Interventional surgical robot subordinate end device and control method thereof

A technology of interventional surgery and control method, applied in the field of interventional surgery robot slave device and its control, can solve the problems of inconvenient disassembly and assembly, complicated operation structure of catheter guide wire, etc., and achieves convenient disassembly and assembly, simple and quick connection, and simplified clamping effect of structure

CN107374739APending Publication Date: 2017-11-24BEIJING INSTITUTE OF TECHNOLOGYGY
3 Cites 12 Cited by

Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2017-11-24

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention discloses an interventional surgical robot subordinate end device and a control method thereof and belongs to the technical field of minimally invasive blood vessel interventional operations. The device comprises a main body, a catheter clamp holder, a guide wire clamp holder, a torsional component and a force measurement component; the catheter clamp holder is used for clamping catheters, the guide wire clamp holder is used for tightly clamping or loosening guide wires, and the catheter clamp holder and the guide wire clamp holder are both detachably mounted on the main body; the catheter clamp holder comprises a medical three-way valve and a clamping component, and the medical three-way valve is used for connecting the catheters and is fixed to the main body through the clamping component; the torsional component is used for driving a screw cap of the medical three-way valve to drive the catheters to rotate; the force measurement component is used for detecting push force of the catheters. The subordinate end device can clamp the catheters and tightly clamp or loosen the guide wires, achieves co-operating operation of the catheters and the guide wires, and is simple in structure and convenient to disassemble and assemble. According to the control method, the subordinate end device is controlled so that clamping, pushing, torsion and force measurement of the catheters and clamping of the guide wires can be completed, and accordingly co-operating of the catheters and the guide wires is achieved.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention belongs to the technical field of minimally invasive vascular interventional surgery, and relates to the control technology for catheter guide wires in interventional surgery, and more specifically, to a slave end device of an interventional surgery robot and a control method thereof. 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 cerebrovascular minimally invasive...

Examples

Embodiment 1

[0075] like figure 1As shown, this embodiment provides a slave device for an interventional surgery robot, which mainly includes five parts, namely the main body part 1, the guide wire clamper 2, the catheter holder 3, the torsion component 4 and the force measurement component 5 ; Wherein, the main body part 1 is the installation basis of the other four parts, the catheter clamper 3 and the guide wire clamper 2 can be detachably installed on the main body part 1, and the guide wire clamper 2 is used to clamp the guide wire Tighten or loosen, the catheter holder 3 is used to clamp the catheter, the twisting assembly 4 is used to complete the twisting operation on the catheter, and the force measuring assembly 5 is used to detect the pushing force of the catheter. Through the mutual cooperation of various parts, the device can complete the clamping, pushing, twisting and force measurement of the catheter, as well as the clamping or loosening of the guide wire, so as to realize ...

Embodiment 2

[0093] This embodiment provides a control method for the slave device of an interventional surgery robot. The device in Embodiment 1 is used to control the catheter and the guide wire, and mainly completes the clamping, pushing, twisting and force measurement of the catheter, as well as the control of the guide wire. Clamping and loosening, and the cooperative control of the catheter and guide wire meet the operational requirements of interventional surgery. The corresponding operating steps will be described in detail below.

[0094] Firstly, the main body 1 is installed on the external mobile platform through the board 111 .

[0095]Then, the catheter holder 3 clamps and installs the catheter, specifically: first connect and install the tail end of the catheter to the connecting sheath 324, and at the same time install the large gear 403 and the connecting sheath 324 in this step, for the subsequent twisting assembly 4 Prepare for transmission; then screw the connecting shea...