An interventional surgery robot and its control method for collaboratively pushing a catheter guide wire

Abstract

The invention discloses an interventional operation robot where a catheter and a guide wire are cooperatively pushed and a control method thereof and belongs to the technical field of machine manufacturing.The robot comprises a guide wire moving platform, a catheter moving platform, a guide wire operation end, a supporting guide frame, a catheter operation end, the guide wire and the catheter.The two ends of the supporting guide frame are connected with the guide wire operation end and the catheter operation end respectively.The catheter penetrates through the catheter operation end, and the guide wire is arranged in the catheter and penetrates into the guide wire operation end.Meanwhile, the invention further discloses the control method of the robot.By means of the guide wire operation end and the catheter operation end, movement of the guide wire and movement of the catheter are controlled respectively so that the catheter and the guide wire can be operated according to specific operation of a doctor, it is guaranteed that the guide wire and the catheter can be pushed cooperatively in the operation process, operation actions of the doctor can be completely simulated, and the robot has the advantages of being reasonable in structure, convenient to control and the like.

Description

Technical field [0001] The invention belongs to the technical field of mechanical manufacturing, and specifically relates to a minimally invasive vascular interventional surgical robot, and more specifically, to an interventional surgical robot with a coordinated push of a catheter guide wire. Background technique [0002] Cardiovascular and cerebrovascular diseases have become one of the three major causes of death in humans and seriously threaten human health. Vascular diseases mainly include vascular tumors, thrombosis, vascular malformations, vasoconstriction, and vascular sclerosis. Catheter interventional surgery is currently the most effective method for the treatment of cardiovascular and cerebrovascular diseases. Compared with "open" surgery, it has the advantages of less trauma, safety, faster postoperative recovery, and fewer complications. However, traditional vascular interventional surgery also has some problems. First, the catheter intervention is performed under ...

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Problems solved by technology

[0008] However, the current research generally has the following problems: (1) there are disadvantages of inconvenient assembly and disassembly; (2) in the process of measuring the feedback force, the accuracy of force measurement is not high; (3) the guide wire clamping device easily Excessive clamping of the wire causes damage to the guide wire; (4) At present, only the guide wire or catheter can be pushed alone, and the catheter and guide wire cannot be pushed together during the operation, so that it cannot completely simulate the doctor's operation action, and in some It is difficult to operate the part that requires the guide wire catheter to cooperate with the advancement, resulting in low operation accuracy, low operation efficiency, low degree of assistance to doctors, and certain potential safety hazards

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