Robot slave device, operation system and control method thereof

Abstract

The invention discloses a robot slave device, an operating system and a control method thereof, and belongs to the technical field of minimally invasive blood vessel interventional surgery. The operating slave device includes a catheter controller and a guide wire controller installed on a mobile platform. The system includes a master part and a slave part. The master part is connected to the slave part through wireless or wired communication; the master part accepts the operation The signal controls the action of the slave part and receives the feedback signal from the slave part; the slave part accepts and executes the operation signal sent by the master part; the structure design of the slave device is simple and easy to sterilize, and it solves the problem that the existing robot is difficult to complete the catheter For the problem of cooperating with the guide wire, a six-axis force sensor, displacement measuring device, and IP camera are installed on the device, so that the doctor's hand can remotely sense the resistance and moving distance generated during the movement process, and the camera records the whole process to achieve more accurate operation.

Description

technical field [0001] The invention belongs to the technical field of minimally invasive vascular interventional surgery, and relates to a slave device, an operating system and a control method thereof. The robot slave device can be used in radiography, minimally invasive vascular interventional surgery virtual reality surgery training and actual operation. To solve the problem that the existing robot is difficult to complete the coordinated operation of the catheter and the guide wire, it is equipped with multiple force detection sensors and cameras, so that the doctor's hand can perceive the force used, and the camera records the whole process to achieve more accurate operation. The height-adjustable base and angle-adjustable base are set up to adjust the height of the operating platform to meet the height requirements of different doctors, and to adjust the angle of catheters and guide wires to meet the needs of different operations. Background technique [0002] Cardio...

AI Technical Summary

Problems solved by technology

[0008] Aiming at the defects of the prior art, the object of the present invention is to provide a robot slave device, an operating system and its control method. The problem of intuitively feeling tactile information like traditional surgical operations

The slave end device of the robot used for interventional surgery or imaging or training is equipped with a catheter controller and a guide wire controller, so that the catheter and guide wire can be operated and controlled at the same time, and is equipped with multiple se...

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