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Interventional surgical robot subordinate end device and operating platform and control method of device

An operating platform and a technique for interventional surgery, applied in the field of minimally invasive vascular interventional surgery, can solve the problems of difficulty in meeting the requirements for the coordinated operation of the catheter and guide wire, and it is difficult for robots to complete the coordinated operation of the catheter and the guide wire. The effect of device volume

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

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Problems solved by technology

[0011] The invention provides a slave device for an interventional surgery robot and its operating platform and control method. The catheter controller and guide wire controller are installed on the robot to solve the problem that the existing robots are difficult to complete the coordinated operation of the catheter and guide wire; this method can control the catheter controller and guide wire controller through the operating platform to complete the coordination of the catheter and guide wire operation control

Method used

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  • Interventional surgical robot subordinate end device and operating platform and control method of device
  • Interventional surgical robot subordinate end device and operating platform and control method of device
  • Interventional surgical robot subordinate end device and operating platform and control method of device

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Embodiment 1

[0088] Such as figure 1 , figure 2 As shown, the present embodiment provides an operating platform, including a supporting platform 1110, a platform connecting block 1130 and a driving mechanism 1140; wherein, the platform connecting block 1130 has at least one, which is arranged on the supporting platform 1110 through a linear guide rail pair D1120. The embodiment has three platform connection blocks 1130, each individually driven by a drive mechanism 1140, and the platform connection blocks 1130 are used to mount catheter controllers, guide wire controllers or other supporting auxiliary structures. The catheter controller and guidewire 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. The guidewire controller is used to clamp the guidewire and rotate and push the guidewire. Push force detection, etc.

[0089] Each drive mechanism 1140 described includes a...

Embodiment 2

[0093] This embodiment provides a slave device for an interventional surgery robot, which mainly includes a catheter controller, a guide wire controller, and the operating platform in Embodiment 1. In this embodiment, the operating platform has two platform connecting blocks 1130, and the catheter The controller and guide wire controller are installed on two platform connection blocks 1130 respectively. The structure of the operating 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.

[0094] 1. Structure of catheter controller

[0095] Such as Figure 5 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 f...

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Abstract

The invention discloses an interventional surgical robot subordinate end device and an operating platform and a control method of the device and belongs to the technical field of minimally invasive blood vessel interventional operations. The operating platform comprises a supporting platform, and one or more platform connection blocks are arranged on the supporting platform through a linear guide way pair D; the platform connection blocks are driven by a driving mechanism and used for installing a catheter controller or a guide wire controller. The interventional surgical robot subordinate end device comprises the catheter controller, the guide wire controller and the operating 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 device, 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 an interventional surgery robot slave end device, an operating platform 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] Cardiov...

Claims

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Application Information

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IPC IPC(8): A61B34/37A61B17/00A61B90/00
CPCA61B17/00234A61B34/37A61B90/06A61B2017/00292A61B2017/00318A61B2034/303
Inventor 肖楠郭书祥包贤强沈睿
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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