Robot propulsion mechanism for blood vessel intervention operation

A technology of interventional surgery and propulsion mechanism, applied in the direction of catheters, etc., can solve the problems of long surgical training time, long operation time, affecting the quality of surgery, etc., and achieve the effect of synchronizing spiral propulsion and detection

Inactive Publication Date: 2009-12-30
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In the prior art, vascular interventional surgery is done manually by doctors, which has obvious disadvantages, such as: doctors work in the radiation environment, and long-term operation will cause great harm to the body; existing surgical methods are highly skil

Method used

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  • Robot propulsion mechanism for blood vessel intervention operation
  • Robot propulsion mechanism for blood vessel intervention operation
  • Robot propulsion mechanism for blood vessel intervention operation

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Embodiment Construction

[0017] The preferred embodiment of the propulsion mechanism of the vascular interventional surgery robot of the present invention is an end effector for a vascular interventional surgery robot, which includes an axial feed component for advancing the catheter, a circumferential axis for changing the advancing direction of the catheter Towards a rotating part and a detecting part for detecting the distance advanced by the catheter;

[0018] Among them, the detection part and the axial feed part are connected as a whole through a connecting rod and kept parallel, and the two feed and rotate synchronously; the axial feed part has a pair of synchronous and reverse-rotating active rollers to form a guide for the catheter. The first clamping arm; the detection part includes a pair of driven rollers to form the second clamping arm for the catheter; the double-arm clamping of the catheter is realized, and the purpose of synchronizing the helical advancement and detection of the cathete...

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Abstract

The invention discloses a robot propulsion mechanism for a blood vessel intervention operation. The mechanism is used for an end effector for a robot for the blood vessel intervention operation and comprises an axial feed component which is used for propelling a conduit, a circumferential rotating component which is used for changing the advancing direction of the conduit and a detection component which is used for detecting the advancing distance of the conduit, wherein the detection component and the axial feed component are connected into a whole by a connecting rod, are maintained to be parallel with each other, and carry out synchronously feeding and rotation; the axial feed component comprises a pair of driving rolling wheels which synchronously rotate in reverse directions, and a first arm for clamping the conduit is formed; the detection component comprises a pair of driven wheels, and a second arm for clamping the conduit is formed; the circumferential rotating component comprises an inside engaged gear and a rotary gear, the inside engaged gear is fixed with the axial feed component and the detection component, the rotary gear is driven by a rotating motor, and the inside engaged gear is engaged with the rotary gear. The invention has the advantages of small volume, compact structure and convenient operation and maintenance, can realize double-arm clamp for the conduit, and can achieve the spiral propulsion and synchronous detection of the conduit.

Description

technical field [0001] The invention relates to a vascular intervention minimally invasive surgical robot component, in particular to a vascular interventional robot propulsion mechanism. Background technique [0002] In recent years, the research and development of medical robots in China has become more and more intensive, and more and more robots can be used in clinical practice, but the end effectors of vascular interventional surgery robots have not yet fully developed. [0003] In the prior art, vascular interventional surgery is done manually by doctors, which has obvious disadvantages, such as: doctors work in the radiation environment, and long-term operation will cause great harm to the body; existing surgical methods are highly skilled and risky, and specialists Surgical training time is long; due to complex operation, long operation time, factors such as doctor fatigue and unstable manual operation will directly affect the quality of operation, and then affect th...

Claims

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Application Information

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IPC IPC(8): A61M25/082
Inventor 刘达王田苗田增民罗彪
Owner BEIHANG UNIV
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