WO2024027358A1 - 血管介入手术导丝/导管力反馈装置及血管介入手术机器人 - Google Patents

血管介入手术导丝/导管力反馈装置及血管介入手术机器人 Download PDF

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Publication number
WO2024027358A1
WO2024027358A1 PCT/CN2023/101323 CN2023101323W WO2024027358A1 WO 2024027358 A1 WO2024027358 A1 WO 2024027358A1 CN 2023101323 W CN2023101323 W CN 2023101323W WO 2024027358 A1 WO2024027358 A1 WO 2024027358A1
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WO
WIPO (PCT)
Prior art keywords
catheter
guidewire
force feedback
force
vascular interventional
Prior art date
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PCT/CN2023/101323
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English (en)
French (fr)
Inventor
吕文尔
岳胜利
王少白
Original Assignee
上海卓昕医疗科技有限公司
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Application filed by 上海卓昕医疗科技有限公司 filed Critical 上海卓昕医疗科技有限公司
Publication of WO2024027358A1 publication Critical patent/WO2024027358A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00353—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery one mechanical instrument performing multiple functions, e.g. cutting and grasping
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0247—Pressure sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M2025/0001—Catheters; Hollow probes for pressure measurement
    • A61M2025/0002—Catheters; Hollow probes for pressure measurement with a pressure sensor at the distal end
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/02—General characteristics of the apparatus characterised by a particular materials
    • A61M2205/0227—Materials having sensing or indicating function, e.g. indicating a pressure increase
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/04—General characteristics of the apparatus implanted
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/18—General characteristics of the apparatus with alarm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • A61M2205/332—Force measuring means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • A61M2205/3331—Pressure; Flow
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/50—General characteristics of the apparatus with microprocessors or computers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/58—Means for facilitating use, e.g. by people with impaired vision
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2210/00—Anatomical parts of the body
    • A61M2210/12—Blood circulatory system

Definitions

  • the invention belongs to the technical field of medical devices, and in particular relates to a vascular interventional surgery guidewire/catheter force feedback device and a vascular interventional surgery robot.
  • cardiovascular disease In recent years, the incidence of cardiovascular disease has increased year by year, seriously threatening human health.
  • the treatment of cardiovascular diseases includes drug therapy and interventional therapy.
  • Interventional therapy involves incision in a small area of human skin to allow the entry of guidewires, catheters, balloons, and stents to detect and treat local lesions.
  • Traditional interventional surgeries are performed by skilled doctors with low accuracy, and because doctors operate for a long time, they will inevitably suffer certain radiation damage even if they wear lead clothing.
  • the use of vascular interventional surgery robots can improve surgical accuracy and reduce the radiation exposure to doctors.
  • the doctor uses the surgical robot to operate the guide wire/catheter into the human blood vessel. If the guide wire/catheter pierces the blood vessel wall, it will pose a life threat to the patient. Knowing the stress of the guidewire/catheter in the blood vessel in time will greatly improve the safety of the operation.
  • the force feedback device of the guidewire/catheter in vascular interventional surgery can be used to detect the force feedback device of the guidewire/catheter in the blood vessel during the operation. stress situation to determine whether risks will arise.
  • the present invention provides a vascular interventional surgery guidewire/catheter force feedback device and a vascular interventional surgery robot.
  • a vascular interventional surgery guidewire/catheter force feedback device including a processor and at least one set of feedback components, the feedback component being located at the front end of the guidewire/catheter delivery device;
  • the feedback components include:
  • a base the base is provided with an accommodating space for accommodating the guide wire/catheter, and the accommodating space is provided with openings at both axial ends of the guide wire/catheter for the guide wire. /Conduit threading;
  • force feedback sensors are respectively provided on the side walls of the accommodation space, and are located between the side walls of the accommodation space and the guide wire/catheter; the force feedback sensors are used to collect the guide wire /Contact force information generated when the catheter comes into contact with it;
  • the processor is connected to the force feedback sensor signal, and is used to receive the contact force information and process it to obtain the force situation of the guidewire/catheter.
  • the processor is also used to output the force situation. .
  • the accommodation space is a through groove
  • the force feedback sensor is provided on the inner wall of the through groove.
  • the force feedback sensors are provided on both inner walls of the channel.
  • the feedback component includes two force feedback sensors, which are respectively provided on the two inner walls of the through slot.
  • the accommodation space is a through hole
  • the force feedback sensor is provided on the inner wall of the through hole.
  • a plurality of the force feedback sensors are evenly distributed circumferentially along the through hole.
  • the distance between the force feedback sensors on the two inner walls of the channel is greater than the diameter of the guidewire/catheter.
  • the distance between the force feedback sensors on the two inner walls of the channel is 0.1 larger than the diameter of the guidewire/catheter. ⁇ 0.5 mm.
  • the axial direction of the accommodation space coincides with or is parallel to the axial direction of the guidewire/catheter delivery device that outputs the guidewire/catheter.
  • the force feedback device for vascular interventional surgery guidewire/catheter in a certain embodiment includes multiple sets of the feedback components, and the multiple sets of the feedback components are connected in series.
  • multiple groups of the feedback components are arranged in a staggered manner.
  • a vascular interventional surgery guidewire/catheter force feedback device in a certain embodiment includes two sets of feedback components.
  • the vascular interventional surgery guidewire/catheter force feedback device in a certain embodiment includes multiple sets of the feedback components, and the multiple sets of the feedback components are connected in series;
  • the axis of the receiving space in the feedback assembly closest to the guidewire/catheter delivery device coincides with the direction of the axis of the guidewire/catheter delivery device out of the guidewire/catheter.
  • the force situation is the force value in the axis direction of the guidewire/catheter.
  • the contact force information includes the magnitude and direction of the contact force.
  • the processor is a computer.
  • a vascular interventional surgery robot includes:
  • a guidewire/catheter delivery device for clamping the guidewire/catheter and driving the guidewire/catheter forward, backward and/or rotating;
  • the vascular interventional surgery guidewire/catheter force feedback device is provided at the front end of the guidewire/catheter delivery device and is used to feed back the stress condition of the guidewire/catheter,
  • the force profile is used to adjust actuation of the guidewire/catheter delivery device.
  • the guidewire/catheter delivery device includes:
  • a clamping assembly for clamping the guidewire/catheter.
  • the clamping assembly includes a clamping base, at least one driving wheel and at least one driven wheel.
  • the driving wheel and the driven wheel are rotatably mounted on the clamp.
  • the driving department includes:
  • the wire advancing and withdrawing driving unit is connected to the driving wheel and drives the driving wheel to rotate.
  • the rotation of the driving wheel generates friction with the clamped guide wire/conduit, and drives the guide wire under the action of the friction.
  • the wire/catheter moves along its axis;
  • the wire-rotating driving unit is connected to the clamping seat and drives the clamping seat to rotate around the axial direction of the guidewire/catheter, thereby driving the guidewire/catheter to rotate.
  • the present invention has the following advantages and positive effects compared with the prior art:
  • the guidewire/catheter force feedback device for vascular interventional surgery provided by the present invention, under normal driving conditions, when the guidewire/catheter comes into contact with the force feedback sensor, a contact force will be generated, and the contact force will be maintained at a relatively steady state.
  • the front end of the guide wire/catheter touches the blood vessel wall the blood vessel wall will produce resistance to the guide wire/catheter, causing a large change in the contact force between the guide wire/catheter and the force feedback sensor, that is, the contact force information will There are obvious changes.
  • the processor processes the contact force information, the changes will also be reflected in the output results of the processor.
  • the vascular interventional surgery guidewire/catheter force feedback device provided by the present invention has a simple and lightweight structure and low production cost; it is also applicable to situations where the guidewire/catheter is driven into the human body through twisting or roller driving.
  • the guidewire/catheter delivery device realizes the rotation and pushing actions of the guidewire/catheter.
  • the vascular interventional surgery guidewire/catheter force feedback device real-time It senses the stress of the guide wire/catheter and outputs it, prompting the operator of the stress of the guide wire/catheter in the blood vessel, thereby reducing the risk of harm to the human body caused by the guide wire/catheter during the operation.
  • Figure 1 is a schematic structural diagram of a feedback component of the present invention
  • Figure 2 is a schematic diagram of the installation positions of two sets of feedback components of the present invention.
  • Figure 3 is a schematic diagram of the installation of a guidewire/catheter force feedback device for vascular interventional surgery in conjunction with a guidewire/catheter delivery device according to the present invention
  • Figure 4 is a schematic installation diagram of a guidewire/catheter force feedback device for vascular interventional surgery of the present invention used in conjunction with a guidewire/catheter delivery device;
  • Figure 5 is a schematic diagram of a guidewire/catheter delivery device
  • Figure 6 is a schematic diagram of the consumable part of a guidewire/catheter delivery device
  • Figure 7 is a schematic structural diagram of the transmission part of a guidewire/catheter delivery device
  • Figure 8 is a schematic diagram 1 of the clamping assembly in a guidewire/catheter delivery device
  • Figure 9 is a schematic diagram 2 of the clamping assembly in a guidewire/catheter delivery device
  • Figure 10 is a schematic structural diagram of the driving part in a guidewire/catheter delivery device
  • Figure 11 is a schematic structural diagram of a clamping seat in a guidewire/catheter delivery device.
  • this embodiment provides a guidewire/catheter force feedback device for vascular interventional surgery, including a processor and at least one set of feedback components 5.
  • the feedback component 5 is provided at the front end of the guidewire/catheter delivery device.
  • the feedback assembly 5 includes a base 51 and several force feedback sensors 52 .
  • the base 51 is provided with an accommodating space for accommodating the guide wire 4/catheter.
  • the accommodating space is provided with openings at both axial ends of the guide wire 4/catheter for the insertion of the guide wire 4/catheter.
  • a plurality of force feedback sensors 52 are respectively provided on the side walls of the accommodating space, and are located between the side walls of the accommodating space and the guide wire 4/catheter.
  • the force feedback sensors 52 are used to collect the force generated when the guide wire 4/catheter contacts it. Contact force information.
  • the processor is signal-connected to the force feedback sensor 52 and is used to receive contact force information and process it to obtain the force situation of the guidewire 4/catheter, and is also used to output the force situation.
  • the front end refers to the end deeper into the blood vessel in the axial direction of the guidewire 4/catheter.
  • this embodiment takes the guidewire 4 as an example; the vascular interventional surgery guidewire/catheter force feedback device is referred to as a force feedback device for short.
  • the main function of the base 51 is to accommodate space for installing the force feedback sensor 52 and the guide wire 4 .
  • the shape of other parts of the base 51 is not limited as long as it does not affect the movement of the guide wire 4 .
  • the accommodation space can have various forms, such as through-slots and through-holes, which are not limited here.
  • the accommodation space is a through hole
  • the force feedback sensor 52 is disposed on the inner wall of the through hole; specifically, several force feedback sensors 52 can be evenly distributed along the circumferential direction of the through hole.
  • the accommodation space is a through slot, and the force feedback sensor 52 is provided on the inner wall of the through slot. Both the force feedback sensor 52 and the guide wire 4 can be installed into the through slot from the notch of the through slot. Compared with The through hole makes it easier to install the force feedback sensor 52 and the guide wire 4 .
  • force feedback sensors 52 can be provided on the inner wall of the through slot, but force feedback sensors 52 need to be provided on both inner walls of the through slot, because when the guide wire 4 is bent to a large extent, it may interact with one of the inner walls.
  • the force feedback sensor 52 on the wall is not in contact, so the force feedback device in this embodiment will not work.
  • the feedback component 5 includes two force feedback sensors 52 , and the two force feedback sensors 52 are symmetrically arranged on the two inner walls of the through slot.
  • the distance between the force feedback sensors 52 on the two inner walls of the slot needs to be larger than the diameter of the guide wire 4 . If the distance is too small, it is not conducive to the installation of the force guide wire 4; if the distance is too large, the guide wire 4 may not touch the force feedback sensor 52, and the force feedback sensor 52 cannot collect contact force information. Therefore, it is preferable that the distance between the force feedback sensors 52 on the two inner walls of the slot is 0.1 to 0.5 mm larger than the diameter of the guide wire 4 .
  • the increase in the number of feedback components 5 is beneficial to improving the accuracy of the force feedback device.
  • the multiple sets of feedback components 5 are connected in series.
  • the feedback component 5 is located at the output end of the guidewire/catheter delivery device.
  • the axial direction of the through slot is the axial direction of the accommodation space and the output of the guidewire/catheter delivery device.
  • the axial direction of the guidewire 4 coincides or is parallel, and the axis of the slot in the feedback assembly 5 closest to the guidewire/catheter delivery device coincides with the axial direction of the guidewire/catheter delivery device output guidewire 4 .
  • multiple groups of feedback components 5 connected in series can be arranged in a staggered manner.
  • the distance between the force feedback sensors 52 on the two inner walls of the through slot needs to be larger than the diameter of the guide wire 4, and in order not to affect the operation of the guide wire/catheter delivery device as much as possible, the through slot
  • the axis direction coincides with the axis direction of the guidewire/catheter delivery device output guidewire 4 (when the series feedback components 5 are staggered, they cannot be kept coincident and can only take a step back to be parallel), so the guidewire 4 may will not be in contact with the force feedback sensor 52.
  • the force feedback device includes two sets of feedback components 5, and the two sets of feedback components 5 are connected in series and arranged staggered with each other.
  • the processor may be a computer.
  • the force feedback sensor 52 detects not the force value of the guide wire 4 in the blood vessel, but the force exerted by the guide wire 4 on the force feedback sensor 52, the force value of the guide wire 4 in the blood vessel is obtained after processing by the processor. value, so it needs to be converted in the middle, and how to do the conversion (including: what is the contact force information detected by the force feedback sensor 52, what is the specific force situation output by the processor, how are the two related, etc.)
  • the present invention does not do this Limitation, this embodiment provides an example to provide a specific conversion method.
  • the contact force information detected by the force feedback sensor 52 includes the magnitude and direction of the contact force, and the force situation output by the processor is the force value of the guide wire 4 in the axial direction.
  • the force feedback sensor 52 can be a piezoelectric sensor, etc., and is not specifically limited.
  • the contact force information collected by the multiple force feedback sensors 52 is processed to obtain the force along the axis of the slot (since even if the guide wire 4 is bent, the degree of bending is small, the force along the axis of the slot can be regarded as force along the 4-axis direction of the guide wire), the force The size becomes the equivalent contact force size.
  • the equivalent contact force has a functional relationship with the force value of the guide wire 4 in the blood vessel. This force feedback device needs to be calibrated in advance before cooperating with the guide wire/catheter delivery device for surgery.
  • the specific calibration process is: install the feedback component 5, the guidewire/catheter delivery device and the guidewire 4 as they appear during surgery, and then connect the force application device to the front end of the guidewire 4; the guidewire/catheter delivery device drives the guidewire normally. 4.
  • the force-applying device applies different resistances (used to simulate the resistance experienced by the guidewire 4 in the blood vessel).
  • the force feedback sensor 52 collects contact force information and processes the contact force information to obtain the equivalent contact force; the force-applying device applies The resistance and the corresponding equivalent contact force are used as independent variables and dependent variables to generate functions respectively.
  • the force value of the guide wire 4 in the blood vessel is equivalent to the resistance exerted by the force application device, and the processor uses a functional relationship to output the force value of the guide wire 4 .
  • the operator can adjust the action of the guide wire 4 in time according to the stress of the guide wire 4, thereby preventing the guide wire 4 from piercing the blood vessel wall.
  • this embodiment provides a vascular interventional surgery robot, including a guidewire/catheter delivery device and the vascular interventional surgery guidewire/catheter force feedback device in Embodiment 1.
  • the guidewire/catheter delivery device is used to clamp the guidewire 4/catheter and drive the guidewire 4/catheter forward, backward and/or rotate.
  • the vascular interventional surgery guidewire/catheter force feedback device is located at the front end of the guidewire/catheter delivery device and is used to feed back the stress status of the guidewire 4/catheter, and the force feedback device is used to adjust the drive of the guidewire/catheter delivery device.
  • the guidewire/catheter delivery device realizes the rotation and pushing actions of the guidewire 4/catheter.
  • the vascular interventional surgery guidewire/catheter force feedback device senses the stress of the guidewire 4/catheter in real time. And output, prompting the operator about the stress situation of the guide wire 4/catheter in the blood vessel, thereby reducing the risk of harm to the human body caused by the guide wire 4/catheter during the operation.
  • the guidewire/catheter delivery device There are many specific structures of the guidewire/catheter delivery device, which are not limited. In this embodiment, a specific structure is exemplified. For ease of description, this embodiment takes the guidewire 4 as an example; the vascular interventional surgery guidewire/catheter force feedback device is referred to as a force feedback device for short.
  • the guidewire/catheter delivery device includes a clamping assembly 21 and a drive portion 1 .
  • the clamping assembly 21 is used to clamp the guide wire 4.
  • the clamping assembly 21 includes a clamping base 2101, two driving wheels 2102 and two driven wheels 2103.
  • the driving wheel 2102 and the driven wheel 2103 are rotatably installed on the clamping base 2101. And are symmetrically arranged on both sides of the guide wire 4 .
  • the driving part 1 includes a thread advancing and withdrawing driving unit 101 and a thread rotating driving unit 102.
  • the wire advancing and withdrawing driving unit 101 is connected to the driving wheel 2102 and drives the driving wheel 2102 to rotate.
  • the rotation of the driving wheel 2102 generates friction with the clamped guide wire 4, and drives the guide wire 4 to move along its axial direction under the action of friction.
  • the wire-rotating driving unit 102 is connected to the clamping base 2101 and drives the clamping base 2101 to rotate around the axial direction of the guide wire 4, thereby driving the guide wire 4 to rotate.
  • the wire advancement and withdrawal driving unit 101 drives the driving wheel 2102 to rotate to move the guide wire 4 along its axial direction, pushing the guide wire 4 into or withdrawing from the blood vessel; the guide wire 4 reaches the branch structure of the blood vessel, and the guide wire 4 is rotated.
  • the driving unit 102 drives the clamping base 2101 to rotate around the axial direction of the guide wire 4 to realize the rotation of the guide wire 4 and enter the branch structure of the blood vessel.
  • the driving wheel 2102 When the guide wire 4 is rotated alone, the driving wheel 2102 does not need to rotate at this time. Since the driving wheel 2102 is installed on the clamping base 2101, it will rotate together with the clamping base 2101. It is possible that the wire advancing and withdrawing driving unit 101 will also guide the wire 4. Wire 4 is the axis for rotation. Therefore, in order to avoid this situation, a wire advancing and withdrawing transmission unit 22 is provided. Referring to FIGS. 6 and 7 , the wire advance and withdrawal transmission unit 22 includes a first gear 2205 , a second gear 2206 and a third gear 2204 . The first gear 2205 has internal teeth, and the second gear 2206 meshes with the internal teeth of the first gear 2205.
  • the first gear 2205 and the guide wire 4 are set coaxially, that is, the guide wire 4 needs to pass through the center of the first gear 2205.
  • the second gear 2206 is connected to the driving wheel 2102, and the first gear 2205 is connected to the wire advance and withdrawal drive unit 101.
  • the wire advance and withdrawal drive unit 101 drives the first gear 2205 to rotate, and further drives the second gear 2206 meshed with the first gear 2205 to rotate, thereby The driving wheel 2102 is driven to rotate.
  • the guide wire 4 passes through the center of the first gear 2205.
  • a first strip groove 2210 is opened on the first gear 2205 along its radial direction, and the guide wire 4 can be inserted into the center of the first gear 2205 from the strip groove 2210 .
  • the first gear 2205 has an external ring gear.
  • the third gear 2204 meshes with the external ring gear of the first gear 2205.
  • the third gear 2204 is connected to the rotating wire driving unit 102.
  • the rotating wire driving unit 102 drives the third gear 2204 to rotate, thereby driving The first gear 2205 rotates.
  • the third gear 2204 is connected to the wire advance and withdrawal drive unit 101 through the first transmission unit.
  • the first transmission unit is used to change the direction of the rotation center line of the wire advance and withdrawal drive unit 101, and change the rotation center line of the wire advance and withdrawal drive unit 101 from the vertical direction to Horizontal rotation.
  • the first transmission unit includes a first bevel gear 2201 and a second bevel gear 2202 that mesh with each other.
  • the first bevel gear 2201 is arranged horizontally, and the second bevel gear 2202 is arranged vertically.
  • the first bevel gear 2201 is connected to the thread advancement and withdrawal drive unit 101.
  • the second bevel gear 2202 is connected to the third gear 2204 through the first transmission shaft 2203.
  • the element 101 drives the first bevel gear 2201 to rotate, which in turn drives the second bevel gear 2202 meshed with the first bevel gear 2201 to rotate, which drives the first transmission shaft 2203 to rotate, and then drives the third gear 2204 to rotate.
  • the wire advance and withdrawal transmission unit 22 also includes a second transmission shaft 2207 and a second transmission unit.
  • One end of the second transmission shaft 2207 is connected to the second gear 2206, and the second transmission shaft 2207 is rotatably installed on the clamping base 2101.
  • the second transmission shaft 2207 is connected to the wheel shaft 2113 of the driving wheel through a second transmission unit.
  • the second transmission unit is used to change the direction of the rotation center line of the second transmission shaft 2207 and drive the rotation center line of the second transmission shaft 2207 from the horizontal direction. It is the rotation of the driving wheel 2102 in the vertical direction.
  • the second transmission unit includes a third bevel gear 2208 and a fourth bevel gear 2209 that mesh with each other.
  • the third bevel gear 2208 is arranged horizontally, and the fourth bevel gear 2209 is arranged vertically.
  • the third bevel gear 2208 is sleeved on the axle 2113 of the driving wheel.
  • the fourth bevel gear 2209 is sleeved on the first transmission shaft 2203.
  • the rotation of the second transmission shaft 2207 drives the fourth bevel gear 2209 to rotate, which drives the third bevel gear 2208 meshed with the fourth bevel gear 2209 to rotate, thereby driving the axle of the driving wheel 2102 to rotate, and then the driving wheel 2102 rotates.
  • the guidewire/catheter delivery device also includes a wire drive unit 23.
  • the wire drive unit 102 is connected to the clamping base 2101 through the wire drive unit 23.
  • the wire drive unit 23 is used to change the direction of the rotation center line of the wire drive unit 102. , changing the rotation center line of the thread driving unit 102 from the vertical direction to the horizontal direction.
  • the rotating wire transmission unit 23 includes a fifth bevel gear 2301 and a sixth bevel gear 2302 that mesh with each other.
  • the fifth bevel gear 2301 is arranged horizontally, and the sixth bevel gear 2302 is arranged vertically.
  • the fifth bevel gear 2301 is connected to the rotating wire driving unit 102.
  • the sixth bevel gear 2302 is connected to the clamping seat 2101.
  • the wire driving unit 102 drives the fifth bevel gear 2301 to rotate, which in turn drives the sixth bevel gear 2302 meshed with the fifth bevel gear 2301 to rotate, and then drives the clamping base 2101 to rotate along the axial direction of the guide wire 4. Therefore, the sixth bevel gear
  • the center line of 2302 needs to be parallel to the axis of guide wire 4.
  • the center line of the sixth bevel gear 2302 needs to coincide with the axis of the guide wire 4 , that is, the guide wire 4 passes through the center of the sixth bevel gear 2302 .
  • the second strip groove 2303 extends along the axial direction of the guide wire 4.
  • the connection member between the sixth bevel gear 2302 and the clamping seat 2101 is used for the guide wire 4 to snap into the center position of the sixth bevel gear 2302.
  • the fourth gear 2104 is set on the axle 2112 of the driven wheel
  • the fifth gear 2105 is set on the axle 2113 of the driving wheel, or the gears and the axle are designed in one piece, and the fourth gear 2104 and the fifth gear 2105 Engagement can prevent slippage between the driving wheel 2102 and the driven wheel 2103, causing the guide wheel to The wire 4 does not move axially.
  • intermeshing gears are provided on the axle 2113 of the driving wheel and the axle 2112 of the driven wheel, which can ensure that the driven wheel 2103 and the driving wheel 2102 rotate together, thus ensuring that as long as the driving wheel 2102 rotates, the guide wire 4 can Axial movement occurs.
  • the clamping seat 2101 is also provided with a driven wheel adjustment component for adjusting the axis spacing between the driven wheel 2103 and the driving wheel 2102 to clamp or release the guide wire 4 to ensure the clamping state of the guide wire 4.
  • a driven wheel adjustment component for adjusting the axis spacing between the driven wheel 2103 and the driving wheel 2102 to clamp or release the guide wire 4 to ensure the clamping state of the guide wire 4.
  • the fourth gear 2104 and the fifth gear 2105 are in meshing state; at the same time, it is convenient to insert the guide wire 4.
  • the driven wheel 2103 adjustment assembly includes a sliding member 2106 and a locking member.
  • the sliding member 2106 is slidably disposed on the mounting frame, and the sliding member 2106 is fixedly connected to the axle of the driven wheel 2103. Push the sliding member 2106, and the sliding member 2106 slides along the straight line where the axis center of the driven wheel 2103 and the driving wheel 2102 are located, thereby adjusting the axis spacing between the driving wheel 2102 and the driven wheel 2103.
  • the locking member is fixedly connected to the sliding member 2106 and is used to lock the sliding member 2106 in a state of sliding to the target position.
  • a sliding member 2106 is provided on the clamping seat 2101 and is fixedly connected or integrally designed with the axle 2112 of the driven wheel, and can slide along the straight line where the axis center of the driven wheel 2103 and the driving wheel 2102 are located.
  • a sliding shaft 2108 is provided that passes through the clamping seat 2101 and the sliding member 2106 at the same time.
  • the sliding shaft 2108 is parallel to the straight line where the axis center of the driven wheel 2103 and the driving wheel 2102 are located.
  • the sliding member 2106 slides along the sliding shaft 2108.
  • an elastic member 2107 is provided between the sliding member 2106 and the clamping seat 2101.
  • the elastic member 2107 is sleeved on the sliding shaft 2108. One end of the elastic member 2107 is pressed against the side of the clamping seat 2101, and the other end is pressed against the sliding member. The side of 2106.
  • the elastic member 2107 is compressed, and the operator pushes the sliding member 2106 back in the direction of decreasing the distance between the driven wheel 2103 and the driving wheel 2102.
  • the elastic force of the elastic member 2107 decreases.
  • a cover plate 2111 of the same size as the clamping seat 2101 is designed on the sliding part 2106.
  • the cover plate 2111 seals the sliding part 2106 in the clamping seat 2101, and only needs to expose the axle 2112 of the driven wheel and the axle 2113 of the driving wheel. That’s it.
  • the fifth gear 2205 and the fourth gear 2104 are arranged on the upper part of the cover plate 2111.
  • a sliding groove is provided on the cover plate 2111 for the movement of the driven wheel shaft 2112.
  • a protruding switch 2109 is provided on the sliding member 2106.
  • a protrusion is provided on the cover plate 2111.
  • the switch 2109 matches the square groove 2110, and the square groove 2110 also plays a role in locking the raised switch 2109 and pushing it to the target position. The operator directly pushes the raised switch 2109 to control the sliding of the sliding member 2106 and adjust the distance between the shafts of the driven wheel 2103 and the driving wheel 2102.
  • the clamping component 21, the wire advancement and withdrawal transmission unit 22, The thread-rotating transmission unit 23 needs to be kept sterile, and sterilization cannot guarantee whether the sterilization is complete. Therefore, it is preferable to make the clamping assembly 21, the thread advance and retreat transmission unit 22, and the thread-rotating transmission unit 23 as disposable sterile appliances, which only need to be connected with the driver.
  • the part 1 can be detachably connected, and the driving part 1 can be used repeatedly. Therefore, the clamping component 21, the wire advancing and withdrawing transmission unit 22 and the rotating wire transmission unit 23 are set as the consumable part 2.
  • the consumable part 2 also includes a mounting bottom plate 24, and the clamping component 21, the wire advancing and withdrawing transmission unit 22 and the rotating wire transmission unit 23 are all installed.
  • the mounting base plate 24 is detachably connected to the driving part 1.
  • the feedback component 5 since the feedback component 5 will also be in contact with the guide wire 4, the feedback component 5 can be installed on the mounting base plate 24 as a consumable material.
  • a sterile box or sterile film can be used to isolate the consumable part 2 and the feedback component 5 from the driving part 1. This can maintain the sterile environment of the consumable part 2 and the feedback component 5 and ensure that the entire surgical process is not infected by bacteria. .
  • brackets 25 can be provided on the mounting bottom plate 24. Along the axial direction of the guide wire 4, each bracket 25 is provided with a slot for the guide wire 4 to pass through. The slots on adjacent brackets 25 are interconnected to form a guide groove. 26, used to prevent the guide wire 4 from deviating from the direction when moving axially.
  • the driving part 1 may also include a driving fixing base 103, on which the wire-rotating drive unit 102 and the wire advance and withdrawal driving unit 101 are fixed, and the mounting bottom plate 24 is detachably connected to the driving fixing base 103.
  • the sterile film 3 is laid on the driving fixed seat 103, and the mounting bottom plate 24 is placed on the sterile film 3 and detachably connected to the driving fixed seat 103.
  • the guidewire/catheter delivery device also includes a controller.
  • the controller is electrically connected to the thread advancing and withdrawing drive unit 101 and the thread rotating drive unit 102 respectively.
  • the thread advancing and withdrawing driving unit 101 and the thread rotating drive unit 102 are both drive motors and are connected to the output spline shaft 105 and the bevel gear through the coupling 104.
  • Preliminary preparation process lay the sterile film 3 on the driving fixed base 103, install the consumable part 2 as a whole on the driving fixed base 103, push the raised switch 2109, and clamp the guide wire 4 between the driving wheel 2102 and the driven wheel 2103. During this time, the guide wire 4 is placed in the guide groove 26 and passes through the centers of the first gear 2205 and the sixth bevel gear 2302 .
  • the independent spinning function that is, the spinning process does not advance or retreat, and it is necessary to synchronously control the work of the thread advancing and withdrawing drive unit 101 and the spinning drive unit 102: the controller controls the working of the spinning drive unit 102 to drive the fifth bevel gear 2301 to rotate, so that the fifth bevel gear 2301 is rotated.
  • the six bevel gear 2302 rotates, thereby driving the clamping seat 2101 to rotate along the axis of the guide wire 4. Since the second transmission shaft 2207 is provided on the clamping seat 2101, the second transmission shaft 2207 will also rotate along the axis of the guide wire 4.
  • the second gear 2206 will also rotate along the axis of the guide wire 4, but the second gear 2206 cannot rotate along its own axis, because if it rotates along its own axis, it will cause the guide wire 4 to move axially. Therefore, in order to prevent the second gear 2206 from rotating along its own axis, Its own axis rotates, and the first gear 2205 needs to rotate synchronously to offset the rotation of the second gear 2206.
  • the rotation speed of the thread advance and withdrawal drive unit 101 is W1
  • the rotation speed of the thread rotation drive unit 102 is W2
  • the transmission ratio of the fifth bevel gear 2301 and the sixth bevel gear 2302 is 1:1
  • the revolution speed of the second gear 2206 is W2
  • the revolution speed of the second gear 2206 is W2.
  • the transmission ratio between the third gear 2204 and the thread advancing and withdrawing drive unit 101 is 1:1, that is, when the rotation speed ratio of the thread rotating drive unit 102 and the thread advancing and withdrawing driving unit 101 is 1:1 and the rotation directions are opposite, individual thread spinning can be achieved.
  • the transmission ratio also changes accordingly, and then the rotation speed ratio of the thread-rotating drive unit 102 and the thread advance and withdrawal drive unit 101 also changes accordingly, but the thread-rotating drive unit 102 It is opposite to the rotation direction of the thread advancing and withdrawing driving unit 101 and does not change.
  • the controller only controls the work of the wire advance and withdrawal drive unit 101: driving the first bevel gear 2201 to rotate, driving the second bevel gear 2202 meshed with the first bevel gear 2201 to rotate, and then driving the first transmission shaft 2203 to rotate , driving the third gear 2204 to rotate, and then driving the first gear 2205 meshed with the third gear 2204 to rotate, thereby driving the second gear 2206 to rotate, and then the second transmission shaft 2207 to rotate, driving the fourth bevel gear 2209 to rotate, and then driving the third
  • the tribevel gear 2208 rotates, which in turn drives the axle of the driving wheel 2102 to rotate, which in turn drives the driving wheel 2102 to rotate.
  • the driving wheel 2102 rotates, and the driven wheel 2103 rotates synchronously, and the friction power of the feed is synchronously applied. Under the action of the friction power, the guide wire 4. Feed or withdraw wire.
  • the synchronization function of thread advance and withdrawal and thread rotation that is, the second gear 2206 can be realized to revolve along the axis of the guide wire 4 and also to rotate along its own axis. It is also assumed that the transmission ratio of the first gear 2205 and the third gear 2204 is 1:1, the radius of the driving wheel 2102 is r, and the rotation speeds of the first gear 2205 and the second gear 2206 are different. Assume that the first gear 2205 and the second gear 2206 The transmission ratio is 1:2, assuming that the required wire feeding speed is 2 ⁇ r mm/s, the spinning speed is 1 rev/s, and it is performed synchronously.
  • the rotating speed of the spinning drive unit 102 is required to be 1 rev/s, and the rotating speed of the driving wheel 2102 is 1 rev/s, which is converted into the advancing and withdrawing wire drive unit.
  • the rotation speed on the 101 is 0.5 rpm, and the spinning drive unit and the thread advancing and withdrawing drive unit rotate in opposite directions.
  • the gear transmission ratio given above is just an example to illustrate the working mode of this embodiment, and the transmission ratio can be changed accordingly as the number of teeth of the gear changes.

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Abstract

一种血管介入手术导丝/导管力反馈装置，包括处理器和至少一组反馈组件（5），反馈组件（5）设于导丝/导管递送装置的前端，反馈组件（5）包括基座（51）和若干力反馈传感器（52）。基座（51）上设有容置空间，用于容置导丝（4）/导管，容置空间在导丝（4）/导管轴向的两端均设有开口用于导丝（4）/导管的穿设。若干力反馈传感器（52）分别设于容置空间的侧壁上，且位于容置空间的侧壁和导丝（4）/导管之间，力反馈传感器（52）用于采集导丝（4）/导管与其接触时产生的接触力信息。处理器与力反馈传感器（52）信号连接，用于接收接触力信息并对其处理得到导丝（4）/导管受力情况，还用于输出受力情况。还提供了一种血管介入手术机器人，包括导丝/导管递送装置和血管介入手术导丝/导管力反馈装置。

Description

血管介入手术导丝/导管力反馈装置及血管介入手术机器人 技术领域
本发明属于医疗器械技术领域，尤其涉及一种血管介入手术导丝/导管力反馈装置及血管介入手术机器人。
背景技术
近年来，心血管疾病的发病率逐年升高，严重威胁人类健康。心血管疾病的治疗包括药物治疗和介入治疗，介入治疗是在人体皮肤上小面积开刀，使导丝、导管、球囊和支架等进入，对局部病灶进行检测和治疗。传统的介入手术由熟练的医生操作，精度低、且由于医生长时间操作，即便穿铅衣，仍不可避免的受到一定的辐射伤害。采用血管介入手术机器人，可提高手术精度，减少医生受到的辐射。
在手术过程中，医生通过手术机器人操作导丝/导管进入人体血管，若导丝/导管捅破血管壁，会给患者带来生命威胁。及时得知导丝/导管在血管中的受力情况，将会大大提升手术的安全性，一般可通过血管介入手术导丝/导管力反馈装置，来检测手术过程中导丝/导管在血管中的受力情况，从而判断是否会产生风险。
现在的力反馈装置采用通过磁流变液和阻尼器配合、或者手柄等方法得到手术过程中导丝/导管在血管中的受力情况。在采用手柄的方法中，没有力反馈；而磁流变液和阻尼器配合的方法，结构复杂。且导丝通过捻丝或滚轮驱动进入人体的情况下，现有的力反馈不易实现且不准确。
发明内容
针对上述问题，本发明提供了一种血管介入手术导丝/导管力反馈装置及血管介入手术机器人。
一种血管介入手术导丝/导管力反馈装置，包括处理器和至少一组反馈组件，所述反馈组件设于导丝/导管递送装置的前端；
所述反馈组件包括：
基座，所述基座上设有容置空间，用于容置导丝/导管，所述容置空间在所述导丝/导管轴向的两端均设有开口用于所述导丝/导管的穿设；
若干力反馈传感器，分别设于所述容置空间的侧壁上，且位于所述容置空间的侧壁和所述导丝/导管之间；所述力反馈传感器用于采集所述导丝/导管与其接触时产生的接触力信息；
所述处理器与所述力反馈传感器信号连接，用于接收所述接触力信息并对其处理得到所述导丝/导管的受力情况，所述处理器还用于输出所述受力情况。
某一实施例中的血管介入手术导丝/导管力反馈装置，所述容置空间为通槽，所述力反馈传感器设于所述通槽的内壁。
某一实施例中的血管介入手术导丝/导管力反馈装置，所述通槽的两个内侧壁上均设有所述力反馈传感器。
某一实施例中的血管介入手术导丝/导管力反馈装置，所述反馈组件包括两个所述力反馈传感器，分别设于所述通槽的两个所述内侧壁上。
某一实施例中的血管介入手术导丝/导管力反馈装置，所述容置空间为贯穿孔，所述力反馈传感器设于所述贯穿孔的内壁。
某一实施例中的血管介入手术导丝/导管力反馈装置，若干所述力反馈传感器沿所述贯穿孔周向均布。
某一实施例中的血管介入手术导丝/导管力反馈装置，所述通槽的两个所述内侧壁上的所述力反馈传感器之间的距离大于所述导丝/导管的直径。
某一实施例中的血管介入手术导丝/导管力反馈装置，所述通槽的两个所述内侧壁上的所述力反馈传感器之间的距离比所述导丝/导管的直径大0.1～0.5毫米。
某一实施例中的血管介入手术导丝/导管力反馈装置，所述容置空间的轴线方向与所述导丝/导管递送装置输出所述导丝/导管的轴线方向重合或平行。
某一实施例中的血管介入手术导丝/导管力反馈装置，包括多组所述反馈组件，多组所述反馈组件串联。
某一实施例中的血管介入手术导丝/导管力反馈装置，多组所述反馈组件交错设置。
某一实施例中的血管介入手术导丝/导管力反馈装置，包括两组所述反馈组件。
某一实施例中的血管介入手术导丝/导管力反馈装置，包括多组所述反馈组件，多组所述反馈组件串联；
最靠近所述导丝/导管递送装置的所述反馈组件中的所述容置空间的轴线与所述导丝/导管递送装置输出所述导丝/导管的轴线方向重合。
某一实施例中的血管介入手术导丝/导管力反馈装置，所述受力情况为所述导丝/导管轴线方向的受力值。
某一实施例中的血管介入手术导丝/导管力反馈装置，所述接触力信息包括接触力的大小和方向。
某一实施例中的血管介入手术导丝/导管力反馈装置，所述处理器为计算机。
一种血管介入手术机器人，包括：
导丝/导管递送装置，用于夹持导丝/导管并驱动所述导丝/导管进退和/或旋转；
如权利要求1至16任意一项所述的血管介入手术导丝/导管力反馈装置，设于所述导丝/导管递送装置的前端，用于反馈所述导丝/导管的受力情况，所述受力情况用于调整所述导丝/导管递送装置的驱动。
某一实施例中的血管介入手术机器人，所述导丝/导管递送装置包括：
夹持组件，用于夹持所述导丝/导管，所述夹持组件包括夹持座、至少一个主动轮和至少一个从动轮，所述主动轮和所述从动轮转动安装于所述夹持座上，且对称设置在所述导丝/导管的两侧；
驱动部，包括：
进退丝驱动单元，连接所述主动轮并驱动所述主动轮转动，所述主动轮转动与被夹紧的所述导丝/导管产生摩擦力，在所述摩擦力的作用下驱动所述导丝/导管沿其轴向移动；
转丝驱动单元，连接所述夹持座并带动所述夹持座绕所述导丝/导管的轴向旋转，进而带动所述导丝/导管旋转。
本发明由于采用以上技术方案，使其与现有技术相比具有以下的优点和积极效果：
(1)本发明提供的血管介入手术导丝/导管力反馈装置，导丝/导管在正常驱动情况下，和力反馈传感器接触，会有一个接触力产生，且该接触力会维持在一个较为平稳的状态。当导丝/导管的前端碰到血管壁后，血管壁会对导丝/导管产生阻力，从而使得导丝/导管和力反馈传感器之间的接触力产生较大的变化，即接触力信息会有明显变化，处理器对接触力信息进行处理后该变化也会体现在处理器的输出结果上，即从反馈的导丝/导管的受力情况上能看出导丝/导管的前进受到较大的阻力，大概率就是导丝/导管碰到血管壁了。操作者可以根据导丝/导管的受力情况调整导丝/导管的动作，防止导丝/导管捅破血管壁情况的发生。
本发明提供的血管介入手术导丝/导管力反馈装置，结构简单轻便，生产成本低；同时也能适用于导丝/导管通过捻丝或滚轮驱动进入人体的情况。
(2)本发明提供的血管介入手术机器人，导丝/导管递送装置实现导丝/导管的旋转、推送动作，在导丝/导管的行进过程中，血管介入手术导丝/导管力反馈装置实时感知导丝/导管的受力情况并输出，提示操作者导丝/导管在血管中的受力情况，降低了手术过程中导丝/导管对人体造成伤害的风险。
附图说明
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本发明的限制。
图1为本发明的一种反馈组件的结构示意图；
图2为本发明的两组反馈组件的安装位置示意图；
图3为本发明的一种血管介入手术导丝/导管力反馈装置配合导丝/导管递送装置应用的安装示意图；
图4为本发明的一种血管介入手术导丝/导管力反馈装置配合导丝/导管递送装置应用的安装示意图；
图5为一种导丝/导管递送装置的示意图；
图6为一种导丝/导管递送装置中耗材部的示意图；
图7为一种导丝/导管递送装置中传动部分的结构示意图；
图8为一种导丝/导管递送装置中夹持组件的示意图一；
图9为一种导丝/导管递送装置中夹持组件的示意图二；
图10为一种导丝/导管递送装置中驱动部的结构示意图；
图11为一种导丝/导管递送装置中夹持座的结构示意图。
附图标记说明：
1：驱动部；101：进退丝驱动单元；102：转丝驱动单元；103：驱动固
定座；104：联轴器；105：动力输出花键轴；
2：耗材部；21：夹持组件；2101：夹持座；2102：主动轮；2103：从动
轮；2104：第四齿轮；2105：第五齿轮；2106：滑动件；2107：弹性件；2108：滑动轴；2109：凸起开关；2110：方形槽；2111：盖板；2112：从动轮的轮轴；2113：主动轮的轮轴；
22：进退丝传动单元；2201：第一锥齿轮；2202：第二锥齿轮；2203：
第一传动轴；2204：第三齿轮；2205：第一齿轮；2206：第二齿轮；2207：第二传动轴；2208：第三锥齿轮；2209：第四锥齿轮；2210：第一条形槽；
23：转丝传动单元；2301：第五锥齿轮；2302：第六锥齿轮；2303：第
二条形槽；
24：安装底板；25：支架；26：导向槽；
3：无菌膜；4：导丝；
5：反馈组件；51：基座；52：力反馈传感器。
具体实施方式
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对照附图说明本发明的具体实施方式。显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图，并获得其他的实施方式。
为使图面简洁，各图中只示意性地表示出了与本发明相关的部分，它们并不代表其作为产品的实际结构。另外，以使图面简洁便于理解，在有些图中具有相同结构或功能的部件，仅示意性地绘示了其中的一个，或仅标出了其中的一个。在本文中，“一个”不仅表示“仅此一个”，也可以表示“多于一个”的情形。
实施例1
参看图1至图4，本实施例提供一种血管介入手术导丝/导管力反馈装置，包括处理器和至少一组反馈组件5，反馈组件5设于导丝/导管递送装置的前端。反馈组件5包括基座51和若干力反馈传感器52。基座51上设有容置空间，用于容置导丝4/导管，容置空间在导丝4/导管轴向的两端均设有开口用于导丝4/导管的穿设。若干力反馈传感器52分别设于容置空间的侧壁上，且位于容置空间的侧壁和导丝4/导管之间，力反馈传感器52用于采集导丝4/导管与其接触时产生的接触力信息。处理器与力反馈传感器52信号连接，用于接收接触力信息并对其处理得到导丝4/导管受力情况，还用于输出受力情况。
现对本实施例的结构进行说明。在本文中，前端是指沿导丝4/导管轴向方向中更深入血管的一端。为便于描述，本实施例中以导丝4为例进行阐述；将血管介入手术导丝/导管力反馈装置，简称为力反馈装置。
基座51主要起作用的是容置空间，用于安装力反馈传感器52以及导丝4。基座51其他部分的形状不做限制，只要不影响导丝4的运动即可。容置空间的形式可以有多种，例如通槽和贯穿孔，此处不做限制。当容置空间为贯穿孔时，力反馈传感器52设于贯穿孔的内壁；具体，若干力反馈传感器52可沿贯穿孔的周向均布。在本实施例中，容置空间为通槽，力反馈传感器52设于通槽的内壁上，力反馈传感器52和导丝4均可以从通槽的槽口安装进通槽内，相比于贯穿孔更方便力反馈传感器52和导丝4的安装。
在通槽的内壁上可设置多个力反馈传感器52，但在通槽的两个内侧壁上均需要设置力反馈传感器52，因为当导丝4弯曲程度较大时有可能会和其中一个内侧壁上的力反馈传感器52不接触，如此本实施例中的力反馈装置便会不起作用。具体在本实施例中，反馈组件5包括两个力反馈传感器52，两个力反馈传感器52对称设于通槽的两个内侧壁上。
通槽的两个内侧壁上的力反馈传感器52之间的距离需要大于导丝4的直径。若距离太小，则不利于力导丝4的安装；若距离太大，则导丝4可能不会碰到力反馈传感器52，力反馈传感器52无法进行接触力信息采集。因此，较为优选的是：通槽的两个内侧壁上的力反馈传感器52之间的距离比导丝4的直径大0.1～0.5毫米。
反馈组件5数量的增加有利于提高力反馈装置的精度，当有多组反馈组件5时，多组反馈组件5串联。反馈组件5设于导丝/导管递送装置的输出端，为尽可能不影响导丝/导管递送装置的运行，通槽的轴线方向也就是容置空间的轴线方向与导丝/导管递送装置输出导丝4的轴线方向重合或平行，而最靠近导丝/导管递送装置的反馈组件5中的通槽的轴线与导丝/导管递送装置输出导丝4的轴线向重合。
为进一步提高本实施例力反馈装置的精度，多组串联的反馈组件5可以交错设置。为了方便导丝4的安装，通槽两个内侧壁上的力反馈传感器52之间的距离需要大于导丝4的直径，而为了尽可能不影响导丝/导管递送装置的运行，通槽的轴线方向又和导丝/导管递送装置输出导丝4的轴线方向重合(串联的反馈组件5交错设置时就无法保持一定是重合的，只能退一步是平行的)，因此导丝4有可能会不和力反馈传感器52接触，为了解决这个问题，将多组串联的反馈组件5交错设置。反馈组件5的交错设置会使得导丝4弯曲，从而更利于导丝4接触到通槽内侧壁上的力反馈传感器52，从而提高实施例力反馈装置的精度。具体在本实施例中，力反馈装置包括两组反馈组件5，两组反馈组件5串联且相互交错设置。
处理器可以是计算机。
此外，由于导丝4的转动是绕自身轴线转动，因此导丝4是否转动对导丝4和力反馈传感器52之间接触力的影响几乎可以忽略不计。
由于力反馈传感器52检测得到的不是导丝4在血管中的受力值，而是导丝4施加在力反馈传感器52上的力，经过处理器处理后得到导丝4在血管中的受力值，因此中间需要进行转换，具体如何转换(包括：力反馈传感器52检测的接触力信息具体是什么、处理器输出的受力情况具体是什么、两者之间如何关联等)本发明不做限制，在本实施例中举例提供一种具体的转换方式。
力反馈传感器52检测的接触力信息包括接触力的大小和方向，处理器输出的受力情况为导丝4在轴线方向的受力值。其中，力反馈传感器52可以采用压电传感器等，具体不做限制。对多个力反馈传感器52采集的接触力信息进行处理，得到沿通槽轴线方向上的力(由于即使导丝4弯曲，其弯曲程度也较小，沿通槽轴线方向的力可以看做是沿导丝4轴线方向的力)，将该力的 大小成为等效接触力大小。等效接触力大小与导丝4在血管中的受力值具有函数关系，本力反馈装置在配合导丝/导管递送装置进行手术前，需要提前进行标定。
具体标定过程为：将反馈组件5、导丝/导管递送装置以及导丝4按照手术时的样子安装好，然后在导丝4的前端连接施力装置；导丝/导管递送装置正常驱动导丝4，施力装置施加不同的阻力(用于模拟导丝4在血管中受到的阻力)，力反馈传感器52采集接触力信息，对接触力信息进行处理得到等效接触力大小；施力装置施加的阻力和对应的等效接触力大小分别作为自变量和因变量生成函数。在实际手术过程中，导丝4在血管中的受力值相当于施力装置施加的阻力，处理器利用函数关系输出导丝4的受力值。
因此，操作者可以根据导丝4的受力情况及时调整导丝4的动作，从而防止导丝4捅破血管壁情况的发生。
实施例2
参看图3至图11，本实施例提供一种血管介入手术机器人，包括导丝/导管递送装置和实施例1中的血管介入手术导丝/导管力反馈装置。导丝/导管递送装置用于夹持导丝4/导管并驱动导丝4/导管进退和/或旋转。血管介入手术导丝/导管力反馈装置设于导丝/导管递送装置的前端，用于反馈导丝4/导管的受力情况，受力情况用于调整导丝/导管递送装置的驱动。
导丝/导管递送装置实现导丝4/导管的旋转、推送动作，在导丝4/导管的行进过程中，血管介入手术导丝/导管力反馈装置实时感知导丝4/导管的受力情况并输出，提示操作者导丝4/导管在血管中的受力情况，降低了手术过程中导丝4/导管对人体造成伤害的风险。
导丝/导管递送装置的具体结构可以有很多种，对此不做限制，在本实施例中举例一种具体的结构。为便于描述，本实施例中以导丝4为例进行阐述；将血管介入手术导丝/导管力反馈装置，简称为力反馈装置。
导丝/导管递送装置包括夹持组件21和驱动部1。夹持组件21用于夹持导丝4，夹持组件21包括夹持座2101、两个主动轮2102和两个从动轮2103，主动轮2102和从动轮2103转动安装于夹持座2101上，且对称设置在导丝4的两侧。
驱动部1包括进退丝驱动单元101和转丝驱动单元102。进退丝驱动单元101连接主动轮2102并驱动主动轮2102转动，主动轮2102转动与被夹紧的导丝4产生摩擦力，在摩擦力的作用下驱动导丝4沿其轴向移动。转丝驱动单元102连接夹持座2101并带动夹持座2101绕导丝4的轴向旋转，进而带动导丝4旋转。
在工作过程中，进退丝驱动单元101驱动主动轮2102转动，以实现导丝4沿其轴向移动，将导丝4推送入血管或撤出血管；导丝4到达血管的分支结构，转丝驱动单元102驱动夹持座2101绕导丝4的轴向旋转，实现导丝4旋转，进入血管的分支结构。
在单独实现导丝4旋转时，此时主动轮2102不需要转动，由于主动轮2102安装在夹持座2101上，会跟随夹持座2101一起旋转，有可能进退丝驱动单元101也会以导丝4为轴旋转。因此为避免出现这种情况，设置了进退丝传动单元22。参看图6和图7，进退丝传动单元22包括第一齿轮2205、第二齿轮2206和第三齿轮2204。第一齿轮2205具有内齿，第二齿轮2206与第一齿轮2205的内齿相互啮合，第一齿轮2205与导丝4同轴设定，即导丝4需穿过第一齿轮2205的中心，第二齿轮2206与主动轮2102连接，第一齿轮2205与进退丝驱动单元101连接，进退丝驱动单元101驱动第一齿轮2205转动，进一步驱动与第一齿轮2205啮合的第二齿轮2206转动，从而驱动主动轮2102转动。
导丝4穿过第一齿轮2205的中心。在第一齿轮2205上沿其径向开设第一条形槽2210，导丝4可从条形槽2210卡入第一齿轮2205的中心位置。
第一齿轮2205具有外齿圈，第三齿轮2204与第一齿轮2205的外齿圈啮合，第三齿轮2204与转丝驱动单元102连接，转丝驱动单元102驱动第三齿轮2204转动，进而驱动第一齿轮2205转动。
第三齿轮2204通过第一传动单元连接进退丝驱动单元101，第一传动单元用于改变进退丝驱动单元101的旋转中心线的方向，将进退丝驱动单元101的旋转中心线由垂直方向改变为水平方面的旋转。第一传动单元包括相互啮合的第一锥齿轮2201和第二锥齿轮2202，第一锥齿轮2201水平布置，第二锥齿轮2202垂直布置，第一锥齿轮2201与进退丝驱动单元101连接，第二锥齿轮2202通过第一传动轴2203与第三齿轮2204连接。进退丝驱动单 元101带动第一锥齿轮2201转动，进而带动与第一锥齿轮2201啮合的第二锥齿轮2202旋转，从而带动第一传动轴2203旋转，进而带动第三齿轮2204旋转。
进退丝传动单元22还包括第二传动轴2207和第二传动单元，第二传动轴2207的一端连接第二齿轮2206，第二传动轴2207转动安装在夹持座2101上。第二传动轴2207通过第二传动单元与主动轮的轮轴2113连接，第二传动单元用于改变第二传动轴2207旋转中心线的方向，将第二传动轴2207的旋转中心线由水平方向传动为竖直方向的主动轮2102的转动。第二传动单元包括相互啮合的第三锥齿轮2208和第四锥齿轮2209，第三锥齿轮2208水平布置，第四锥齿轮2209垂直布置，第三锥齿轮2208套设在主动轮的轮轴2113上，第四锥齿轮2209套设在第一传动轴2203上。第二传动轴2207的旋转带动第四锥齿轮2209旋转，带动与第四锥齿轮2209啮合的第三锥齿轮2208旋转，从而带动主动轮2102的轮轴旋转，进而主动轮2102旋转。
导丝/导管递送装置还包括转丝传动单元23，转丝驱动单元102通过转丝传动单元23连接夹持座2101，转丝传动单元23用于改变转丝驱动单元102的旋转中心线的方向，将转丝驱动单元102的旋转中心线由竖直方向改变为水平方向。转丝传动单元23包括相互啮合的第五锥齿轮2301和第六锥齿轮2302，第五锥齿轮2301水平布置，第六锥齿轮2302垂直布置，第五锥齿轮2301与转丝驱动单元102连接，第六锥齿轮2302与夹持座2101连接。转丝驱动单元102驱动第五锥齿轮2301旋转，进而带动与第五锥齿轮2301啮合的第六锥齿轮2302旋转，进而带动夹持座2101沿导丝4的轴向旋转，因此第六锥齿轮2302的中心线需要与导丝4的轴线平行。
第六锥齿轮2302的中心线需要与导丝4的轴线重合，即导丝4穿过第六锥齿轮2302的中心。为了方便将导丝4安装在第六锥齿轮2302的中心位置，优选在第六锥齿轮2302沿其径向开设第二条形槽2303，沿导丝4轴线方向，第二条形槽2303延伸至第六锥齿轮2302与夹持座2101的连接件，用于导丝4卡入第六锥齿轮2302的中心位置。
参看图8和图11，在从动轮的轮轴2112上套设第四齿轮2104，主动轮的轮轴2113上套设第五齿轮2105，或齿轮与轮轴一体设计，第四齿轮2104与第五齿轮2105啮合，能够防止主动轮2102与从动轮2103之间打滑导致导 丝4不发生轴向移动的情况发生。具体，在主动轮的轮轴2113上和从动轮的轮轴2112上设置相互啮合的齿轮，可以保证从动轮2103与主动轮2102一起转动，从而保证只要在主动轮2102旋转的情况下，导丝4能发生轴向移动。
参看图8，夹持座2101上还设置从动轮调节组件，用于调节从动轮2103与主动轮2102之间的轴线间距，以对导丝4进行夹持或释放，保证导丝4夹紧状态下，第四齿轮2104与第五齿轮2105是啮合状态；同时方便放入导丝4。
具体，从动轮2103调节组件包括滑动件2106和锁定件。滑动件2106可滑动地设置在安装架上，滑动件2106与从动轮2103的轮轴固连。推动滑动件2106，滑动件2106沿从动轮2103轴心和主动轮2102轴心所在的直线上滑动，实现调节主动轮2102与从动轮2103之间的轴线间距。锁定件与滑动件2106固连，用于锁定滑动件2106滑动到目标位置处的状态。
关于滑动件2106的实施方式，如图8、9、11所示。在夹持座2101上设置了与从动轮的轮轴2112固定连接或一体设计的滑动件2106，并且可以沿着从动轮2103轴心和主动轮2102轴心所在的直线滑动。设置同时穿过夹持座2101和滑动件2106的滑动轴2108，滑动轴2108与从动轮2103轴心和主动轮2102轴心所在的直线平行，滑动件2106沿着滑动轴2108滑动。同时在滑动件2106和夹持座2101之间设置弹性件2107，弹性件2107套设在滑动轴2108上，弹性件2107的一端抵压在夹持座2101的侧面，另一端抵压在滑动件2106的侧面。操作人员推动滑动件2106向增大从动轮2103和主动轮2102之间轴间距离的方向移动时，弹性件2107受压缩，操作人员推回滑动件2106向减小从动轮2103和主动轮2102之间轴间距离的方向移动时，弹性件2107的弹力减小。为了美观，在滑动件2106上设计与夹持座2101同样大小的盖板2111，盖板2111将滑动件2106密封在夹持座2101内，只需露出从动轮的轮轴2112和主动轮的轮轴2113即可。第五齿轮2205和第四齿轮2104设置在盖板2111的上部，盖板2111上开设从动轮轮轴2112移动的滑动槽，在滑动件2106上设置凸起开关2109，盖板2111上开设与凸起开关2109配合的方形槽2110，方形槽2110同时也起到了锁定凸起开关2109推动到目的位置的作用。操作人员直接推凸起开关2109，即可控制滑动件2106的滑动，调节从动轮2103和主动轮2102轴间间距。
基于血管介入手术的特殊性，需要保持无菌性，为了保持导丝4不被感染，需要时刻保持无菌环境，因此有可能与导丝4接触的夹持组件21、进退丝传动单元22、转丝传动单元23均需要保持无菌，而消毒不能保证是否消毒完全，因此优选地将夹持组件21、进退丝传动单元22、转丝传动单元23为一次性无菌用具，只需要与驱动部1可拆卸的连接即可，驱动部1可重复性使用。因此夹持组件21、进退丝传动单元22和转丝传动单元23设为耗材部2，耗材部2还包括安装底板24，夹持组件21、进退丝传动单元22和转丝传动单元23均安装在安装底板24上，安装底板24可拆卸地连接在驱动部1上。此外，由于反馈组件5也会和导丝4接触，因此可将反馈组件5作为耗材安装在安装底板24上。
在使用时，可采用无菌盒或无菌膜将耗材部2以及反馈组件5与驱动部1隔离，如此可保持耗材部2以及反馈组件5的无菌环境，保证整个手术过程不被细菌感染。
在安装底板24上可设置若干支架25，沿着导丝4轴向的方向，每个支架25上均开设导丝4穿过的槽口，相邻支架25上的槽口互连形成导向槽26，用于防止导丝4在轴向移动时偏离方向。
驱动部1还可以包括驱动固定座103，转丝驱动单元102和进退丝驱动单元101固定在驱动固定座103上，安装底板24可拆卸地连接在驱动固定座103上。
驱动固定座103上铺设无菌膜3，安装底板24放置在无菌膜3上并可拆卸地连接驱动固定座103。
为了实现脱离双手，更有效的实现自动化，导丝/导管递送装置还包括控制器。控制器分别与进退丝驱动单元101、转丝驱动单元102电连接，进退丝驱动单元101、转丝驱动单元102均为驱动电机，通过联轴器104连接输出花键轴105，连接锥齿轮。参看图5至图11，上述的导丝/导管递送装置的工作过程为：
前期准备过程：在驱动固定座103上铺设无菌膜3，将耗材部2整体安装到驱动固定座103上，推动凸起开关2109，将导丝4夹紧在主动轮2102和从动轮2103之间，导丝4放置在导向槽26内，并穿过第一齿轮2205、第六锥齿轮2302的中心。
单独转丝功能，即转丝过程不进不退，需要同步控制进退丝驱动单元101和转丝驱动单元102工作：控制器控制转丝驱动单元102工作，驱动第五锥齿轮2301旋转，从而第六锥齿轮2302旋转，进而带动夹持座2101沿导丝4的轴线旋转，由于第二传动轴2207设置在夹持座2101上，因此第二传动轴2207也会沿导丝4的轴线旋转，因此第二齿轮2206也会沿导丝4的轴线公转，但是第二齿轮2206不能沿自身的轴线自转，因为若沿自身轴线自转会导致导丝4轴向移动，因此为避免第二齿轮2206沿其自身轴线自转，需要第一齿轮2205同步转动来抵消第二齿轮2206的自转。现假设进退丝驱动单元101转速为W1，转丝驱动单元102转速为W2，第五锥齿轮2301和第六锥齿轮2302的传动比为1：1，第二齿轮2206的公转速度为W2，第一齿轮2205的转动速度也为W2，且和第二齿轮2206公转方向一致时，即可实现第二齿轮2206不自转，若第一齿轮2205和第三齿轮2204的传动比为1：1时，第三齿轮2204和进退丝驱动单元101的传动比为1：1，即当转丝驱动单元102和进退丝驱动单元101的转速比为1：1，转动方向相反时，可以实现单独转丝。当然第一齿轮2205和第三齿轮2204的齿数发生变化时，传动比也相应的变化，进而转丝驱动单元102和进退丝驱动单元101的转速比也发生相应地变化，但是转丝驱动单元102和进退丝驱动单元101的转动方向是相反的，不发生变化。
单独进退丝功能，控制器只控制进退丝驱动单元101工作即可：驱动第一锥齿轮2201旋转，带动与第一锥齿轮2201啮合的第二锥齿轮2202转动，进而带动第一传动轴2203转动，带动第三齿轮2204转动，进而带动与第三齿轮2204啮合的第一齿轮2205转动，从而带动第二齿轮2206转动，进而第二传动轴2207转动，带动第四锥齿轮2209转动，进而带动第三锥齿轮2208转动，进而带动主动轮2102的轮轴转动，进而带动主动轮2102转动，主动轮2102转动，同步从动轮2103转动，同步施加进给的摩擦动力，在摩擦动力的作用下，导丝4进丝或退丝。
进退丝和转丝同步功能：即实现第二齿轮2206即沿导丝4的轴线公转，也要沿自身轴线自转。同样假设第一齿轮2205和第三齿轮2204的传动比为1：1，主动轮2102的半径为r，第一齿轮2205和第二齿轮2206的转速不同，假设第一齿轮2205和第二齿轮2206的传动比为1:2，假设需要进丝速度为2 πr mm/s，转丝速度为1转/s，同步进行，此时需要转丝驱动单元102的转速为1转/s，主动轮2102的转速为1转/s，转化到进退丝驱动单元101上的转速为0.5转/s，转丝驱动单元和进退丝驱动单元转动方向相反。
上述给出的齿轮传动比只是举例说明本实施例的工作方式，传动比可以随着齿轮的齿数变化做相应的变化。
上面结合附图对本发明的实施方式作了详细说明，但是本发明并不限于上述实施方式。即使对本发明作出各种变化，倘若这些变化属于本发明权利要求及其等同技术的范围之内，则仍落入在本发明的保护范围之中。

Claims (18)

  1. 一种血管介入手术导丝/导管力反馈装置，其特征在于，包括处理器和至少一组反馈组件，所述反馈组件设于导丝/导管递送装置的前端；
    所述反馈组件包括：
    基座，所述基座上设有容置空间，用于容置导丝/导管，所述容置空间在所述导丝/导管轴向的两端均设有开口用于所述导丝/导管的穿设；
    若干力反馈传感器，分别设于所述容置空间的侧壁上，且位于所述容置空间的侧壁和所述导丝/导管之间；所述力反馈传感器用于采集所述导丝/导管与其接触时产生的接触力信息；
    所述处理器与所述力反馈传感器信号连接，用于接收所述接触力信息并对其处理得到所述导丝/导管的受力情况，所述处理器还用于输出所述受力情况。
  2. 根据权利要求1所述的血管介入手术导丝/导管力反馈装置，其特征在于，所述容置空间为通槽，所述力反馈传感器设于所述通槽的内壁。
  3. 根据权利要求2所述的血管介入手术导丝/导管力反馈装置，其特征在于，所述通槽的两个内侧壁上均设有所述力反馈传感器。
  4. 根据权利要求3所述的血管介入手术导丝/导管力反馈装置，其特征在于，所述反馈组件包括两个所述力反馈传感器，分别设于所述通槽的两个所述内侧壁上。
  5. 根据权利要求1所述的血管介入手术导丝/导管力反馈装置，其特征在于，所述容置空间为贯穿孔，所述力反馈传感器设于所述贯穿孔的内壁。
  6. 根据权利要求5所述的血管介入手术导丝/导管力反馈装置，其特征在于，若干所述力反馈传感器沿所述贯穿孔周向均布。
  7. 根据权利要求3所述的血管介入手术导丝/导管力反馈装置，其特征在于，所述通槽的两个所述内侧壁上的所述力反馈传感器之间的距离大于所述导丝/导管的直径。
  8. 根据权利要求7所述的血管介入手术导丝/导管力反馈装置，其特征在于，所述通槽的两个所述内侧壁上的所述力反馈传感器之间的距离比所述导丝/导管的直径大0.1～0.5毫米。
  9. 根据权利要求2至6任意一项所述的血管介入手术导丝/导管力反馈装置，其特征在于，所述容置空间的轴线方向与所述导丝/导管递送装置输出所述导丝/导管的轴线方向重合或平行。
  10. 根据权利要求1所述的血管介入手术导丝/导管力反馈装置，其特征在于，包括多组所述反馈组件，多组所述反馈组件串联。
  11. 根据权利要求10所述的血管介入手术导丝/导管力反馈装置，其特征在于，多组所述反馈组件交错设置。
  12. 根据权利要求11所述的血管介入手术导丝/导管力反馈装置，其特征在于，包括两组所述反馈组件。
  13. 根据权利要求9所述的血管介入手术导丝/导管力反馈装置，其特征在于，包括多组所述反馈组件，多组所述反馈组件串联；
    最靠近所述导丝/导管递送装置的所述反馈组件中的所述容置空间的轴线与所述导丝/导管递送装置输出所述导丝/导管的轴线方向重合。
  14. 根据权利要求1所述的血管介入手术导丝/导管力反馈装置，其特征在于，所述受力情况为所述导丝/导管轴线方向的受力值。
  15. 根据权利要求1所述的血管介入手术导丝/导管力反馈装置，其特征在于，所述接触力信息包括接触力的大小和方向。
  16. 根据权利要求1所述的血管介入手术导丝/导管力反馈装置，其特征在于，所述处理器为计算机。
  17. 一种血管介入手术机器人，其特征在于，包括：
    导丝/导管递送装置，用于夹持导丝/导管并驱动所述导丝/导管进退和/或旋转；
    如权利要求1至16任意一项所述的血管介入手术导丝/导管力反馈装置，设于所述导丝/导管递送装置的前端，用于反馈所述导丝/导管的受力情况，所述受力情况用于调整所述导丝/导管递送装置的驱动。
  18. 根据权利要求17所述的血管介入手术机器人，其特征在于，所述导丝/导管递送装置包括：
    夹持组件，用于夹持所述导丝/导管，所述夹持组件包括夹持座、至少一个主动轮和至少一个从动轮，所述主动轮和所述从动轮转动安装于所述夹持座上，且对称设置在所述导丝/导管的两侧；
    驱动部，包括：
    进退丝驱动单元，连接所述主动轮并驱动所述主动轮转动，所述主动轮转动与被夹紧的所述导丝/导管产生摩擦力，在所述摩擦力的作用下驱动所述导丝/导管沿其轴向移动；
    转丝驱动单元，连接所述夹持座并带动所述夹持座绕所述导丝/导管的轴向旋转，进而带动所述导丝/导管旋转。
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CN216628700U (zh) * 2021-10-25 2022-05-31 上海奥朋医疗科技有限公司 血管腔内介入手术机器人的导丝导管控制及力反馈装置
CN115281836A (zh) * 2022-08-02 2022-11-04 上海卓昕医疗科技有限公司 血管介入手术导丝/导管力反馈装置及血管介入手术机器人

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