Interventional surgical robot guide wire friction force feedback device and method

Abstract

The invention relates to an interventional surgical robot guide wire friction force feedback device and method. The friction force feedback device comprises two sets of driving end components, drivenend components and clamping components which are arranged along a guide wire in a bilateral symmetry mode. The structure is relatively simple and compact, and the stability is high. When each clampingpart is stressed in the clamping direction of the guide wire, the stress of the clamping part is transmitted to a right-angle connecting plate through a U-shaped groove connecting piece, a first sliding block and a first miniature linear guide rail, a high-precision weighing sensor only measures the axial force of the guide wire, namely the friction force borne by the guide wire, and therefore the stress change condition of the axial friction force of the guide wire is judged, so that operation reminding can be given to doctors in time, and safety of patients is protected. According to the friction force feedback device, an indirect force measuring mode is adopted, and the problems that a guide wire and a force measuring device are inconvenient to install, an existing interventional operation robot does not detect the axial friction force stress of the guide wire, a stress detection device is difficult to install, and clinical needs cannot be met are solved.

Description

technical field [0001] The invention relates to the field of minimally invasive blood vessel technology, and more specifically relates to a friction force feedback device and method for a guide wire of an interventional surgery robot. Background technique [0002] Cardiovascular and cerebrovascular minimally invasive interventional therapy is the main treatment for cardiovascular and cerebrovascular diseases. Compared with traditional surgery, it has obvious advantages such as small incision and short postoperative recovery time. Cardiovascular and cerebrovascular interventional surgery is a process in which doctors manually send devices such as catheters, guide wires, and stents into the patient's body to complete the treatment. [0003] The following problems exist in interventional surgery. During the operation, because the DSA will emit X-rays, the doctor’s physical strength will decrease rapidly, and the attention and stability will also decrease, which will lead to a ...

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Problems solved by technology

[0008] For this reason, an object of the present invention is to propose a friction force feedback device for the guide wire of an interventional surgery robot, which solves the problem that the structure in the prior art is relatively bloated and complicated, and the force feedback detection device for the guide wire will cause the installation of the guide wire on the robot. and the problem of inconvenient replacement, an indirect measuring device is provided

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