seat is screwed to the third screw rod by a fourth screw sleeve or provided on the sliding seat and the third screw rod a threaded fourth threaded hole; and/or,

The second horizontal sliding structure comprises a second horizontal rail disposed on the fixing plate and two second horizontal sliding blocks slidably engaged with the second horizontal rail, and the two sliding seats are respectively installed in the two horizontal sliding blocks On the second horizontal slider; and/or,

The vertical sliding structure includes a vertical rail disposed on the sliding seat and a vertical sliding block slidably engaged with the vertical rail, the friction block assembly being mounted on the vertical slider; Or,

The bottom end of the pole is slidably mounted in the first curved chute through a first hinge shaft, and the top end of the pole is connected to the bottom end of the diagonal rod through a second hinge shaft, the diagonal rod The top end is coupled to the friction block assembly by a third hinge; and/or

The third horizontal sliding structure includes a third horizontal rail disposed on the fixing seat and a third horizontal sliding block slidably engaged with the third horizontal rail, and the horizontal sliding component is mounted on the third level On the slider; and/or,

The carrier member is an inverted "convex" shaped plate member.

[Claim 14] The catheter pushing device of the vascular interventional surgery robot according to claim 13, wherein: one end of the first hinge shaft is rotatably mounted on the fixing base by a first bearing, the first The other end of the hinge shaft is mounted on the horizontal sliding member by two spaced apart second bearings, and the bottom end of the vertical rod is fixedly coupled to the first hinge shaft and located between the two second bearings .

[Claim 15] The catheter pushing device of the vascular interventional surgery robot according to claim 14, wherein: the horizontal sliding member is provided with two second sides respectively located on opposite sides of the first curved chute The arc chutes, the two second bearings on both sides of the pole are respectively slidably mounted in the two arc chutes.

[Claim 16] The catheter pushing device of the vascular interventional surgery robot according to claim 15, wherein: one end of the second hinge shaft is rotatably mounted on the fixing base by a third bearing, the second The other end of the hinge shaft is connected to the top end of the vertical rod and the bottom end of the diagonal rod; One end of the third hinge shaft is fixed to the friction block assembly, and the other end of the third hinge shaft is connected to a top end of the diagonal rod.