Main end guide wire/catheter operating device of vascular intervention surgical robot

Abstract

The invention discloses a main end guide wire / catheter operating device of vascular intervention surgical robot. The main end guide wire / catheter operating device can separately feed back axial forceand circumferential force and can simulate actual surgical operation habits of doctors. The device comprises a box body, a brushless direct current motor, a transmission assembly, an electromagnetic connector and an axial force feedback assembly, wherein the brushless direct current motor is connected with a driving part of the electromagnetic connector through the transmission assembly, a drivenpart is connected with a fixed section of a sleeve telescopic assembly, and a telescopic section of the sleeve telescopic assembly extends out of the box body to be connected with a guide wire / catheter. When circumferential sensing needs to be provided, the driving part and the driven part of the electromagnetic connector are attracted, so that the brushless direct current motor provides circumferential resistance for the sleeve telescopic assembly through the transmission assembly, and then the circumferential force feedback function is achieved. When axial sensing needs to be provided, a positive pressure generation assembly in the axial force feedback assembly generates displacement to drive a rubber block assembly and the telescopic section in the sleeve telescopic assembly to generateaxial friction force so as to provide axial resistance, and the axial force feedback function is achieved.

Description

technical field [0001] The invention relates to the field of medical surgical robot design, in particular to a guide wire / catheter operating device at the main end of a vascular interventional surgical robot. Background technique [0002] The master-slave robot system for vascular interventional surgery integrates related technologies such as image processing, automatic control, information communication, and mechanical processing and manufacturing. It can remotely assist doctors in surgical operations and reduce the exposure of doctors to X-ray radiation, so that surgical operations can be performed more safely and effectively. In this system, the master end is operated by the doctor, and the measuring part of the master end can measure the displacement data of the guide wire / catheter operated by the doctor, and send it to the slave end as an instruction, and the slave end performs the corresponding operation; the slave end integrates a guide wire and The pushing and clampi...

AI Technical Summary

Problems solved by technology

However, this kind of system structure has a large volume, and the force-tactile sensation generated is not obvious.

At present, a commercial main-end device with a DC motor to realize the force feedback function has also been developed, but the axial force and the circumferential force are not separately fed back, but only the resultant force is fed back, and the commercial main-end device does not conform to the doctor's operating habits, requiring doctors to spend more Learn how to operate the commercial master end for a long time

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