Robot operating device for minimally invasive vascular intervention operation
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An interventional surgery and operating device technology, applied in the field of minimally invasive vascular interventional surgery robot operating devices, can solve the problems of clumsy and inflexible operating devices, and achieve the effects of avoiding physical fatigue and injury, shortening operation time, and accurate operation.
Inactive Publication Date: 2020-06-05
YANSHAN UNIV
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[0005] The purpose of the present invention is to overcome the common clumsiness and dexterity of the operating devices in the prior art, and provide a robot operating device for minimally invasive vascular interventional surgery with functions of position control and force sense control
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[0032] The present invention is described in further detail now in conjunction with accompanying drawing. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.
[0033] Such as Figure 1-Figure 6 Shown is a specific embodiment of a robot operating device for minimally invasive vascular interventional surgery of the present invention.
[0034] Such as figure 1 As shown, the robot operating device for minimally invasive vascular interventional surgery includes three parts: a base 1 , a force sense control mechanism 2 and a position control mechanism 3 , wherein both the force sense control mechanism 2 and the position control mechanism 3 are installed on the base 1 .
[0035] Such as figure 2 As shown, the force sense control mechanism 2 includes a force sense power assembly 21 and a force sense operation assembly 22...
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Abstract
The invention belongs to the field of medical rehabilitation equipment, and particularly relates to a robot operating device for a minimally invasive vascular intervention operation. The device comprises a base, a force sense control mechanism and a position control mechanism. The force sense control mechanism comprises a first support, a motor, a torque sensor, a first belt wheel, a first position encoder, a linear guide rail, an operating rod support, an operating rod, a second position encoder, a touch switch, a second support, a second belt wheel and a first belt. The position control mechanism comprises a first support frame, a rotating rod, an operating hand wheel assembly, a second belt, a third belt wheel, a second support frame, a fourth belt wheel, a third position encoder, a third belt, a magnetic powder brake, a fifth belt wheel and a fourth position encoder. The device can simulate an operation action of a doctor on a microcatheter / guide wire during an operation accordingto the doctor's operation requirements during the operation, and can switch between a force control mode and a position control mode according to actual situation during the operation, so that the force sense of presence is more real.
Description
technical field [0001] The invention belongs to the technical field of medical rehabilitation equipment, and in particular relates to a robot operating device for minimally invasive vascular interventional surgery. Background technique [0002] Cardiovascular disease is a major killer that threatens the health of residents, and the incidence rate continues to rise. One of the current means of treating cardiovascular disease is to use a guide wire to deliver implants to unclog blood vessels. Traditional minimally invasive vascular surgery mainly uses skilled doctors to insert surgical instruments such as catheters, guide wires, microcatheters and balloons manually under the monitoring and guidance of X-ray images or other grayscale images. However, because the bending radius of the front end of the existing catheter is fixed, and the blood vessels in the human body are curved, narrow, irregular, and have many branches, there is a certain risk when the doctor performs the ins...
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