Vascular intervention surgery robot slave manipulator for catheter-guiding wire manipulation

Abstract

The invention discloses a vascular intervention surgery robot slave manipulator for catheter-guiding wire manipulation. The slave manipulator is characterized by comprising two hollow ultrasonic motors, two linear ultrasonic motors and two common motors, the linear ultrasonic motors drive the hollow ultrasonic motors to move along guiding rails, so that a guiding wire or a catheter is driven to conduct linear motion, and the two common motors are used for driving two locking mechanisms to clamp the guiding wire and the catheter respectively; the two locking mechanisms are fixedly connected with the rotors of the corresponding hollow ultrasonic motors respectively, and the guiding wire and the catheter are located in the corresponding locking mechanisms respectively, are coaxial with the rotating centers of the hollow ultrasonic motors, penetrate the hollow ultrasonic motors and rotate with rotation of the hollow ultrasonic motors. The vascular intervention surgery robot slave manipulator for catheter-guiding wire manipulation has the advantages that the structure is simple, the operability is good, use is convenient, and the device helps improve the surgery efficiency.

Description

technical field [0001] The present invention relates to a medical device, in particular to an interventional treatment catheter guide wire delivery technology, in particular to a vascular interventional robot slave hand for manipulating a catheter-guide wire based on hollow motor and linear motor technology. Background technique [0002] At present, minimally invasive vascular interventional surgery has become an important means of treating cardiovascular diseases and tumors recognized by the medical community due to its characteristics of small trauma, high safety, light patient pain, fast postoperative recovery, and few complications. Combining robotic technology with minimally invasive vascular interventional surgery, and assisting interventional doctors in delivering interventional devices such as guide wires and catheters by designing a dedicated surgical robot system is one of the important ways to improve the effect of interventional therapy. [0003] Before the vascu...

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Problems solved by technology

[0007] The purpose of the present invention is to solve the problem that the existing manipulator cannot realize synchronous control of the catheter and the guide wire at the same time, and to design a control catheter-guide that uses a hollow ultrasonic motor as the driving body and can make the catheter and the guide wire alternately rotate and advance. Wired vascular interventional surgery robot from hand

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