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Medical robot operating device

An operating device and robot technology, applied in the field of medical robots, can solve the problems of poor operability of delivery interventional instruments, and achieve the effect of precise control of the progressive distance and real operation.

Pending Publication Date: 2022-07-29
钟骁
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies of the existing technology, the present invention provides a medical robot operating device, which solves the technical problem of poor operability of the existing device for delivering interventional instruments

Method used

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Examples

Experimental program
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Effect test

Embodiment 1

[0041] like figure 1 As shown, the embodiment of the present invention provides a medical robot operating device, including a rotating part 1, a transmission part 2, a passive part, a sensor 3 and a casing.

[0042] The rotating part 1 is installed outside the casing;

[0043] The passive component is installed in the housing, and the rotating component 1 drives the passive component to rotate through the transmission component 2;

[0044] The sensor 3 is installed in the housing to monitor the real-time motion state of the passive components, such as figure 2 As shown, it is then transmitted to an external controller, where the controller controls the execution end of the medical robot to perform the operation of delivering the interventional instrument.

[0045]It should be noted that: first, the sensor 3 may be a magnetic encoder (either absolute or incremental), or a photoelectric encoder (either absolute or incremental). Exemplarily, in the embodiment of the present i...

Embodiment 2

[0052] In the technical aspect of Embodiment 1, further: the passive component includes a damping device, and the damping device generates a damping force for providing force feedback to the rotating component 1 during the rotational movement.

[0053] At present, when delivering guidewires, catheters, balloons or stents, interventional medical robots on the market use images to display the maximum resistance threshold or display real-time resistance values, but cannot feed back force information to the control end. Doctors cannot intuitively feel the resistance, which greatly reduces the surgical coverage of the product.

[0054] In order to cope with this technical defect, the passive component in the embodiment of the present invention can be set as a damping device, and the damping device generates a damping force for providing force feedback to the rotating component 1 during the rotating motion, so that the doctor can intuitively Feel the resistance of the interventional...

Embodiment 3

[0057] like image 3 As shown, in the technical aspect of Embodiment 2, further: the damping device includes a magnetic damper 4, and the magnetic damper 4 includes a reluctance rotor 41 and a reluctance stator 42; the reluctance stator 42 is energized After a magnetic field is formed, the reluctance rotor 41 generates a magnetic damping force for providing force feedback to the rotating component 1 during the rotating motion in the magnetic field.

[0058] That is, in this embodiment, the damping device is the magnetic damper 4 as an example.

[0059] When the interventional robot is working, when the doctor grips the control housing (handle) and slides the roller 11 clockwise or counterclockwise, the driving wheel 22 is driven to rotate. The driving wheel 22 drives the driven wheel 23 to rotate, and the driven wheel 23 is fixedly connected with the reluctance rotor 41, thereby driving the reluctance rotor 41 to rotate (the process generates a magnetic damping force), and th...

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Abstract

The invention provides a medical robot operation device, and relates to the technical field of medical robots. The device comprises a rotating part, a transmission part, a driven part, a sensor and a shell, the rotating part is mounted outside the shell; the driven part is installed in the shell, and the rotating part drives the driven part to rotate through the transmission part. The sensor is installed in the shell and used for monitoring the real-time motion state of the passive component and then transmitting the real-time motion state to an external controller, and the controller controls the medical robot execution end to execute the operation of delivering the interventional instrument. The interventional instrument is controlled to advance or retreat through the rotating component, operation is convenient, and the progressive distance can be more easily and accurately controlled; besides, the sliding direction of the rotating component is quickly switched, so that the interventional instrument can quickly shake back and forth, the common puncturing action in an interventional operation is realized, and particularly, the interventional instrument can pass through a blood vessel part with a calcified lesion or a complex lesion.

Description

technical field [0001] The invention relates to the technical field of medical robots, in particular to a medical robot operating device. Background technique [0002] Cardiovascular interventional therapy is the main method for the treatment of cardiovascular and cerebrovascular diseases. At present, vascular interventional medical robots are the successful application of robotic technology in vascular interventional therapy. Specifically, outside the operating room of the cath lab, the doctor controls the interventional medical robot in the operating room through the manipulation device to deliver and rotate the catheter and guide wire; deliver the balloon and stent, and assist in the completion of angiography and PCI operations. [0003] In the prior art, a push rod device is usually used to control the interventional medical robot to complete the delivery of the above-mentioned interventional instruments. Considering that the vascular interventional procedure is compl...

Claims

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Application Information

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IPC IPC(8): A61B34/30F16F15/18
CPCA61B34/30F16F15/18A61B2034/301A61B2034/303
Inventor 钟骁
Owner 钟骁
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