Push force measurement device for endovascular interventional surgery robot

Abstract

The invention relates to a medical instrument, in particular to a measurement device for an interventional operation robot, and discloses a pushing force measurement device for an endovascular interventional operation robot. According to the technical scheme, a base is connected with an upper cover through a hinge; a concave limiting plate and a pushing block are arranged on the upper cover, and when the upper cover is closed, the concave limiting plate compresses a stud gear, a driving wheel and an idle wheel, displacement in the vertical direction is limited, the pushing block pushes a left U-shaped stop sheet rightwards, and a right U-shaped stop sheet and the left U-shaped stop sheet clamp a guide wire driving auxiliary piece; the base is arranged on a sliding block of a linear driving assembly. The loss of pushing force in the conduction process is effectively reduced, and large errors caused by assembling or vibration or other reasons are reduced.

Description

technical field [0001] The invention relates to a medical instrument, in particular to a measuring device for an interventional operation robot. Background technique [0002] The operation of guide wire-catheter is the core content of endovascular technology, which determines the quality of vascular treatment operation. At present, clinical doctors use digital silhouette angiography (DSA) to manually complete the positioning operation of the guide wire-catheter in the patient's blood vessel. The use of robotic devices for guide wire positioning operations is conducive to improving the accuracy of positioning operations, reducing doctor fatigue, and improving surgical quality. [0003] Force feedback technology has always been an important factor restricting the widespread clinical application of endovascular interventional surgery robots. The force feedback technology in the robot system for vascular interventional surgery refers to feeding back the resistance encountered ...

AI Technical Summary

Problems solved by technology

[0004] 1. There is a multi-stage transmission between the guide wire and the force sensor, and the pushing force is seriously lost during the transmission process, resulting in insufficient resolution of the pushing force measurement and loss of detailed information

In the process of multi-stage transmission, mechanical vibration is easy to mix large noise into the measurement process

[0005] 2. There is a problem with the clamping method

In the prior art, a closed geometry part is usually used to hold the guide wire. This structure is a part of the robot’s slave hand component, which is not conducive to the complete extraction of the guide wire from the clamping mechanism.

[0006] 3. Difficulty in disinfection and sterilization

The guide wire is directly in contact with the clamping-measuring mechanism, and the part needs to be disassembled for disinfection and sterilization. Due to the cavity-type closed structure, disinfection is more difficult

Images