Main hand end operation mechanism of master-slave operation vascular interventional surgery robot

An operating mechanism and interventional surgery technology, which is applied in the direction of surgical manipulators, surgical robots, etc., can solve the problems that the operating method does not conform to the operating habits of manual interventional surgery, affects the position accuracy of the catheter/guide wire, and does not fully conform to the operating habits of doctors, etc., to achieve Effects of reducing catheter disturbance, alleviating catheter disturbance, and preventing vasospasm

Inactive Publication Date: 2019-03-19
李兴国
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

During the actual operation, the doctor uses his fingers to manipulate the catheter / guide wire, so it does not fully conform to the doctor's operating habits.
[0004] Although the existing force feedback main hands can realize the advancement and rotation of the catheter / guide wire, they all have two serious problems: on the one hand, the operation method does not conform to the operating habits of manual interventional surgery, and in the small force feedback When using a motor, the force of the human hand feels inaccurate, and sometimes even the existence of the feedback force cannot be felt; on the other hand, the motor is used for force feedback, and the motor provides the power torque, and the magnitude of the torque will change sharply with the operation of the human hand.
Physicians are prone to fatigue during operation, which is more likely to cause the handle to tremble, affecting the positional accuracy of catheter / guide wire delivery

Method used

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  • Main hand end operation mechanism of master-slave operation vascular interventional surgery robot
  • Main hand end operation mechanism of master-slave operation vascular interventional surgery robot
  • Main hand end operation mechanism of master-slave operation vascular interventional surgery robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0032] Embodiment 1: as Figure 1-5 As shown, the master hand operating mechanism of a master-slave operation robot for vascular interventional surgery provided in this embodiment includes the master hand, and the master hand operating mechanism also includes: an axial propulsion movement and feedback force realization mechanism (3) and rotary motion realization mechanism (4), the axial propulsion movement and feedback force realization mechanism (3) includes a magnetic powder brake device that transmits a certain torque, and the one-time effective stroke of the axial propulsion movement and feedback force realization mechanism (3) is greater than Equal to 150mm, the rotation stroke of the rotary motion realization mechanism (4) is greater than or equal to ±1080°, the degree of freedom of the main hand operation mechanism is two degrees of freedom, and the operation of the main hand operation mechanism has a certain force to prevent the guide wire (1) The guide wire (1) slips ...

Embodiment 2

[0038] Embodiment 2: reference Figure 1-5 As shown, the principle is the same as in Embodiment 1, the difference is that in this embodiment, the total weight of the master hand operating mechanism of the master-slave operation vascular interventional surgery robot is about 1.5kg, and the effective stroke is 200mm; the master hand operating mechanism rotates The moving synchronous pulley A (402) and the synchronous pulley B (407) have the same diameter, and the transmission ratio of the rotational motion transmitted from the operating sleeve (506) to the encoder (303, 405) is 1:1.

[0039] In this example, if Figure 1-5 As shown, the operating mechanism of the main hand terminal is wearable, with a volume of 50*100*90mm and a weight of no more than 2kg.

Embodiment 3

[0040] Embodiment 3: reference Figure 1-5 As shown, the principle is the same as in Embodiments 1 and 2, the difference is that in this embodiment, the diameter of the operating sleeve (506) is 15mm, which is convenient for the doctor to use the thumb and middle finger to hold the operating sleeve (506) to complete the operation .

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Abstract

The invention discloses a main hand end operation mechanism of a master-slave operation vascular interventional surgery robot and belongs to the technical field of medical equipment. The main hand endoperation mechanism comprises an axial propulsion movement and feedback force realization mechanism with the one-time effective stroke of 150 mm or above and a rotation movement realization mechanismwith the rotation stroke at the angle greater than or equal to 1080 degrees; the axial propulsion movement and feedback force realization mechanism comprise a magnetic powder braking device which transmits certain torque; the main hand end operation mechanism has two degrees of freedom, and a certain holding force is applied on a guide wire to prevent the guide wire or a catheter from slipping ina blood vessel during interventional surgery. According to the main hand end operation mechanism, the jitter and impact generated when a doctor operates a main hand are reduced, and the precision ofa surgical robot system is improved.

Description

technical field [0001] The invention relates to a master hand operating mechanism of a surgical robot used for medical treatment, in particular to a master hand operating mechanism of a master-slave operation vascular interventional surgery robot, which belongs to the technical field of medical equipment. Background technique [0002] At present, as people have higher requirements for medical services, the rapid development of science and technology has also boosted the development of medical equipment. Robots have begun to come into everyone's sight. Robotic minimally invasive surgery has been accepted by more people due to its great advantages. . [0003] At present, the operating master hand of the minimally invasive robotic system that is successfully commercialized is universal, and the slave hand is heterogeneous, and the feedback force is provided by the servo motor. The existing master hand and the slave hand propulsion mechanism are all of the same configuration, b...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/37
CPCA61B34/37A61B34/73A61B34/76
Inventor 李兴国
Owner 李兴国
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