Master-slave intervention operation robot slave side operating device and control method thereof

Abstract

The invention discloses a master-slave intervention operation robot slave side operating device and a control method thereof, and belongs to the technical field of machinery manufacturing. The device comprises a mobile platform, a shell, a body, a telescoping mechanism, two locking switching mechanisms and a guide wire; the shell is installed on a base of the mobile platform, the body is assembled in the shell, one end of the telescoping mechanism is fixedly connected with the shell, the other end of the telescoping mechanism is fixedly connected with an operating table, and the two locking switching mechanisms are arranged on the outer side of the shell and the outer side of the telescoping mechanism respectively. According to the master-slave intervention operation robot slave side operating device, by optimally designing the slave side body, the telescoping mechanism and the locking switching mechanisms, the problems that guide wire pushing is bent, the pushing force is difficult to measure, assembling and disassembling are inconvenient, and guide clamping and loosening switching is uncontrollable are solved, and the advantages of being reasonable in structure, easy to machine and manufacture and convenient to control are achieved.

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 a control method thereof, and more specifically relates to a master-slave minimally invasive vascular interventional surgery robot slave operating device. 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 surger...

AI Technical Summary

Problems solved by technology

[0008] The existing operating mechanism from the end of the interventional robot has the following problems: (1) During the pushing process of the guide wire, the distance between the clamping position of the guide wire and the entrance of the patient's blood vessel changes with the change of the guide wire push and withdrawal, Due to the limited stiffness of the guide wire, it is easy to cause excessive bending of the guide wire, which not only makes it difficult to push the guide wire, but also makes it difficult to measure the driving force of the guide wire, and is prone to misoperation, resulting in medical accidents

(2) When the guide wire is pushed or withdrawn to the limit position close to the patient end or far away from the patient end, and the clamping position of the guide wire needs to be changed, since the guide wire is in a free axial position during the process of changing the clamping position of the guide wire state, and due to the existence of friction between the clamping device and the guide wire, it is very easy to pull out the guide wire located in the patient's blood vessel from the blood vessel, or push the guide wire forward for a certain distance. When the guide wire is pulled out from the center, the guide wire that reaches a certain position deviates, so that the doctor needs to re-operate, which increases the difficulty and reduces the operation efficiency; and when the guide wire changes the clamping position, it passively continues to push one end forward. This kind of push is random and uncontrollable, which can easily lead to vascular trauma, and then cause medical accidents

(3) 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. At the same time, the design of the force measuring mechanism is unreasonable, which affects the accuracy of the force measurement

(4) The assembly and disassembly of the guide wire is complicated, and rapid assembly and disassembly cannot be realized, 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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