Vascular intervention surgical robot guide wire/guide pipe operating device and control method thereof

Abstract

The invention provides a vascular intervention surgical robot guide wire/guide pipe operating device and a control method thereof. The operating device comprises a moving guide wire clamp, a sliding barrel, a stationary guide wire clamp, a guide pipe, a guide pipe clamp, a first linear feeding table, a six-axis force sensor, a rotary table, a second linear feeding table and a guide wire, wherein the guide pipe and the guide wire are supported by the sliding barrel; the guide pipe clamp is used for clamping the guide pipe; the first linear feeding table is used for controlling the movement of the guide pipe clamp; the stationary guide wire clamp and the moving guide wire clamp are used for controlling the motion of the guide wire; the rotary table is used for controlling the rotation of the moving guide wire clamp; the second linear feeding table is used for controlling the motion of the moving guide wire clamp; the six-axis force sensor is used for measuring resistance or resistance moment in the motion process of the guide wire to guide an operator to perform reasonable operation. The wire can be fed and rotated by the operating device instead of hands, and a foundation is laid for realization of a telesurgery.

Description

technical field [0001] The present invention relates to a manipulation device and a control method thereof, in particular to a guide wire catheter manipulation device and a control method of a robot for vascular interventional surgery. Background technique [0002] In recent years, with the rise of vascular interventional therapy in my country, many emerging disciplines including cardiovascular interventional therapy, cerebrovascular interventional therapy, vascular surgery, interventional radiology, etc. have been formed. Due to the continuous advancement of vascular interventional therapy technology and the continuous emergence and application of various intraluminal devices, many lesions that could not be treated by vascular interventional therapy have benefited from this minimally invasive treatment, and the safety and effectiveness of vascular interventional therapy And long-term efficacy continues to improve. However, current vascular interventional therapy also has i...

AI Technical Summary

Problems solved by technology

Therefore, the development of remote-controlled robots for vascular interventional t

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