Main end control device of vascular intervention surgical robot

Abstract

The invention belongs to the field of interventional operation robots, and particularly relates to a main end control device of a vascular interventional operation robot. The main end control device comprises an operation control ring, a force sensing control mechanism, a position detection mechanism and a rotation detection mechanism, wherein the force sensing control mechanism comprises a torquegenerator, a synchronous pulley, a synchronous idler and a synchronous belt the position detection mechanism comprises a magnetic ring guide shaft and a displacement sensor used for detecting the position of the operation control ring on the magnetic ring guide shaft; and the rotation detection mechanism is connected with the synchronous belt and further rotationally connected with the operationcontrol ring. On the basis of the device, firstly, when a doctor operates the operation control ring, force feedback can be effectively obtained, secondly, rotation and pushing actions of a guide wire / catheter can be executed together, the rotation angle is not limited, the complexity of operation techniques is reduced, and finally, the device conforms to the habit that the doctor operates the guide wire / catheter with two fingers for interventional operation at ordinary times. The robot operation learning difficulty of s is reduced.

Description

technical field [0001] The invention belongs to the field of interventional surgery robots, and in particular relates to a master end control device of a vascular interventional surgery robot. Background technique [0002] At present, the conventional minimally invasive vascular interventional surgery adopts the method that the operator directly manipulates guide wires, catheters and other instruments into the human blood vessels, and under the guidance and monitoring of digital subtraction angiography (DSA), CT and other imaging equipment, the disease The method of treatment, but in this way, the doctor will be exposed to X-ray radiation for a long time during the operation, which will cause great harm to the doctor's body; secondly, the operation time is long, because the doctor wears heavy lead clothing for a long time to operate the operation, it will cause the doctor Physical fatigue and injury. At the same time, doctors will also cause misoperation due to fatigue and p...

AI Technical Summary

Problems solved by technology

[0004] 1. Lack of an effective force feedback module, the doctor cannot effectively perceive the resistance of the guide wire / catheter in the blood vessel during the operation, and lacks the sense of presence during the operation, which may easily cause the guide wire / catheter to puncture the blood vessel and cause the risk of massive bleeding ;

[0005] 2. Cannot perform effective push position detection and rotation position detection, the rotation and push actions of the guide wire cannot be performed together, and the angle of one rotation is limited, these defects increase the complexity of the surgical operation;

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