Vascular intervention surgical robot operating handle with handfeel and control method thereof

Abstract

The invention provides a vascular intervention surgical robot operating handle with handfeel and a control method thereof. The vascular intervention surgical robot operating handle comprises an operating device, a force loading mechanism and a torque loading mechanism, and the operating device, the force loading mechanism and the torque loading mechanism are arranged on a machine frame; the operating device gives out an operating instruction for rotating and / or pushing and pulling a conduit guide wire; the force loading mechanism feeds push-pull resistance exerted by the conduit guide wire when the conduit guide wire is pushed and pulled back to the operating device; the torque loading mechanism feeds resistance torque exerted by the conduit guide wire when the conduit guide wire is rotated back to the operating device; the push-pull resistance is generated by elastic force formed between the force loading mechanism and one end of a handle of the operating device; the resistance torque is generated by friction formed between the torque loading mechanism and the operating device. According to the vascular intervention surgical robot operating handle with the handfeel and the control method thereof, the operating device is utilized to operate the rotation, push-pull and the combination thereof of the conduit guide wire; the resistance or the resistance torque of the conduit guide wire in a patient side in an intervention process can be fed back to the operating device, the handfeel and an operation presence feeling of a doctor are strengthened, and the safety and stability of a surgical operation are improved; coupling of force and torque is solved.

Description

technical field [0001] The invention relates to the field of medical devices, in particular to an operating handle of a vascular interventional surgery robot with hand feeling and a control method thereof. In more detail, it relates to a device that can remotely control catheters and guide wires and can load the resistance of catheter guide wires to the handle and its control method. Background technique [0002] The vascular interventional surgery robot is a device that replaces the doctor's catheter guide wire operation on the patient's side, and the doctor needs to remotely control the robot. Teleoperation can enable doctors to avoid radiation damage, and use mechanical and motion control algorithms to eliminate hand tremors and improve intervention accuracy. The remote operation handle is an interactive tool between the doctor and the robot. The doctor's action information is transmitted to the robot through the operating handle, and then the robot operates the catheter...

AI Technical Summary

Problems solved by technology

At present, there are many and mature methods to meet the first functional requirements, but there are still some difficulties in meeting the second functional requirements at the same time, such as the dynamic range adjustment of loading force and moment, the coupling between force and moment, etc., which need to be explored New structure and principle

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