Interventional surgical robot subordinate end and mobile platform and control method of robot subordinate end

A mobile platform and interventional surgery technology, applied in the field of minimally invasive vascular interventional surgery, can solve the problems that it is difficult to meet the cooperative operation requirements of catheters and guide wires, and it is difficult for robots to complete the coordinated operation of catheters and guide wires. It achieves light weight, simple structure, and transmission high precision effect

Active Publication Date: 2017-11-24
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0011] The invention provides a slave end of an interventional surgery robot and its mobile platform and control method. The purpose of the mobile platform is to solve the problem that the prior art is difficult to meet the cooperative operation requirements of catheter guide wires; the slave end of the interventional surgery robot is installed on the mobile platform Catheter controller and guidewire controller solve the problem that existing robots are difficult to complete the cooperative operation of catheter and guidewire; this method can control the catheter controller and guidewire controller through the mobile platform to complete the cooperative operation control of catheter and guidewire

Method used

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  • Interventional surgical robot subordinate end and mobile platform and control method of robot subordinate end

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Embodiment 1

[0087] Such as figure 1 , figure 2 As shown, this embodiment provides a mobile platform, which includes a platform main beam 1010, a platform connecting block 1030, a platform driving mechanism 1040, and a position detection mechanism 1050; wherein, the platform connecting block 1030 is arranged on the platform main beam through a linear guide rail pair D1020 1010, the linear guide rail pair D1020 includes a slide rail installed on the main beam of the platform 1010 and a slider matched with the slide rail, the platform connection block 1030 is installed on the slider, and the platform connection block 1030 is used to install the catheter controller or guide wire Controller; the catheter controller and the guide wire controller have corresponding structures in the prior art, the catheter controller is used to clamp the catheter and detect the rotation and push force of the catheter, and the guide wire controller is used to clamp the guide wire and perform detection on the gui...

Embodiment 2

[0092] Such as image 3 As shown, this embodiment provides a slave end of an interventional surgery robot, which mainly includes a catheter controller, a guide wire controller, and the mobile platform in Embodiment 1. The catheter controller and the guide wire controller are respectively installed on two platforms Connection block 1030 on. The structure of the mobile platform has been described in detail in Embodiment 1. This embodiment improves the structures of the catheter controller and the guidewire controller. The structures of the catheter controller and the guidewire controller will be described in detail below.

[0093] 1. Structure of catheter controller

[0094] Such as Figure 4 As shown, the catheter controller mainly includes five parts, which are the main part 1, the guide wire auxiliary clamping mechanism 2, the catheter clamping mechanism 3, the catheter twisting assembly 4 and the catheter force measuring assembly 5; wherein, the main part 1 is other The i...

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Abstract

The invention discloses an interventional surgical robot subordinate end and a mobile platform and a control method of the robot subordinate end and belongs to the technical field of minimally invasive blood vessel interventional operations. The mobile platform comprises a platform main beam, and platform connection blocks are arranged on the platform main beam through a linear guide rail pair D; the platform connection blocks are driven by a platform driving mechanism and used for installing a catheter controller or a guide wire controller. The interventional surgical robot subordinate end comprises the catheter controller, the guide wire controller and the mobile platform; the catheter controller and the guide wire controller are mounted on the two platform connection blocks respectively. According to the interventional surgical robot subordinate end, the catheter controller and the guide wire controller are installed on the mobile platform, and the problem is solved that it is difficult for an existing robot to complete co-operating of a catheter and a guide wire.

Description

technical field [0001] The invention belongs to the technical field of minimally invasive vascular interventional surgery, and relates to a control technology for a catheter guide wire in a robot slave end in interventional surgery, and more specifically, relates to a robot slave end for interventional surgery, its mobile platform and a control method. Background technique [0002] The increasing incidence of cardiovascular and cerebrovascular diseases has seriously affected national health and social life, and brought enormous pressure to China's medical and health system. Cardiovascular and cerebrovascular diseases have become one of the three major causes of human death. Every year, 16.7 million people die from cardiovascular and cerebrovascular diseases in the world, accounting for 29.2% of all disease mortality. Every year, there are 9 million patients with cardiovascular and cerebrovascular diseases in my country. 2.5 million people died. [0003] Cardiovascular and ce...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/37A61B17/00A61B90/00
CPCA61B17/00234A61B34/37A61B90/06A61B2034/303A61B2017/00318A61B2017/00292
Inventor 肖楠郭书祥包贤强杨程
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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