Interventional surgical robot subordinate end device and control method thereof

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.

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...

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