Master end operator device of master slave minimal invasive blood vessel interventional surgical assistant system
A technology of interventional surgery and auxiliary system, which is applied in the field of master-end manipulator devices of the master-slave minimally invasive vascular interventional surgery auxiliary system, which can solve problems such as poor use of experience and skills, and does not conform to ergonomics, etc., to achieve intuitive feedback , to meet the effect of safety
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[0044] Embodiment: a master-slave minimally invasive vascular interventional auxiliary system master-end manipulator device (see figure 1 , figure 2 ), which is characterized in that it includes an axial force feedback damper unit, a torque feedback output unit, a clamp unit, an operation information acquisition unit, a conduit 18, a linear guide 11 and a height-adjustable base; wherein, the axial force feedback damper The unit is installed on the height-adjustable base, and its output end outputs a damping signal to the conduit 18; the torque feedback output unit is installed on the linear guide 11, and its output end outputs a torque signal to the clamp unit; The output end is connected with the catheter 18; the input end of the operation information collection unit collects the rotational angle information and the axial motion information output by the output end of the torque feedback output unit, and its output is the slave operation of the master-slave auxiliary system ...
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