A guide wire/catheter operating device at the main end of a robot for vascular interventional surgery

Abstract

The invention discloses a guiding wire / catheter operating device at the main end of a robot for vascular interventional surgery, which can separately feed back the axial force and the circumferential force, and can imitate the actual surgical operation habits of a bionic doctor. The device includes a box body, a brushless DC motor, a transmission assembly, an electromagnetic connector and an axial force feedback assembly; the brushless DC motor is connected to the active part of the electromagnetic connector through the transmission assembly, and its follower is connected to the fixing part of the sleeve telescopic assembly. section, the telescopic section of the sleeve telescopic assembly extends out of the box to connect the guide wire / conduit; when it is necessary to provide circumferential sensing, the active part and the driven part of the electromagnetic connector are attracted, so that the brushless DC motor drives to the sleeve through the transmission assembly. The telescopic component provides circumferential resistance, and then realizes the circumferential force feedback function; when it is necessary to provide axial sensing, the positive pressure generating component in the axial force feedback component generates displacement, and drives the rubber block component and the telescopic section in the sleeve telescopic component to generate an axial force. Friction to provide axial resistance and realize axial force feedback function.

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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