Wearable vascular interventional operation robot device

Abstract

The invention is applicable to the field of medical instruments and provides a wearable vascular interventional operation robot device, comprising a main rack, an arm holding part and a pushing device. An operation instrument is connected to the pushing device that is rotationally connected to the main rack through a first rotary component; the arm holding part adjacent to the pushing device is connected to the main rack; the main rack is also connected with a hand presser part that is used for a hand to hold on and capable of pressing down the hand; each of the arm holding part and the hand presser part is provided with a state detection component that is used for detecting moving trend of an arm and that synchronously controls and adjusts the operating position of the pushing device according to the detected moving trend. The wearable vascular interventional operation robot device has good positioning convenience and good operation procedure stability, allows the operation position to be accurately located and angle to be accurately adjusted so that operation precision and operation quality are improved and disease treatment is benefited, takes less space, is suitable for use insmall-range environments and has a wider applicable range.

Description

technical field [0001] The invention belongs to the field of medical devices, in particular to a wearable robot device for vascular interventional surgery. Background technique [0002] Among the robotic devices used for minimally invasive surgery today, interventional surgery robots are a type of minimally invasive surgical robots. Generally, in the master-slave operation mode, the catheter / guide wire is inserted into the lesion position of a specific branch blood vessel through the robot propulsion mechanism. Its performance depends on the comprehensive level of intraoperative catheter / guide wire precise control, visual navigation and multimodal pathological information acquisition. Its indications are mainly coronary artery balloon dilation / stent implantation, percutaneous coronary angioplasty and atrial fibrillation / Cardiac radiofrequency ablation of tachycardia. Through the master-slave design, the interventional surgical robot greatly reduces the X-ray damage to the ...

AI Technical Summary

Problems solved by technology

However, the spatial positioning accuracy of the guide wire of the interventional surgery robot system currently in use in clinical practice is not enough, and it can only complete interventional surgery that requires low positioning accuracy and low risk levels, such as cardiac radiofrequency ablation and interventional surgery for coronary heart disease type A lesions. Insufficient for precise positioning interventions that can optimize the surgical plan, high-risk (eg, drug-eluting stent angioplasty) or even ultra-high interventional procedures, due to the lack of effective force feedback and other surgical procedures. low precision

[0003] In the existing technology, the positioning robot arm in the vascular interventional surgery robot system is indispensable. It is used to grasp the push mechanism in the vascular interventional surgery, and is used for the advancement and twisting of the catheter / guide wire. For example, it has been commercially available Corpath, Amigo and Sensei X are developed, among which: Corpath is mainly used for coronary artery balloon dilatation stent implantation (PCI), Amigo is mainly used for electrophysiological interventional surgery, and Sensei X is mainly used for the treatment of atrial fibrillation and tachycardia. Cardiac radiofrequency ablation, from which it can be found that the current commercial interventional surgery robots have few indications and can only complete simple interventional surgery

Moreover, the external catheter / guide wire part of these vascular interventional robots has at least half a meter of suspension, which is easily affected by external disturbances and affects the accuracy of the interventional operation, thereby reducing the quality of the operation, and sometimes even causing vasospasm in patients

Moreover, the existence of the positioning robot arm requires real-time self-calibration and there is a certain error. For the entire vascular interventional surgery robot system, it increases the system error and affects the accuracy of the procedure; in addition, because the positioning robot arm occupies a certain space , cannot be applied in the environment with narrow space

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