Cooperative control system and method for catheter and guidewire for vascular intervention operation robot

Abstract

The invention discloses a cooperative control system for a catheter and a guidewire for a vascular intervention operation robot. The system comprises a main terminal subsystem and a secondary terminalsubsystem, the catheter and the guidewire can be synchronously controlled to achieve cooperative operation; a cooperative control method for the catheter and the guidewire for the vascular intervention operation robot comprises the steps of detection for operation information of a doctor through a main operator; transmission of axial moving information of the catheter and the guidewire and rotarydistance information; intervention executed by the operator; detection for stress of the operator; a collecting process of the operation information; a force feedback process of the main operator; the system is in accord with operation habits of the doctor, the operation method can be easily implemented, the accuracy is high, and the system is simple and stable in structure.

Description

(1) Technical field: [0001] The invention belongs to the technical field of master-slave minimally invasive vascular interventional surgery robot, and is a brand-new master-slave operating system, which can realize the control technology of the catheter guide wire in the slave end and the realization of the force feedback of the master end, in particular, a robot for vascular interventional surgery Catheter guidewire cooperative control system and method. (two) background technology: [0002] At present, China has gradually entered an aging society. At the same time, with the development of urbanization in the whole country, the risk of cardiovascular and cerebrovascular diseases is increasing. Cardiovascular and cerebrovascular diseases account for as high as 42% of the total number of human deaths every year, seriously threatening the health of residents. With the increase in the incidence of cardiovascular and cerebrovascular diseases, the demand for vascular interventio...

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Problems solved by technology

But at the same time, this operation also has obvious disadvantages: the doctor will be in the radiation environment during the operation. Although he wears lead clothing, the long-term operation will still cause great harm to the body.

[0005] In many studies, most of the research on interventional surgery robot only realizes the push of the catheter, but in the actual operation process, the doctor needs to control the catheter and the guide wire at the same time, and the push of the guide wire based on the friction roller is prone to advance errors.

Therefore, the collection of force information of the catheter and guide wire from the end during the operation is one of the research focuses. Many studies have neglected the feedback of the force information of the catheter or guide wire, which largely limits the doctor's ability to perform the operation. presence in

In terms of the main end of interventional surgical robots, many studies have used force feedback devices that are currently on the market, but such devices do not conform to the operating habits of doctors during surgery.

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