Catheter push-pull device of minimally vascular interventional surgery robot
A technology of interventional surgery and push-pull devices, which is applied in the direction of surgical robots, surgery, and other medical devices, can solve problems such as unfavorable cleaning and disinfection replacement, inaccurate signal data, and inconvenient signal processing, etc., to achieve accurate and reliable detection, simple control methods, The effect of easy disassembly
Active Publication Date: 2011-04-20
YANSHAN UNIV
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Problems solved by technology
[0004] The existing push-pull device, on the one hand, requires medical personnel to pass the catheter to the tube delivery mechanism from one end of the tube delivery mechanism, which is time-consuming and laborious to operate; Convenient, not conducive to cleaning and disinfection and replacement after several uses; moreover, the force measured by the force measuring device is affected by the transmission of its own mechanism, and the measured force signal data is inaccurate, which is not convenient for signal processing
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[0016] Provide the specific embodiment of the present invention below, and illustrate with reference to accompanying drawing.
[0017] 1. Combine figure 1 Explanation of the movement refers to the opening and closing action: the two-way rotating electromagnet 1 is energized instantaneously in the forward direction, and reaches the limit position of one end, the first gear 4 rotates with it at a certain angle, and the second gear 6 meshing with the first gear also rotates correspondingly, and then drives the gear with the first gear. The 3rd gear 7 that two gear meshes rotates, and the 3rd gear center has square hole, and square bar 8 is enclosed within in the square hole, thereby square bar follows the 3rd gear and rotates. Square bar is enclosed within in the opening and closing plate 42 simultaneously, drives opening and closing plate to rotate thereupon, utilizes the elliptic surface of opening and closing plate to prop up left side moving finger 32 and right side moving fi...
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The invention discloses a catheter push-pull device of a minimally vascular interventional surgery robot, which belongs to the field of medical equipment. The catheter push-pull device in the invention is used as an end effector of a minimally vascular interventional surgery robot, and comprises a moving component and an opening / shutting component, wherein the moving component comprises a moving power part and a moving execution part; the moving power is from a direct current (DC) servo motor and transmitted to a rope sheave by a gear, so that a rope pulls the moving execution part to move; the opening / shutting component comprises an opening / shutting power part and an opening / shutting execution part, the opening / shutting power is from a bidirectional rotating electromagnet and transmittedby the gear so as to complete the opening / shutting operation; the moving power part and the moving execution part coordinately act so as to complete the four actions of the moving component, such as catheter pushing, self empty return, self empty entrance and catheter pulling; when the opening / shutting component is shut, the moving component moves forwards so as to push the catheter forwards, andmoves backwards so as to pull the catheter back; and when the opening / shutting component is opened, the moving component moves forwards so as to realize the self empty entrance of the moving component, and moves backwards so as to realize the self empty return of the moving component.
Description
technical field [0001] The invention discloses a minimally invasive vascular interventional operation robot catheter push-pull device, which belongs to the field of medical equipment. Background technique [0002] Vascular interventional surgery means that under the guidance of digital subtraction angiography (DSA), doctors manipulate catheters to move in human blood vessels to treat lesions, so as to embolize malformed blood vessels, dissolve thrombus, and dilate narrow blood vessels. Compared with traditional "open" surgery, this method has the advantages of less trauma, safety and effectiveness, faster postoperative recovery, and fewer complications. The main steps of vascular interventional surgery are to push the catheter to the location of the lesion and perform corresponding diagnosis and treatment. Therefore, whether the catheter can be sent to the precise lesion position directly affects the quality of the entire operation and the health of the patient. There are ...
Claims
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IPC IPC(8): A61B19/00A61M39/00A61B34/30
Inventor 王洪波侯增广胡国清袁林曾达幸杨雪张天胡星
Owner YANSHAN UNIV