Passive positioning manipulator for robot propulsion mechanism in endovascular interventional surgery

Abstract

The invention discloses a passive positioning mechanical arm used for the propulsion mechanism of a robot for intravascular interventional surgery. The mechanical arm is installed on the operating table; the mechanical arm includes: a base module, a horizontal movement module, a lifting module, a first Rotary joint, second rotary joint and pitch angle adjustment module; the base module is installed on the operating table, the horizontal movement module is installed on the base module, the bottom of the lifting module is installed on the horizontal movement module, the second One end of a rotary joint is installed on the top of the lifting module, and the other end is connected to one end of the second rotary joint; the pitch angle adjustment module is installed on the other end of the second rotary joint; the surgical robot is installed on the pitch angle adjustment module; The robotic arm can freely adjust the horizontal displacement and angle of the surgical robot, the angle at which the catheter of the surgical robot enters the blood vessel, the height of the robot in the vertical direction, and lock the posture of the surgical robot to prevent intraoperative shaking.

Description

technical field [0001] The invention belongs to the technical field of medical devices, and in particular relates to a passive positioning mechanical arm used for a robot propulsion mechanism for intravascular interventional surgery. Background technique [0002] Endovascular technology has become the basic means of vascular treatment, and most of the vascular reconstruction operations currently performed require the help of this technology. Guide wire-catheter operation is the core content of endovascular technology and determines the quality of surgery. At present, clinical doctors use digital silhouette angiography (DSA) to manually complete the positioning operation of the guide wire-catheter in the patient's blood vessel. Conventional passive guide wires, guiding catheters, and balloon catheters are the basic instruments used in surgery. The use of robotic devices for guide wire (catheter or other instruments, the same below) positioning operation is conducive to impr...

AI Technical Summary

Problems solved by technology

[0005] 1. The problem with actively positioning the robotic arm is that it involves too many electrical components. As a medical device, electrical isolation is a big problem

[0006] 2. At the same time, the internal motor and other drive components have high requirements on the operating environment, etc., and it is difficult to adapt to a relatively narrow operating space or a more complex environment

[0007] 3. In addition, active positioning is controlled according to the position preset by the program. People of different ages, genders, and physical characteristics need to fix the position of the robotic arm in different positions. Presetting each measurement in the program will increase the workload of medical staff

However, the production specifications of the bed are inconsistent. When the robot arm encounters a bed that is different from the bed used in the design, the fixed base near the doctor's side cannot be fixed with the base on the robot side, and it cannot play its due role.

[0012] 3. The existing robotic arm has a total of 5 movable joints, two of which are unnecessary

The most important thing is that the three rotating joints cannot be locked. When using it, it can only be fixed after reaching the limit position, which is not conducive to the guidance of the robot before surgery, and the posture of the robot is difficult to fix

[0013] 4. The pitch angle of the robot that refers to the bicycle seat lifting design cannot be locked, and can only use the physical limit that was not considered in its design

In this way, it is impossible to prevent the robot from pressing on the patient's leg, and at the same time, the angle at which the catheter enters the blood vessel at the patient's intervention incision cannot be adjusted optimally

[0014] 5. The existing mechanical arm lacks the degree of freedom in the vertical direction and cannot adapt to the polymorphism of the patient's physical condition. Whether it is in contact with the patient's leg can only depend on the adjustment of the pitch angle

[0015] 6. The mechanical arm cannot move horizontally along the longitudinal direction of the operating table. When this is required, the medical staff must first remove the robot from the mechanical arm, then disassemble the mechanical arm and install it to the desired position, and finally install the robot

[0016] 7. The existing robotic arm uses a two-layer telescopic arm. When the front end of the robot is too far away from the incision of the patient, the telescopic arm needs to be adjusted to meet the needs. Although it can make up for the problem that the robotic arm cannot move horizontally along the operating table longitudinally to a certain extent, but This changes the center of gravity of the robot system, which can easily cause accidents during the operation

[0017] 8. The existing robot is made of steel, and the weight of the base is too heavy, requiring two people to cooperate with the installation, which does not meet the staffing requirements of the interventional operating room (usually one technician per operating room)

At the same time, the excessive weight increases the burden on the operating table, which is likely to cause accidents during the operation

[0018] 9. The locking mechanism of the movable joint is fixed on the joint, which requires the cooperation of at least two people during installation: that is, one person adjusts the robot arm to position the robot, and the other person is responsible for locking each joint after the robot reaches the desired posture, resulting in great manpower waste of resources

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