Master-end multi-instrument operating device of master-slave minimally invasive vascular interventional surgical robot

Abstract

The invention belongs to the technical field of medical instruments, and particularly relates to a master-slave minimally invasive vascular interventional surgical robot master-end multi-instrument operation device which comprises a base plate and two master operation modules. The operation assembly comprises a first shell, a second shell, a first rotating shaft, a first belt wheel, a second belt wheel, a rotary twisting main shaft, a rotary twisting detection encoder, a second transmission belt, a third belt wheel and a fourth belt wheel, wherein the third belt wheel and the fourth belt wheel are arranged at the two ends of the second transmission belt. The third belt wheel is coaxially connected with a resistance feedback motor, and the fourth belt wheel is coaxially connected with a displacement detection encoder. The real sense of immediacy of operation is provided for a doctor through combination of the resistance feedback motor and the torque sensor, when the doctor operates the main operation module, force feedback from the slave end device can be effectively obtained through the force feedback assembly, the resistance of a catheter / guide wire in a blood vessel in the operation process can be effectively sensed, and the operation accuracy is improved. And vascular rupture is avoided.

Description

Technical field [0001] The invention belongs to the technical field of medical devices, and specifically relates to a master-slave multi-instrument operating device of a minimally invasive vascular interventional surgery robot. Background technique [0002] According to the World Health Organization's World Health Report, cardiovascular and cerebrovascular diseases rank first among all diseases in terms of morbidity and mortality, and are a serious threat to human health. Currently, there are generally two treatment methods for cardiovascular and cerebrovascular diseases. One is traditional open surgery, which is highly invasive and slow to recover. The other is minimally invasive vascular interventional surgery. Interventional surgery only requires a puncture point of about a few millimeters in size on the skin. Under the guidance of medical imaging equipment, medical catheters, guide wires and other interventional instruments are introduced from the puncture point into the...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to overcome the defect in the prior art that it is impossible to control the coordinated delivery of interventional instruments such as multiple guide wires and balloon stents, and to provide a master-slave minimally invasive vascular interventional surgery robot master multi-instrument operating device, A device that can accurately acquire force sense information and feed it back to the doctor's hand in real time, and can simultaneously control the delivery, twisting and clamping of catheters and multiple guide wires.

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