Device for detecting near-end force and torque of catheter of minimally invasive vascular interventional surgical robot

Abstract

The invention relates to a device for detecting near-end force and torque of a catheter of a minimally invasive vascular interventional surgical robot. The device comprises a catheter pushing device, a torsion transmission mechanism and a wireless photoelectric sensing PCB, wherein the torsion transmission mechanism comprises a torsion motor, rotating shafts, a transmission pinion, a transmission bull gear, a flexible bending piece and a catheter clamping device, wherein the flexible bending piece is connected with the transmission bull gear, and the catheter clamping device is connected with the flexible bending piece; the torsion motor can drive the transmission pinion to drive the transmission bull gear to rotate so as to drive a catheter to rotate; the catheter pushing device can drive the torsion transmission mechanism to do linear motion; and when a slave end catheter is subjected to resistance, the resistance is transmitted to the flexible bending piece through the catheter clamping device to cause the flexible bending piece to generate circumferential displacement deformation, and the wireless photoelectric sensing PCB generates a digital signal according to the displacement deformation, so that torque on-line detection of the slave end catheter is realized, a doctor can conveniently and directly sense the operation resistance of the catheter, and the operation state of the slave end surgery is further perceived.

Description

technical field [0001] The invention relates to the field of medical equipment, in particular to a device for detecting force and torque at the proximal end of a robotic catheter for minimally invasive vascular interventional surgery, which is convenient for sensing catheter movement depth and operation resistance. Background technique [0002] The increasing incidence of cardiovascular and cerebrovascular diseases has seriously affected national health and social life, and brought enormous pressure to China's medical and health system. Vascular minimally invasive interventional therapy is the main treatment for various vascular diseases, which can reduce trauma and pain of patients, shorten postoperative recovery time, and effectively improve the utilization rate of medical resources. The surgical method of remote operation of catheter and guide wire with the help of robotic technology can greatly improve the accuracy and stability of surgical operations, and at the same ti...

AI Technical Summary

Problems solved by technology

Then the doctor's perception of the operation status of the operation from the end, including the perception of the push resistance, torsion resistance and feed speed of the catheter or guide wire, is very important for the smooth progress of the operation and the safety of the operation; but the existing Vascular interventional surgery robots are mostly focused on the high-precision realization of push-pull and torsion operations, and there is insufficient research on the online detection of pushing force and twisting torque from the guide wire or catheter at the end; and there are few dedicated force sensing devices that can directly measure the operation Most of the research on the resistance information of the catheter is focused on the use of force sensors to indirectly detect the force of the surgical catheter. Because it is an indirect measurement, there are inevitably problems such as poor linearity, low sensitivity, and force loss, which in turn affect the operation. safety

In addition, the existing vascular interventional surgery robot for catheter speed detection is generally complicated and lacks precision. Vascular minimally invasive interventional surgery robot for speed detection and online detection of catheter rotation resistance

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