Robot slave device, operation system and control method thereof

Abstract

The present invention discloses a robot slave device, an operation system and a control method thereof, and belongs to the technical field of minimally invasive vascular interventional operation. Theoperation slave device comprises a catheter controller and a guide wire controller which are installed on a movable platform. The system comprises a host portion and a slave portion, and the host portion is connected with the slave portion in a wireless or wired communication manner; the host portion receives an operation signal, controls the slave portion to act, and receives a feedback signal from the slave portion; and the slave portion receives and executes the operation signal transmitted from the host portion. The slave device is simple in structure design and easy to disinfect, and theproblem that an existing robot is difficult to cooperatively operate a catheter and a guide wire is solved. The device is equipped with a six-axis force sensor, a displacement measurement apparatus and an IP camera, doctor hands can remotely feel resistance and displacement distance during a moving process, the whole course is recorded by the camera, and more accurate operation is achieved.

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 sensors, which solves the problem that existing robots are difficult to complete on the catheter. Cooperating with the guide wire and the problem of being unable to intuitively feel the surgical operation can improve the safety and operability of interventional surgery or angiography, and the height can be adjusted to solve the problem that the existing robot cannot adapt to different doctors. The structure is simple and easy to implement. At the same time, the device It can also be used for operation training or teaching training

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