Slave side of master-slave minimally invasive vascular intervention surgical robot and controlling method of slave side

Abstract

The invention discloses a slave side of a master-slave minimally invasive vascular intervention surgical robot and a controlling method of the slave side, and belongs to the technical field of machine manufacturing.The slave side comprises a slave side control mechanism and a slave side mobile platform, and the slave side control mechanism is composed of a clamp driving mechanism I, a thrust feedback mechanism II, a lossless clamp mechanism III and a clamp control mechanism IV.The invention further provides a control method of the slave side.As the clamp driving mechanism, the thrust feedback mechanism, the lossless clamp mechanism and the clamp control mechanism are designed, the operation of clamping, releasing, rotating, pushing a guide wire and measuring pushing force in the operation process is completed, the accuracy of measuring the pushing force is improved, and guide wire clamping reliability is improved, and the slave side is convenient to assemble and disassemble.

Description

technical field [0001] The invention belongs to the technical field of mechanical manufacturing, and in particular relates to a minimally invasive vascular interventional surgery robot, and more specifically relates to a slave end of a master-slave minimally invasive vascular interventional surgery robot and a control method thereof. Background technique [0002] Cardiovascular and cerebrovascular diseases have become one of the three major causes of death in humans, seriously threatening 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 treating cardiovascular and cerebrovascular diseases. Compared with "open" surgery, it has the advantages of less trauma, safety, faster postoperative recovery, and fewer complications. However, there are also some problems in traditional vascular interventional surgery. First...

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Problems solved by technology

[0008] However, the current minimally invasive vascular interventional surgery robot has the following problems: (1) During the pushing process of the guide wire, there is friction between the relevant moving parts, especially the existence of axial friction, which affects the measurement of the pushing force; ( 2) For the clamping of the guide wire, the existing clamping mechanism is prone to insufficient clamping force or excessive clamping, and then the guide wire cannot be completely clamped, or the guide wire is damaged due to excessive clamping force; (3) guide wire The assembly and disassembly of the wire is complicated, and it cannot be quickly assembled and disassembled, which causes the doctor's preoperative installation operation to be too complicated and the replacement of the guide wire during the operation is inefficient.

[0009] For the above problems, the current minimally invasive vascular interventional surgery robots have not solved, or only solved part of the problems, so it is urgent to solve the above problems to improve the safety and convenience of surgical operations

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