Main end force feedback device and working method of robot for vascular interventional surgery

Abstract

A vascular interventional operation robot main end force feedback device is characterized by comprising a cylindrical magnetic conduction stick, an operation rod, a catheter, a connection buckle internally comprising a bearing, a solid optical-electricity encoder, a hollow optical-electricity encoder, a coil, a spool, a guide rail and a magnet; the working method includes the steps that when the rotating angle is measured, the rotating angle can be measured by rotating the catheter to drive an inner shaft of the hollow optical-electricity encoder to rotate; when axial movement information is ensured, a solid shaft of the solid optical-electricity encoder rotates together with an operation rod through the guide rail so that advancing displacement can be converted into the rotating angle; force feedback of the operation force of a slave operator is achieved on a master operator. The vascular interventional operation robot main end force feedback device has the advantages that the design lays emphasis on real-time feedback of the operation force of operations, the operation force of the slave operator can be directly fed back to the operation hand of a doctor in real time through an operation pipe on the main operator, feedback is visible, and requirements for operation safety and doctor operation are met; the axial information of operation of the doctor is efficiently obtained in an electromagnetic induction mode without adding additional loads.

Description

(1) Technical field: [0001] The invention belongs to the technical field of medical equipment, in particular to a force feedback device for a master console of a master-slave minimally invasive vascular interventional surgery robot auxiliary system, and specifically relates to a new type of device for a doctor's master console of a robot system for vascular interventional surgery Force feedback device and method of operation thereof. (two) background technology: [0002] According to the World Health Organization, the number of patients who die from cardiovascular and cerebrovascular diseases is as high as 15 million every year, which seriously threatens human health. Treatment methods usually include traditional open surgery and catheter-based interventional procedures. Clinical evidence shows that minimally invasive surgery is currently the most effective treatment method, which has the advantages of less trauma, high safety, quick postoperative recovery, and fewer compli...

AI Technical Summary

Problems solved by technology

But its disadvantage is that the doctor has to be exposed to X-ray radiation for surgery; the risk factor of the operation is high, and the doctor's operating skills are highly required; finally, the operation time is long, and the safety of the operation will be reduced due to the fatigue of the doctor.

[0003] Teleoperation master-slave robot-assisted minimally invasive vascular interventional surgery has become a research hotspot. The tactile information of many teleoperation systems cannot be fed back to doctors. When it comes to force feedback, most of them realize force feedback through polymer materials such as motors, smart materials, magnetorheological fluids, and electrorheological fluids. The error is too large to be directly applied to the actual surgical operation platform

Images