Vascular interventional surgical robot actuator for directly transmitting motion control information flow

Abstract

The present invention discloses a vascular interventional surgical robot actuator for directly transmitting a motion control information flow. The vascular interventional surgical robot actuator comprises a guide wire/catheter rotator, a guide wire/catheter linear motion device and a six-degree-of-freedom force sensor, wherein the guide wire/catheter rotator is used for receiving rotary remote control commands issued by a remote control system to rotate guide wires/catheters fixed on the guide wire/catheter rotator; the guide wire/catheter linear motion device is used for receiving linear motion remote control commands issued by the remote control system to conduct linear movement of the guide wire/catheter rotator on the guide wire/catheter linear motion device and thus drive the linear movement of the guide wires/catheters; the six-degree-of-freedom force sensor is used to detect resistance of the guide wires/catheters during rotational or linear motion and generates force signals tofeedback to the remote control system, so that the remote control system performs motion planning and motion decomposition according to the force signals and real-time measured endpoint positions. The actuator is reliable, safe and accurate in surgical operations, and can improve quality of surgeries.

Description

technical field [0001] The invention relates to the technical field of vascular interventional surgery, in particular to a robot actuator for vascular interventional surgery that directly transmits motion control information flow. Background technique [0002] Vascular interventional surgery includes: cardiovascular interventional surgery, cerebrovascular interventional surgery, liver vascular and bile duct interventional surgery, pulmonary duct interventional surgery. The characteristic of vascular interventional surgery is that medical devices are sent through natural channels such as blood vessels for operation. Typical operations include: sending in a thrombus dredger to remove cerebral thrombus; sending in a cardiac vascular stent to open blocked blood vessels. Vascular interventional surgery needs to be operated under X-rays. For the needs of navigation, X-rays and many times need to be turned on constantly. This will cause doctors to receive a large dose of X-ray radi...

AI Technical Summary

Problems solved by technology

[0004] A common problem in the existing designs is that the guide wire/catheter selection control information transmission path issued by the remote control system is complicated, and it has undergon

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