A robot operation platform and its operation method

Abstract

The present invention discloses a robot operation platform and its control method. The platform is used for interventional surgery, doctor training, or angiography, and belongs to the field of minimally invasive vascular medical devices. The operation platform includes a support platform, a platform connection block, a linear guide pair, a drive assembly, a displacement measurement assembly, an IP camera, and a height-adjustable base. A catheter controller and a guide wire controller are installed on the robot operation platform of the present invention for interventional surgery, training, or angiography, which solves the problem that existing robots are difficult to complete the coordinated operation of catheters and guide wires. At the same time, a force feedback system and a camera are provided, enabling the doctor's hand to sense the force used, and the whole process is recorded by the camera to achieve more precise operation. A height-adjustable base is set to adjust the operation platform to meet the height requirements of different doctors.

Description

Technical Field

[0001] The present invention belongs to the technical field of minimally invasive vascular interventional surgery, and relates to a robot operation platform and a control method. The robot operation platform can be used in angiography, virtual reality surgical training for minimally invasive vascular interventional surgery, and actual surgical operations. Background Art

[0002] Cardiovascular diseases are the most common type of diseases among humans and are one of the major causes of death in the current world population, seriously threatening human health. Cardiovascular and cerebrovascular diseases have become one of the three major causes of human disease deaths. Every year, 16.7 million people die from cardiovascular and cerebrovascular diseases globally, accounting for 29.2% of all disease mortality rates. Among the 9 million cardiovascular and cerebrovascular disease patients in China every year, 2.5 million people die.

[0003] Minimally invasive cardiovascular and cerebrovascular interventional therapy is the main treatment method for cardiovascular and cerebrovascular diseases. It is a new medical surgery that, under the guidance of medical imaging equipment, uses an interventional catheter to reach a relatively distant lesion site along the lumen of the blood vessel, such as the blood vessels of the coronary artery, brain, liver, and kidney, and then performs minimally invasive treatment on the lesion site. It can reduce the trauma and pain brought to patients by traditional craniotomy and thoracotomy surgeries, has a short postoperative recovery time, and can effectively improve the utilization rate of medical resources. However, in traditional cardiovascular and cerebrovascular interventional surgeries, doctors manually insert instruments such as catheters, guide wires, and stents into the patient's body. On the one hand, during the operation, due to the influence of radiation, the doctor's physical strength decreases rapidly, and the attention and stability decrease accordingly, resulting in a decrease in operation accuracy and prone to accidents such as vascular intimal injury and vascular perforation rupture caused by improper pushing force. On the other hand, the cumulative damage caused by long-term X-ray irradiation will significantly increase the doctor's disease probability. The "radiation exposure" problem has become an issue that cannot be ignored in damaging doctors' professional lives and restricting the development of interventional surgeries. The surgical method of remotely operating catheters and guide wires with the help of robot technology can effectively address this problem, can greatly improve the accuracy and stability of surgical operations, and at the same time can effectively reduce the harm of radiation to the surgeon and reduce the occurrence probability of intraoperative accidents. Therefore, cardiovascular and cerebrovascular interventional surgery assist robots are increasingly being concerned by people and gradually becoming the key research objects in the field of medical robots in various countries.

[0004] The research on foreign vascular interventional surgery robots started relatively early, but clinical application has not been fully realized. The domestic related research started relatively late, mainly including Beijing Institute of Technology, Shanghai Jiao Tong University, Beihang University, and Harbin Institute of Technology, etc.

[0005] Currently, vascular interventional surgical robots mainly adopt a master-slave operation structure to isolate doctors from radiation. For example, the invention patent with the application number 201210510169.2 applied by Beihang University discloses a master-slave remote operation vascular interventional surgical robot, which includes a master control mechanism, a slave propulsion mechanism, and a PMAC controller. The master control mechanism serves as the operation end for doctors. The slave propulsion mechanism serves as the execution mechanism of the robot, which holds the catheter on behalf of the doctor in the operating room and completes the movement function of the catheter. The PMAC control box is used to realize the information transmission between the master control mechanism and the slave propulsion mechanism, so that the slave catheter propulsion mechanism moves according to the movement information of the master control mechanism. It adopts a master-slave remote operation method to assist doctors in performing surgeries, and the slave propulsion mechanism realizes the axial feeding and circumferential rotation movements of the catheter. Another example is the catheter robot system for minimally invasive vascular interventional surgery applied by Harbin Institute of Technology, which adopts a controllable catheter and can obtain the pose information of the bendable controllable section of the controllable catheter to ensure the flexibility of the front end of the controllable catheter and the maneuverability of the intubation surgery. At the same time, the push, pull, rotation, and bending actions of the controllable catheter are realized by controlling the master-slave intervention device through the master handle, and the conveying force information of the controllable catheter in the operating room can be obtained to ensure the accuracy and stability of intubation. The invention patent with the application number 201610119761.8 applied by Beijing Institute of Technology discloses a slave end of a master-slave minimally invasive vascular interventional surgical robot, which includes a slave control mechanism and a slave mobile platform. The slave mobile platform is composed of a slide table motor, a nut-screw pair, a slide table, and a base. The motor is connected to the screw end of the nut-screw pair, and the slide table is connected to the nut end of the nut-screw pair. The frame (1) of the slave control mechanism is fixedly connected to the slide table. Its characteristics are that the slave control mechanism is composed of a clamping drive assembly (Ⅰ), a thrust feedback mechanism (Ⅱ), a non-destructive clamping mechanism (Ⅲ), and a clamping control mechanism (Ⅳ). This solution has a relatively complex structure, and its easy disassembly and assembly performance has not been greatly improved. It only clamps the guide wire, and the clamping mechanism has a complex structure, is not easy to disinfect and disassemble, and the guide wire and catheter cannot move synchronously.

[0006] The above solutions are relatively advanced research on vascular interventional surgical robots in China, but they all have the following problems: (1) They can only push the guide wire or catheter alone, cannot push the catheter and guide wire collaboratively during the surgery, cannot fully simulate the operation actions of doctors, and are difficult to operate in some parts where the guide wire and catheter need to cooperate to advance simultaneously, resulting in low operation accuracy, low surgical efficiency, low degree of assistance to doctors, and certain safety hazards; (2) The support platform and controller have complex structures, not only with high manufacturing costs, but also affecting operation accuracy; (3) The disassembly and assembly of the catheter and guide wire are inconvenient, it is not easy to replace the catheter and guide wire during the surgery, and it is not convenient to disinfect the catheter, guide wire, and interfaces; (4) During the surgery, the relative positions of the catheter and guide wire in the blood vessel cannot be known, and the surgical risk is relatively high.

[0007] Through the analysis of the prior art, it can be seen that in the actual operation of surgery, a catheter, a guide wire, and an auxiliary mechanism are usually required to be able to arbitrarily achieve their respective linear motions in the axial direction, and often the catheter and the guide wire need to be operated in cooperation with each other and move forward in coordination. However, the prior art all has the following problems: (1) Large volume and weight: Since two sets of slide rails are used to separately manipulate the catheter and the guide wire, the device has a large volume, a large floor area, and a large weight, so it is not suitable for being placed in the operating room for clinical surgical operations; (2) Unable to reproduce the actual movements of the doctor's hand operations: Using two sets of slide rails to complete the control of the catheter and the guide wire, because they are arranged coaxially, the movement strokes of the catheter and the guide wire have no intersection, that is, the position of the guide wire control slide rail in the axial direction is always far behind the position of the catheter control slide rail in the axial direction. In the actual operation process, the distance between the doctor's hands operating the catheter and the guide wire is arbitrary. Therefore, it cannot reproduce the actual movements of the doctor's hand operations and cannot complete the coordinated pushing of the catheter and the guide wire, which does not meet the requirements of actual surgical operations; (3) Poor expandability: During the surgical process, auxiliary operations need to be performed on the catheter and the guide wire. When the axial linear motion of the auxiliary operation is not synchronized with the movements of the catheter and the guide wire, slide rails need to be added. However, in the form of the existing linear slide rails, with the coaxially arranged slide rails, their respective strokes have no intersection, so the expansion of its functions cannot be completed. (4) The contact force between the body interior, blood vessels and the catheter during operation cannot be detected. In minimally invasive surgery, the doctor operates at the master end and cannot directly feel the information received by the slave end mechanism and the human tissue. In minimally invasive surgery, the doctor lacks tactile information, which increases the risk of surgery and may damage the patient's organs due to improper or excessive operation. (5) The height is not adjustable and cannot meet the needs of different doctors. At present, there is an urgent need to provide a surgical robot operation platform that can realize the coordinated operation of the catheter and the guide wire and has an intuitive feedback of tactile and visual information. This application is jointly researched and developed by Beijing Institute of Technology and Tiantan Hospital, and a robot operation platform with a simple structure, applicable to interventional surgery, angiography or practice, capable of simultaneously operating and controlling the catheter and the guide wire, and having an intuitive feeling is developed. Summary of the Invention

[0008] Aiming at the defects of the prior art, the object of the present invention is to provide a robot operation platform and a control method. The operation platform aims to solve the problem that the prior art is difficult to meet the requirements of cooperative operation of catheters and guidewires, and at the same time, it cannot intuitively sense tactile and visual information like traditional surgical operations. On the robot operation platform for interventional surgery, angiography, training or teaching, a catheter controller and a guidewire controller are installed on the slave device, so that the catheter and the guidewire can be simultaneously operated and controlled, and have tactile, visual and displacement feedback information, and the height can be adjusted, solving the problems that existing robots are difficult to complete the cooperative operation of catheters and guidewires, cannot intuitively sense surgical operations and cannot adapt to different doctors, improving the safety and operability of interventional surgery or angiography, with a simple structure and easy to implement. At the same time, the device can also be used for surgical training and teaching.

[0009] The present invention is realized through the following technical solutions:

[0010] An operation platform, comprising a support platform (1110), a platform connection block (1130), a linear guide pair D (1020), a driving component (1140), a displacement measurement component (1170), an IP camera (1180) and a height-adjustable base (1101). The platform connection block (1130) is arranged on the support platform (1110) through the linear guide pair D (1020); the platform connection block (1130) is driven by the driving component (1140). There are more than two platform connection blocks. The platform connection blocks are installed on the same linear guide pair D (1020) to realize the linear movement control of the catheter controller and the guidewire controller on the same linear track. The height-adjustable base 1101 is installed under the support platform 1110. The height-adjustable base is composed of two lifting platforms. The displacement measurement component 1170 is used to measure the displacements of the catheter and the guidewire, and transmit the collected axial displacement and rotational displacement to a computer for calculation and analysis; the displacement measurement component is located on the platform connection block 1130. The displacement measurement component adopts a laser mouse displacement sensor, and the IP camera collects real-time on-site images.

[0011] There are two platform connection blocks 1130, which are respectively installed with a catheter controller and a guidewire controller.

[0012] There are more than three platform connection blocks 1130, which are respectively installed with a catheter controller, a guidewire controller and other auxiliary mechanisms. The other auxiliary mechanisms are preferably displacement measurement components.

[0013] Each platform connection block 1130 is independently driven and controlled by a driving component. The number of driving components is the same as the number of platform connection blocks.

[0014] The described drive assembly 1140 includes a drive motor 1142 fixed on a support platform, a rope 1141, and a tensioning mechanism 1150.

[0015] There are two tensioning mechanisms, which are respectively arranged at both ends of the support platform 1110; the rope 1141 is tensioned on the two tensioning mechanisms 1150, and the rope is connected to the platform connection block 1130; the drive motor 1142 is connected to a rope pulley 1143, and the rope pulley 1143 is used to drive the rope 1141 to drive the platform connection block 1130 to move.

[0016] The tensioning mechanism 1150 includes a guiding and fixing sleeve 1151 and an adjusting sleeve 1152. A guiding rod 1153 is installed in the guiding and fixing sleeve 1151. One end of the guiding rod 1153 is connected to a tensioning bracket 1154, and two guiding wheels 1155 for supporting the rope 1141 are respectively arranged at both ends of the tensioning bracket 1154; the adjusting sleeve 1152 is installed with a screw rod 1156, and the screw rod 1156 can adjust the position of the guiding rod 1153 in the guiding and fixing sleeve 1151 to make the guiding wheels 1155 tension the rope 1141.

[0017] The catheter controller includes a catheter control main body part (1), a catheter clamping mechanism (3), and a guide wire auxiliary clamping mechanism (2). The catheter clamping mechanism is used to clamp the catheter, and the guide wire auxiliary clamping mechanism is used to clamp or loosen the guide wire; both the catheter clamping mechanism and the guide wire auxiliary clamping mechanism are detachably installed on the main body part.

[0018] The described guide wire controller includes a guide wire control base body (6), a guide wire clamping mechanism (7) installed on the base body (6), a clamping switching mechanism (8), and a six-axis force measuring component (9). The guide wire clamping mechanism (7) is used to clamp the guide wire, and the clamping switching mechanism (8) is used to drive the guide wire clamping mechanism (7) to loosen the clamping of the guide wire.

[0019] The displacement measurement component 1170 is composed of a grating scale 1171 arranged on one side of the support platform 1110 and a grating scale reading head 1172 fixed on the platform connection block 1130. Two reverse limit sensors are arranged on the grating scale reading head 1172 along the movement direction of the platform connection block.

[0020] The lifting table is composed of a lifting table bottom plate, a threaded rod, shaft A, shaft B, a lifting table top plate, and lifting table support rods; among them, the lower ends of the lifting table support rods are installed on the lifting table bottom plate, and the upper ends support the lifting table top plate; shaft A serves as the rotation axis of the lifting table support rods; shaft B is the rotation axis of the lifting table support rods; the threaded rod passes through shaft A and shaft B, and the connection thread directions with shaft A and shaft B are opposite; the two lifting tables have the same structure, brackets are installed on the lifting table top plate 1-5, the brackets are connected to the support platform 1110, and the two lifting tables are respectively installed on both sides of the support platform 1110.

[0021] The catheter clamping mechanism 3 includes a medical three-way valve 310 and a clamping assembly 320. The medical three-way valve includes a three-way body, a control valve, and a screw cap, and the screw cap can rotate relative to the three-way body. The catheter is first connected to the connecting sheath 324, and then the connecting sheath 324 is threadedly connected to the screw cap, so that the catheter is connected to the medical three-way valve 310 and can rotate relative thereto. The clamping assembly 320 is used to clamp and fix the medical three-way valve 310. What is fixed is the three-way body of the medical three-way valve 310. There are two of them, which clamp and fix the medical three-way valve 310 from both sides. It includes clamping blocks 322. One side of the clamping block 322 has a clamping groove that engages with half of the outer shape of the three-way body of the medical three-way valve 310. The clamping grooves of the two clamping blocks 322 can be combined into a clamping cavity, which can reliably clamp the three-way body of the medical three-way valve 310 without affecting the rotation of the screw cap. Through the medical three-way valve 310, contrast agent is injected into the blood vessel from the upper inlet of the three-way valve during the operation to perform angiography on the inside of the blood vessel at the head end of the catheter and observe the relative position of the catheter guide wire and the blood vessel.

[0022] A remote control system for an operating platform includes a master part and a slave part. The master part is connected to the slave part by wireless or wired communication means. It is characterized in that: the master part receives operation signals, controls the actions of the slave part, and receives feedback signals from the slave part; the slave part receives and executes the operation signals sent by the master part. The master part includes a master control computer and a master control platform. The slave part includes a support platform (1110), a platform connection block (1130), a linear guide pair D (1020), a driving assembly (1140), a displacement measurement assembly (1170), an IP camera (1180), and an adjustable-height base (1101).

[0023] The operating platform is used for teaching or simulation training.

[0024] Beneficial effects

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] (1) The operation platform of the present invention adopts the form of one track and multiple platform connecting blocks. The platform connecting blocks are used to fix the catheter controller or the guide wire controller, and arrange the axial movement control of the catheter and the guide wire on a single track. Since multiple sliders run on the same track, the running distances of each slider are completely coincident. This method fully conforms to the actual operation form of the doctor's hand, and can complete the coordinated pushing of the catheter and the guide wire back and forth on the same track, continuously and accurately advancing and rotating the catheter and the guide wire, and can control the catheter and the guide wire simultaneously, successively or separately according to needs, meeting the actual surgical operation requirements, fully simulating the actual operation of the doctor, effectively improving the surgical efficiency, and reducing the time for medical staff to contact radiation equipment;

[0027] (2) The operation platform of the present invention adopts the form of one track and multiple sliders for the linear control of the catheter controller and the guide wire controller, avoiding the problems of large volume, large floor area and heavy weight caused by the need for a set of track and a set of sliders for the control of each linear motion in the prior art. The present invention adopts the form of multiple sliders sharing a track, reducing the volume of the device, lightening the weight of the device, reducing the cost, and enabling better application in clinical surgery;

[0028] (3) The operation platform of the present invention can be expanded in function as needed. When auxiliary operations need to be performed on the catheter and the guide wire during the operation, it can be completed by increasing the number of platform connecting blocks. The increased platform connecting blocks are used to carry the auxiliary operation device to realize the auxiliary effect on the catheter and the guide wire. It can be expanded in function according to specific needs, has good expandability, and is relatively simple to operate;

[0029] (4) The operation platform of the present invention uses rope drive to complete the control of linear movement, and the tensioning mechanism is used to play the role of tensioning and guiding at the same time. Since the rope drive uses a rope to replace the traditional rigid structure, its structure is simple, the mechanism is relatively light, the inertia is small, the flexibility of the device is good, and no rigid collision or impact will occur. At the same time, the movement of each platform connecting block is individually controlled by a motor, and the respective movements of the platform connecting blocks can be linearly controlled. A pulley is used to complete the guiding, so that the axial friction is small, and the tensioning mechanism can be used for tensioning, making the installation and adjustment convenient;

[0030] (5) The operation platform of the present invention is equipped with a visual feedback and displacement feedback device, and the doctor makes surgical decisions based on the displacement feedback and visual feedback, effectively improving the safety of the surgery.

[0031] (6) The operation platform of the present invention has a force feedback system, which allows doctors to operate like traditional surgeries, can operate the catheter and guide wire simultaneously, can complete interventional actions according to the operation information of doctors, can detect resistance, and intuitively feedback real-time tactile information to doctors, improving the safety and operability of interventional surgeries. The structure is simple and easy to implement.

[0032] (7) In the catheter controller of the present invention, the catheter clamping mechanism and the guide wire auxiliary clamping mechanism are detachably installed on the main body part. This clamping mechanism has a simple structure, overcomes the defect of being difficult to disinfect in the prior art, is convenient for disassembly, replacement and disinfection, and can realize the separate or simultaneous pushing of the catheter and the guide wire in cooperation with the guide wire controller, and can imitate the manual cooperative operation of doctors;

[0033] (8) In the catheter controller of the present invention, the catheter clamping mechanism creatively adopts the structural form of clamping the medical three-way valve with a clamping component. The disassembly and assembly combination is simple, greatly simplifying the clamping structure. The medical three-way valve can not only be simply and quickly connected to the catheter, facilitating the disinfection of their connection, but more importantly, through the medical three-way valve, contrast agent can be injected into the blood vessel during the operation to perform angiography on the inside of the blood vessel, and then the relative positions of the catheter and guide wire and the blood vessel can be observed, facilitating the further operation of the catheter and guide wire and improving the safety of the operation; in addition, the cost of the medical three-way valve is low, it can be used once and discarded after use, and there is no need to repeatedly disassemble, assemble and disinfect like the existing clamping mechanism;

[0034] (9) In the guide wire controller of the present invention, the guide wire clamping mechanism adopts the conical surface matching form of a special guide wire lock and a guide wire lock sleeve. The guide wire lock rod can squeeze the guide wire lock to make it radially contract, thereby clamping the guide wire. In this way, the guide wire is clamped by the clamping force on the entire circumference, the clamping area is large, the clamping is reliable, and the damage to the guide wire is small;

[0035] (10) The operation platform of the present invention has a simple overall structure. Both the catheter controller and the guide wire controller adopt a modular structure design, with simple disassembly and assembly combination, compact structure, and most of them can be made of plastic, with a light overall weight and low manufacturing cost. The platform has a base with adjustable height, which can meet the needs of different doctors and has stronger practicability. Description of the Drawings

[0036] Figure 1 It is a schematic three-dimensional structure diagram of the operation platform observed from above;

[0037] Figure 2 It is a schematic three-dimensional structure diagram of the operation platform observed from the lower side;

[0038] Figure 3 It is a schematic structure diagram of the displacement measurement component

[0039] Figure 4Schematic diagram of the three-dimensional structure of the tensioning mechanism in the operating platform;

[0040] Figure 5 Exploded view of the tensioning mechanism in the operating platform;

[0041] Figure 6 Schematic diagram of the three-dimensional structure of the catheter controller;

[0042] Figure 7 Front view structure diagram of the main body part in the catheter controller;

[0043] Figure 8 For Figure 7 A - A cross-sectional view in;

[0044] Figure 9 For Figure 8 B - B cross-sectional view in;

[0045] Figure 10 Exploded view of the main body part in the catheter controller;

[0046] Figure 11 Front view structure diagram of the catheter clamping mechanism in the catheter controller;

[0047] Figure 12 For Figure 11 C - C cross-sectional view in;

[0048] Figure 13 Schematic diagram of the three-dimensional structure of the catheter clamping mechanism in the catheter controller;

[0049] Figure 14 Exploded view of the catheter clamping mechanism in the catheter controller;

[0050] Figure 15 Schematic diagram of the three-dimensional structure of the guide wire auxiliary clamping mechanism in the catheter controller;

[0051] Figure 16 Exploded view of the guide wire auxiliary clamping mechanism in the catheter controller;

[0052] Figure 17 Schematic diagram of the three-dimensional structure of the guide wire controller in the present invention;

[0053] Figure 18 Front view structure diagram of the base in the guide wire controller;

[0054] Figure 19 For Figure 18 D - D cross-sectional view in;

[0055] Figure 20 For Figure 19 E - E cross-sectional view in;

[0056] Figure 21 Explosion schematic diagram of the base body in the guide wire controller;

[0057] Figure 22 Front view structural schematic diagram of the guide wire clamping mechanism in the guide wire controller;

[0058] Figure 23 is Figure 22 Sectional view taken along line F - F in

[0059] Figure 24 is Figure 23 Sectional view taken along line H - H in

[0060] Figure 25 Explosion schematic diagram of the guide wire clamping mechanism in the guide wire controller;

[0061] Figure 26 Stereo structural schematic diagram of the clamping switching mechanism in the guide wire controller;

[0062] Figure 27 Explosion diagram of the clamping switching mechanism in the guide wire controller.

[0063] Figure 28 Schematic diagram of the height - adjustable base

[0064] In the attached drawings: catheter controller main body part 1, guide wire auxiliary clamping mechanism 2, catheter clamping mechanism 3, catheter torsion assembly 4, and catheter force measuring assembly 5

[0065] 1 Catheter controller main body part; 110 Housing A; 111 Plug board A; 120 Upper cover;

[0066] 2 Guide wire auxiliary clamping mechanism; 210 Base; 211 Insert block; 220 Support member; 221 Spring cavity; 230 Clamping member; 231 Pressing block; 240 Spring; 250 Servo A; 260 Wire wheel;

[0067] 3 Catheter clamping mechanism; 310 Medical three - way valve; 320 Clamping assembly; 321 Switch base; 322 Clamping block; 323 Switch A; 324 Connection sheath;

[0068] 4 Catheter torsion assembly; 401 Motor A; 402 Small gear A; 403 Large gear A;

[0069] 5 Catheter force measuring assembly; 510 Partition board A; 520 Linear guide pair A; 530 Support plate A; 540 Catheter connecting plate; 541 Plugging board A; 542 Plugging hole A; 550 Force sensor A; 560 Sensor fixing plate A;

[0070] 6 Guide wire controller base body; 610 Housing B; 611 Plug board B; 620 Cover plate; 630 Guide wire torsion assembly; 631 Motor B; 632 Small gear B; 633 Large gear B;

[0071] 7 wire clamping mechanism; 710 wire locking sleeve; 720 wire locking rod; 730 wire lock; 740 switching spring; 750 gasket; 760 lock end cover; 770 lock pull plate; 780 bearing; 790 sleeve support assembly; 791 positioning base; 792 locking switch; 793 connecting seat; 794 bearing pressure plate; 795 positioning pressure plate

[0072] 8 clamping switching mechanism; 810 servo base; 811 plug-in block; 820 servo B; 830 turntable; 840 switching plate; 850 linear guide pair C

[0073] 9 wire six-axis force measuring component; 910 partition B; 920 linear guide pair B; 930 supporting plate B; 940 wire connecting piece; 941 plug-in plate B; 942 plug-in hole B; 950 force sensor B; 960 sensor fixing plate B

[0074] 1110 support platform; 1120 linear guide pair D; 1130 platform connecting block; 1140 driving component; 1141 rope; 1142 driving motor; 1143 rope pulley; 1150 tensioning mechanism; 1151 guiding fixed sleeve; 1152 adjusting screw sleeve; 1153 guiding rod; 1154 tensioning bracket; 1155 guiding wheel; 1156 screw rod; 1170 displacement measuring component; 1171 grating scale; 1172 grating scale reading head; 1180 IP camera; 1101 height-adjustable base; 1-1 lifting table bottom plate; 1-2 threaded rod; 1-3 shaft A, 1-4 shaft B; 1-5 lifting table top plate; 1-6 lifting table support rod Detailed implementation manners

[0075] The present invention will be further described below in conjunction with specific embodiments and the accompanying drawings.

[0076] Embodiment 1

[0077] As Figure 1 、 Figure 2As shown in the figure, this embodiment provides an operating platform for controlling the linear movement of a catheter guide wire, including a support platform 1110, a platform connection block 1130, and a driving component 1140. Among them, there are at least two platform connection blocks 1130. It is arranged on the support platform 1110 through a linear guide pair 1020. Preferably, there are three platform connection blocks 1130. Each platform connection block 1130 is individually driven by a driving component 1140. The number of driving components is the same as the number of platform connection blocks. The platform connection blocks 1130 are respectively used to install a catheter controller, a guide wire controller, or other support auxiliary structures. Preferably, two platform connection blocks 1130 are respectively installed with a catheter controller and a guide wire controller. More preferably, three platform connection blocks 1130 are respectively installed with a catheter controller, a guide wire controller, and other support auxiliary mechanisms. The catheter controller is used to clamp the catheter and perform operations such as rotation and pushing force detection on the catheter. The guide wire controller is used to clamp the guide wire and perform operations such as rotation and pushing force detection on the guide wire.

[0078] Each of the driving components 1140 includes a driving motor 1142, a rope 1141, and a tensioning mechanism 1150. Among them, the driving motor 1142 is fixed at the bottom of the support platform 1110. It is connected with a rope pulley 1143. The rope pulley 1143 is used to drive the rope 1141 to drive the platform connection block 1130 to move. There are two tensioning mechanisms 1150, which are respectively arranged at both ends of the support platform 1110, used to support the rope 1141 and make the rope 1141 taut. The rope pulley 1143 is wound around the two tensioning mechanisms 1150, and the rope pulley 1143 is connected with the platform connection block 1130.

[0079] The tensioning mechanism 1150 includes a guide fixing sleeve 1151 and an adjusting sleeve 1152. A guide rod 1153 is installed in the guide fixing sleeve 1151. One end of the guide rod 1153 is connected with a tensioning bracket 1154. Two guide wheels 1155 for supporting the rope 1141 are respectively arranged at both ends of the tensioning bracket 1154. The adjusting sleeve 1152 installs a screw rod 1156. The screw rod 1156 can adjust the position of the guide rod 1153 in the guide fixing sleeve 1151 to make the guide wheel 1155 tension the rope 1141.

[0080] The displacement measurement component A1170 is composed of a grating scale 1171 arranged on one side of the support platform 1110 and a grating scale reading head 1171 fixed on the platform connection block 1130. Two reverse limit sensors are arranged on the grating scale reading head 1172 along the movement direction of the platform connection block.

[0081] The height-adjustable base 1101 is composed of two lifting platforms; each lifting platform is composed of a lifting platform bottom plate 1-1, a threaded rod 1-2, shaft A 1-3, shaft B 1-4, a lifting platform top plate 1-5, and a lifting platform support rod 1-6; among them, the lower end of the lifting platform support rod 1-6 is installed on the lifting platform bottom plate 1-1, and the upper end supports the lifting platform top plate 1-5; the shaft A 1-3 serves as the rotation axis of the lifting platform support rod 1-6; the shaft B 1-4 is the rotation axis of the lifting platform support rod 1-6; the threaded rod 1-2 passes through the shaft A 1-3 and the shaft B 1-4, and the connection thread directions with the shaft A 1-3 and the shaft B 1-4 are opposite. The two lifting platforms have the same structure. A bracket is installed on the lifting platform top plate 1-5, and the bracket is connected to the support platform 1110. The two lifting platforms are respectively installed on both sides of the support platform 1110.

[0082] During the surgical operation, according to the height requirements of different doctors for the manipulator, first manually adjust the lifting platform A and the lifting platform B; for the lifting platform A, there are left and right hand threads on the threaded rod. When manually rotating the threaded rod, the shaft A and the shaft B can be made to approach or separate, so as to adjust the distance between the lifting platform bottom plate and the lifting platform top plate, achieving the lifting effect.

[0083] The output end of the IP camera is connected to the master-side PC through the Internet; the slave-side PC is directly connected to the master-side PC through the network. The real-time image transmitted back by the IP camera is shown to the doctor in the form of an image window after being corrected.

[0084] This operating platform solves the problems existing in the prior art, such as the large volume and weight of the device, the inability of the device to reproduce the actual movements of the doctor's hand operation, and the poor expandability of the device. It completes the simultaneous linear movement control of the catheter controller and the guide wire controller on the same straight-line track and can perform lifting operations by designing the mutual cooperation of the support platform 1110, the platform connection block 1130, the drive assembly 1140, the tensioning mechanism 1150, and the height-adjustable base 1101 in the form of one track with multiple sliders; at the same time, a force feedback system, a displacement measurement component, and an IP camera are installed, which can feedback the operating force of the doctor's hand, visual information, and displacement information, having the advantages of convenient installation and adjustment, high control precision, the ability to simultaneously and coordinately push the catheter and the guide wire, feedback the force sense and visual sense of interventional machinery such as the guide wire and catheter, and a real feel.

[0085] Embodiment 2

[0086] This embodiment provides a slave-side device of an interventional surgical robot. On the operating platform of Embodiment 1, it includes a catheter controller and a guide wire controller. In this embodiment, the operating platform has two platform connection blocks 1030, and the catheter controller and the guide wire controller are respectively installed on the two platform connection blocks 1030. The structures of the catheter controller and the guide wire controller are described in detail.

[0087] I. Structure of the catheter controller

[0088] The catheter controller mainly includes five parts, namely the main body part 1 of the catheter controller, the guide wire auxiliary clamping mechanism 2, the catheter clamping mechanism 3, the catheter torsion assembly 4, and the catheter force measuring assembly 5. Among them, the main body part 1 is the installation basis for the other five parts. The catheter clamping mechanism 3 and the guide wire auxiliary clamping mechanism 2 are both detachably installed on the main body part 1. The guide wire auxiliary clamping mechanism 2 is used to assist in clamping or releasing the guide wire, the catheter clamping mechanism 3 is used to clamp the catheter, the catheter torsion assembly 4 is used to complete the torsion operation of the catheter, and the catheter force measuring assembly 5 is used to detect the pushing force of the catheter. Through the mutual cooperation of each part, the device can complete the clamping, pushing, torsion, force measurement and distance measurement of the catheter, as well as the auxiliary clamping or releasing of the guide wire, so as to realize the coordinated cooperation between the catheter and the guide wire and meet the requirements of the operation.

[0089] The main body part 1 includes a housing A110 and an upper cover 120. In this embodiment, the housing A110 is a shell-like structure with an open top and rear end. The upper cover 120 is installed on the top of the housing 110, so that a relatively enclosed space is formed inside the housing A110, creating space for installing the catheter torsion assembly 4 and the catheter force measuring assembly 5. The catheter clamping mechanism 3 is installed above the upper cover 120, while the guide wire auxiliary clamping mechanism 2 is fixed at the rear end of the housing 110, and the installation positions are reasonably allocated. Since the main body part 1 is the basic part and the whole device is installed on the platform connection block 1130 through it for corresponding operations, for the convenience of installation, a pair of plug plates 111 are provided at the bottom of the housing 110A, and quick connection holes are provided on the corresponding platform connection block 1130. The plug plates 111 are inserted into the quick connection holes, and pin holes are provided on the plug plates 111. The pins pass through the platform connection block 1130 and are inserted into the pin holes, so that the plug plates 111 are reliably connected to the platform connection block 1130 and are convenient for disassembly.

[0090] The catheter force measuring assembly 5 is installed in the housing A110. It mainly includes a partition plate A510, a catheter connecting plate 540, and a force sensor A550. Among them, the partition plate A510 is fixed in the middle of the housing A110, dividing the space inside the housing A110 into upper and lower parts. The opposite sides of the partition plate A510 are folded upward to form side plates, and a linear guide pair A520 is installed on each of the two side plates. The linear guide pair A520 is connected to the catheter connecting plate 540, so that the catheter connecting plate 540 can move relative to the partition plate A510, which is also the premise for detecting the pushing force of the catheter subsequently. In this embodiment, the linear guide pair A520 is preferably a ball linear guide pair, and the friction force is small and almost negligible, so that the movement resistance of the catheter connecting plate 540 can be ignored, ensuring the high precision of the catheter pushing force detection. The linear guide pair A520 includes a guide rail and a slider. The guide rail is fixed on the side plate of the partition plate A510, and the slider is connected to the catheter connecting plate 540 through a supporting plate 530. The catheter connecting plate 540 is used to connect the catheter clamping mechanism 3. An L-shaped sensor fixing plate A560 is also installed on the partition plate A510. One end of the force sensor 550 is connected to the catheter connecting plate 540, and the other end is connected to the sensor fixing plate A560. In this way, the thrust of the catheter is transmitted to the catheter connecting plate 540 through the catheter clamping mechanism 3, and the catheter connecting plate 540 moves relative to the partition plate A510 to sense the element of the force sensor 550, thereby measuring the resistance and resistance moment between the catheter and the blood vessel wall in real time.

[0091] As can be seen from the above, through the catheter force measuring assembly 5, the resistance of the catheter during the pushing process can be detected, achieving precise control of the catheter and improving the surgical safety; the force sensor 550 is used for real-time dynamic force feedback to control the pushing force size for the doctor during the operation; the catheter force measuring assembly 5 is installed in the housing A110, with a compact structure and relatively closed structure, which can well protect the force sensor 550, and the force measuring form of the force sensor 550 is simple and convenient, with relatively few intermediate connectors and high force measuring accuracy.

[0092] To facilitate the connection between the catheter connecting plate 540 and the catheter clamping mechanism 3, in this embodiment, a pair of plug-in plates A541 with plug-in holes A542 are provided on the catheter connecting plate 540. The plug-in plates A541 pass through the upper cover 120 from inside the housing A110, making the plug-in holes A542 higher than the surface of the upper cover 120, through which the catheter connecting plate 540 and the catheter clamping mechanism 3 can be quickly connected or disassembled. At the same time, to adapt to the structural form of the catheter connecting plate 540, there are also specific requirements for the structure of the catheter clamping mechanism 3.

[0093] The catheter clamping mechanism 3 includes a medical three-way valve 310 and a clamping assembly 320. Among them, the medical three-way valve 310 is used to connect the catheter. It is a commonly used medical tool in the existing clinic, but it has never been used in the field of minimally invasive vascular intervention surgery in the prior art. Here, it is innovatively used for the clamping control of the catheter. It mainly includes a three-way body, a control valve, and a screw cap. The screw cap can rotate relative to the three-way body. When in use, the catheter is first connected to the connection sheath 324, and then the connection sheath 324 is threadedly connected to the screw cap, so as to connect the catheter to the medical three-way valve 310 and be able to rotate relative to it. The clamping assembly 320 is used to clamp and fix the medical three-way valve 310. What is fixed is the three-way body of the medical three-way valve 310. There are two of them, which clamp and fix it from both sides of the medical three-way valve 310. It includes a clamping block 322. One side of the clamping block 322 has a clamping groove that fits the shape of half of the three-way body of the medical three-way valve 310. The clamping grooves of the two clamping blocks 322 can be combined together to form a clamping cavity, which can reliably clamp the three-way body of the medical three-way valve 310 without affecting the rotation of the screw cap. Of course, to adapt to the connection structure of the above-mentioned catheter connection plate 540, here, an opening groove is provided on the lower side of the clamping block 322. A switch base 321 is arranged in the opening groove in a matching manner, and a switch A323 that can be toggled is arranged between the clamping block 322 and the switch base 321. The switch A323 is used to lock or unlock the catheter connection plate 540. The switch A323 is composed of a horizontal clamping plate and a vertical toggling plate. The clamping plate is slidably arranged in the sliding groove on the switch base 321. After the toggling plate passes through the hole on the clamping block 322, it is for toggling. When installing the catheter clamping mechanism 3 above the upper cover 120, the plug-in plate 541 is inserted into the vertical jack formed between the clamping block 322 and the switch base 321. By toggling the switch 323, the clamping plate can be inserted into the plug-in hole 542 of the plug-in plate 541, so as to realize the detachable connection between the catheter connection plate 540 and the catheter clamping mechanism 3.

[0094] As can be seen from the above, the catheter clamping mechanism 3 adopts the structural form of the clamping assembly 320 to clamp the medical three-way valve 310, and the disassembly, assembly and combination are simple, greatly simplifying the clamping structure. The innovative use of the medical three-way valve 310 to connect the catheter not only can connect the catheter simply and quickly, facilitating the disinfection of their connection, but more importantly, through the medical three-way valve 310, contrast agent can be injected into the blood vessel during the operation to perform angiography on the inside of the blood vessel at the head end of the catheter, and then the relative position of the catheter guide wire and the blood vessel can be observed, facilitating the further operation of the catheter guide wire and improving the safety of the operation; in addition, the cost of the medical three-way valve 310 is low and it can be used disposable and discarded after use, instead of the existing clamping mechanism that needs to be disassembled, assembled and disinfected repeatedly.

[0095] The catheter torsion assembly 4 includes a motor A401, a pinion A402, and a large gear A403. Among them, the motor A401 is fixed in the housing A110, which has a good protective effect. The output shaft of the motor A401 is connected to the pinion A402, and the large gear A403 is connected to the connection sheath 324 that fixes the catheter. The pinion A402 and the large gear A403 are in meshing transmission. During use, the motor A401 drives the pinion A402 to rotate. Through the meshing transmission of the pinion A402 and the large gear A403, the large gear A403 drives the connection sheath 324 to rotate, thereby driving the catheter to twist, and the angle of the catheter head end can be adjusted to ensure that the catheter can be smoothly advanced in the blood vessel. A hole matching the outer shape of the connection sheath 324 is provided at the center of the large gear A403, and the connection sheath 324 can be connected to the large gear A403 by inserting it into this hole.

[0096] The torsion operation of the catheter can be realized through the catheter torsion assembly 4, so as to meet the angle control of the catheter head end during the operation and ensure that the catheter can be smoothly advanced to the predetermined position in the blood vessel. The catheter torsion assembly 4 adopts the form of a motor A401 driving a gear. By adjusting the transmission ratio of the large and small gears, the rotation speed of the catheter can be adjusted. And the connection between the large gear A403 and the medical three-way valve is realized through the connection sheath 324, which can not only complete the torsion drive of the catheter, but also simply and conveniently install the catheter on the medical three-way valve 310.

[0097] The wire guiding auxiliary clamping mechanism 2 includes a base 210, a support member 220, a clamping member 230, and a driving element. Among them, the base 210 is used to install the wire guiding auxiliary clamping mechanism 2 on the housing A110. The support member 220 and the driving element are both installed on the base 210. The clamping member 230 is supported by a spring 240 and is arranged in the support member 220. It can be driven by the driving element to move up and down in the vertical direction to clamp or release the wire. The support member 220 has a receiving cavity, and the spring 240 is located in the receiving cavity. The clamping member 230 is a rod-shaped structure, with a pressing block 231 at its upper end and a small hole at its lower end. The lower end is inserted into the receiving cavity from above the support member 220, passes through the spring 240, and then extends out from below the support member 220 to connect the driving element. The driving element only needs to be able to drive the clamping member 230 to move up and down. In this embodiment, the driving element adopts a servo motor A250. The servo motor A250 is connected to a wire wheel 260, and a wire is wound around the wire wheel 260. One end of the wire passes through the small hole at the lower end of the clamping member 230 to connect the clamping member 230. During use, the servo motor A250 drives the wire wheel 260 to rotate. Through the wire, the clamping member 230 is driven to move downwards to compress the spring 240. The pressing block 231 at the upper end of the clamping member 230 moves downwards to press the wire against the upper surface of the support member 220, thereby realizing the clamping of the wire.

[0098] In addition, for the convenience of installing the guide wire auxiliary clamping mechanism 2 onto the housing A110, the base 210 is provided with a pair of insertion blocks 211 for installing it onto the housing A110. By inserting this pair of insertion blocks 211 into the rear side of the housing A110 and fastening with bolts, it can be completed.

[0099] The displacement measurement assembly B1170 can also be arranged on the third platform connecting block, including: a laser mouse displacement sensor 51, an interventional device guiding tube 52, a guiding tube fixing seat 53, and a guide rail 54. The laser mouse displacement sensor 51 is fixed on the platform connecting block 1130. The two tube fixing seats 53 are respectively located at both ends of the laser mouse displacement sensor 51, and their bottoms are matched with the guide rail 54 through a wedge-shaped surface. The guide rail 54 is fixed on the platform connecting block 1130 with screws, and the interventional device guiding tube 52 is fixed on the guiding tube fixing seat 53.

[0100] The catheter and the guide wire pass through the measurement area of the laser mouse displacement sensor 51 along the interventional device guiding tube 52 and enter the guiding tube 52. At this time, the laser mouse displacement sensor 51 measures the axial displacement and rotational displacement of the catheter and the guide wire in real time and sends the displacement signal to the computer for processing; the position of the guiding tube fixing seat 53 can be adjusted along the guide rail 54.

[0101] Based on the above description, the catheter controller device has the following advantages:

[0102] ① The overall structure is simple, adopting a modular structure design. Each part is relatively independent. Assembly can be completed through simple combination, and both disassembly and assembly are convenient. Moreover, the structure is compact and the volume is small; most parts have a simple structure and can be made of plastic products, which are light in weight and greatly reduce the manufacturing cost;

[0103] ② It can simultaneously achieve the clamping, pushing, twisting, force measurement and displacement detection of the catheter, as well as the auxiliary clamping or relaxation of the guide wire, so as to cooperate with the guide wire controller to complete the coordinated operation control of the catheter and the guide wire and meet the various operation requirements of the surgery;

[0104] ③ It has a relatively enclosed structure form, which has good protection for both sensors and motors;

[0105] ④ During the surgery, it can relatively conveniently perform angiography on the blood vessels at the head end of the catheter, so as to understand the relative positional relationship between the catheter and the guide wire and the blood vessels, and improve the safety of the surgery.

[0106] Using the above catheter controller to control the catheter and the guide wire mainly completes the clamping, pushing, twisting, force measurement and displacement detection of the catheter, as well as the clamping and relaxation of the guide wire, and the coordinated control of the catheter and the guide wire to meet the operation requirements of the interventional surgery. The corresponding operation steps are described in detail below.

[0107] First, the main body 1 is installed into the quick-connect hole of the platform connecting block 1130 through the plug plate 111 and fixed by a pin.

[0108] Then, the catheter clamping mechanism 3 clamps and installs the catheter, specifically: first, the tail end of the catheter is connected and installed on the connecting sheath 324. In this step, the large gear A403 is installed in conjunction with the connecting sheath 324 to prepare for the subsequent transmission of the catheter torsion component 4; then the connecting sheath 324 is screwed onto the screw cap of the medical three-way valve 310; then the medical three-way valve 310 is clamped and fixed from both sides by the clamping block 322 of the clamping assembly 320; finally, the clamping assembly 320 after clamping the medical three-way valve 310 is plugged into the catheter connecting plate 540 above the upper cover 120, and the toggle switch A323 is inserted into the plug hole A542 of the catheter connecting plate 540 and locked, so that the catheter clamping mechanism 3 is connected and fixed to the catheter connecting plate 540. At this time, the small gear A402 and the large gear A403 are also meshed and transmitted. The clamping of the catheter by the catheter clamping mechanism 3 is completed, and it is installed on the main body 1.

[0109] Next, after the guidewire controller clamps the guidewire, the head end of the guidewire is inserted into the catheter through the medical three-way valve 310 to ensure that the guidewire behind the medical three-way valve 310 passes between the support member 220 and the clamping block 231 of the clamping member 230 in the guidewire auxiliary clamping mechanism 2, thereby installing the guidewire in place.

[0110] After the above preparations, the catheter controller can control the catheter and guidewire accordingly, as follows:

[0111] (I) When the catheter needs to be controlled individually

[0112] The guide wire auxiliary clamping mechanism 2 releases the guide wire, that is, the servo A250 loses power, and under the action of the spring 240, the clamping block 231 of the clamping member 230 moves away from the surface of the support member 220, so that the clamping block 231 will not clamp the guide wire; the platform connecting block 1130 moves, driving the main part 1 to move, and then driving the catheter clamping mechanism 3 to move, controlling the catheter to move alone, and completing the push.

[0113] (ii) When it is necessary to control the catheter and guidewire simultaneously

[0114] The guide wire auxiliary clamping mechanism 2 assists in clamping the guide wire, that is, the servo A250 is energized to drive the wire wheel 260 to rotate, and the wire wheel 260 pulls the clamping piece 230 downward through the wire, and the clamping piece 230 overcomes the resistance of the spring 240 and moves downward until the clamping block 231 presses the guide wire against the surface of the support member 220, thereby completing the clamping of the guide wire; the platform connecting block 1130 drives the main body 1 to move, and then the catheter clamping mechanism 3 drives the catheter to move. At the same time, the guide wire auxiliary clamping mechanism 2 drives the guide wire to move synchronously, thereby realizing the synchronous pushing of the catheter and the guide wire.

[0115] (3) When the guide wire needs to be controlled separately

[0116] The operating platform stops moving, the catheter clamping mechanism 3 remains stationary, the guide wire auxiliary clamping mechanism 2 releases the guide wire, and the guide wire controller drives the guide wire to perform separate pushing of the guide wire.

[0117] (4) Torsion control of the catheter

[0118] Motor A401 operates. Through the meshing transmission of pinion A402 and gear A403, it drives the connecting sheath 324 and the nut of the medical three-way valve 310 to rotate together, thereby driving the catheter to twist, completing the twisting operation of the catheter, and realizing the angle adjustment of the catheter tip.

[0119] (5) Detection of the pushing force of the catheter

[0120] The operating platform moves, driving the main body part 1 to push forward. Its driving force is transmitted to the catheter clamping mechanism 3 through partition A510, force sensor 550, and catheter connecting plate 540. During the pushing process, the force sensor 550 receives the thrust information and converts it into an electrical signal for output, thereby achieving the detection of the pushing force of the catheter.

[0121] Through the above steps, the clamping, pushing, twisting, and pushing force detection of the catheter can be completed, as well as the auxiliary clamping and relaxation of the guide wire. Each step works in an orderly manner and, in cooperation with the guide wire controller, can complete the coordinated operation of the catheter and guide wire, thereby meeting various operation requirements during the operation. The guide wire controller will be described in detail below.

[0122] II. Structure of the guide wire controller

[0123] The guide wire controller mainly includes five parts, namely, a base body 6, a guide wire clamping mechanism 7, a clamping switching mechanism 8, a guide wire torsion assembly 630, and a guide wire six-axis force measuring assembly 9. Among them, the base body 6 is the installation foundation for the other four parts. The guide wire clamping mechanism 7 and the clamping switching mechanism 8 can be detachably installed on the base body 6. The guide wire clamping mechanism 7 is located on the upper side of the base body 6, and the clamping switching mechanism 8 is located on the rear side of the base body 6. The guide wire clamping mechanism 7 is used to clamp the guide wire, the clamping switching mechanism 8 is used to drive the guide wire clamping mechanism 7 to release the clamping of the guide wire, the guide wire torsion assembly 630 is used to complete the twisting operation of the guide wire, and the guide wire six-axis force measuring assembly 9 is used to detect the pushing force of the guide wire. Through the mutual cooperation of each part of the device, the clamping, relaxation, pushing, twisting, and force measurement of the guide wire can be completed, thereby cooperating with the catheter controller to control the catheter and completing the coordinated cooperation during the operation. The specific structures of each part will be described in detail below.

[0124] The structure of the base body 6 mainly includes a housing B610 and a cover plate 620; in this embodiment, the housing B610 is a shell-like structure with an open top and rear end, and the cover plate 620 is installed on the top of the housing B610, so that a relatively enclosed space is formed inside the housing B610, creating space for the subsequent installation of the wire torsion assembly 630 and the wire force measuring assembly 9. The wire clamping mechanism 7 is installed above the cover plate 620, while the clamping switching mechanism 8 is fixed to the rear side of the housing B610. The installation positions are reasonably allocated and also meet the requirements for the realization of their respective functions. Since the base body 6 is the basic part and the entire device is installed on the platform connection block 1130 through it for corresponding operations, for the convenience of installation, a pair of insertion plates 611 are provided at the bottom of the housing B610. The insertion plates 611 are inserted into the quick connection holes and then fixed by pins.

[0125] The wire force measuring assembly 9 is installed inside the housing B610 and mainly includes a partition B910, a wire connecting member 940, and a six-axis force sensor 950; among them, the partition B910 is installed in the middle of the housing B610, roughly dividing the space inside the housing B610 into upper and lower parts. The two opposite side edges of the partition B910 are folded upward to form side plates, and a linear guide pair B920 is installed on the inner sides of the two opposite side plates. The linear guide pair B920 is connected to the wire connecting member 940, and the wire connecting member 940 is used to connect the wire clamping mechanism 7. Thus, the wire connecting member 940 can slide relative to the partition B910, which is also a prerequisite for subsequent detection of the pushing force of the wire. In this embodiment, the linear guide pair B920 is also preferably a ball linear guide pair, and the friction is so small that it can be almost ignored. Thus, the movement resistance of the wire connecting member 940 can be ignored, ensuring the high precision of the wire pushing force detection. The linear guide pair B920 includes a guide rail and a slider. The guide rail is fixed on the side plate of the partition B910, and the slider is connected to the wire connecting member 940 through a supporting plate B930. An L-shaped sensor fixing plate B960 is also installed on the partition B910. One end of the six-axis force sensor 950 is connected to the wire connecting member 940, and the other end is connected to the sensor fixing plate B960. In this way, the pushing force of the wire is transmitted to the wire connecting member 940 through the wire clamping mechanism 7. The wire connecting member 940 moves relative to the partition B910, generating a pulling force on the six-axis force sensor 950, thereby obtaining the magnitude of the force.

[0126] To facilitate the connection between the wire connecting member 940 and the wire clamping mechanism 7, in this embodiment, a pair of insertion plates B941 with insertion holes B942 are provided on the wire connecting member 940. The insertion plates B941 pass through the cover plate 620 from inside the housing B610, making the insertion holes B942 higher than the surface of the cover plate 620, through which the wire connecting member 940 and the wire clamping mechanism 7 can be quickly connected or disassembled. At the same time, to adapt to the structural form of the wire connecting member 940, specific requirements are also imposed on the structure of the wire clamping mechanism 7, which will be specifically described below.

[0127] The guide wire clamping mechanism 7 includes a guide wire locking sleeve 710, a guide wire locking rod 720, a guide wire lock 730 and a sleeve support assembly 790. Among them, the guide wire locking sleeve 710, the guide wire locking rod 720 and the guide wire lock 730 all have central holes penetrating along their respective axes for the guide wire to pass through. The guide wire lock 730 has a structure similar to a mushroom, with different sizes at both ends. The smaller end can be inserted into the end of the guide wire locking rod 720, and the larger end is exposed outside and has an outer conical surface. At least two cuts are provided along the circumferential direction of the outer conical surface. In this embodiment, 4 cuts are provided, dividing the conical end into 4 equal parts. The guide wire locking rod 720 loaded with the guide wire lock 730 is inserted into the guide wire locking sleeve 710, and the guide wire lock 730 has a conical hole that matches the outer conical surface of the guide wire lock 730. At the same time, one end of the guide wire locking rod 720 close to the guide wire locking rod 720 has a retaining ring, and a switching spring 740 is sleeved on the guide wire locking rod 720. One end of the switching spring 740 is limited by the retaining ring. Then, a lock end cap 760 is installed at the end of the guide wire locking sleeve 710 to press-fit the switching spring 740 into the guide wire locking sleeve 710. A gasket 750 is provided between the lock end cap 760 and the end of the switching spring 740 to make the lock end cap 760 better press the switching spring 740. In this way, the lock end cap 760 squeezes the switching spring 740, the switching spring 740 applies a thrust to the guide wire locking rod 720, and then the guide wire locking rod 720 squeezes the guide wire lock 730, causing the outer conical surface of the guide wire lock 730 to move relative to the conical hole surface of the guide wire locking sleeve 710. Due to the existence of the cuts on the guide wire lock 730, the end of the guide wire lock 730 with the conical surface will radially contract, clamping the guide wire. In this way, the guide wire is clamped by the clamping force on the entire circumference, with a large clamping area, reliable clamping, and little damage to the guide wire.

[0128] It should be specifically noted that, to satisfy the connection between the wire clamping mechanism 7 and the wire connecting member 940, and to enable the subsequent wire twisting assembly 630 to twist the wire, in this embodiment, the support structure of the wire locking sleeve 710 is designed. The wire locking sleeve 710 is supported on the base 6 through a sleeve support assembly 790. The sleeve support assembly 790 includes a positioning base 791, a bearing pressing plate 794, and a positioning pressing plate 795. Among them, the positioning base 791 has a U-shaped receiving cavity with two bearing slots inside. One bearing 780 is installed at each end of the wire locking sleeve 710, and the two bearings 780 are stuck in the bearing slots. The bearing pressing plate 794 presses the bearings from above the bearings 780, which can prevent the axial movement of the wire locking sleeve 710. Then, the bearing pressing plate 794 is fixed through the positioning pressing plate 795 to prevent the radial movement of the wire locking sleeve 710. The bearing pressing plate 794 and the positioning base 791 are connected by an insertion connection method, which is convenient for insertion. In addition, an opening slot is provided on each side of the bottom of the positioning base 791. A connecting seat 793 is arranged in the opening slot in a matching manner, and a toggle lock switch 792 is arranged in the space between the positioning base 791 and the connecting seat 793. The toggle lock switch 792 is used to lock or unlock the wire connecting member 940. The toggle lock switch 792 is composed of a horizontal clamping plate and a vertical toggle plate. The clamping plate is slidably arranged in the chute on the connecting seat 793, and the toggle plate passes through the hole on the positioning base 791 and exposes the surface of the connecting seat 793 for toggling. When the wire clamping mechanism 7 is installed above the cover plate 620, the plugging plate B941 is inserted into the vertical plugging hole formed between the positioning base 791 and the connecting seat 793. By toggling the toggle lock switch 792, the clamping plate can be inserted into the plugging hole B942 of the plugging plate B941, thereby realizing the detachable connection between the wire clamping mechanism 7 and the wire connecting member 940.

[0129] The structure of the wire twisting assembly 630 includes a motor B631, a small gear B632, and a large gear B633. Among them, the motor B631 is fixed in the housing B610, which has a good protective effect. The output shaft of the motor B631 is connected to the small gear B632, and the large gear B633 is connected to the front end of the wire locking sleeve 710 through a key. The small gear B632 and the large gear B633 are in meshing transmission. During use, the motor B631 drives the small gear B632 to rotate. Through the meshing transmission of the large and small gears, the large gear B633 drives the wire locking sleeve 710 to rotate. On the premise of wire clamping, the wire can rotate together with the wire locking sleeve 710, so as to adjust the angle of the wire end and ensure that the catheter can be smoothly advanced in the blood vessel.

[0130] The twisting operation of the guide wire can be achieved through the guide wire twisting assembly 630, so as to meet the angle control of the head end of the guide wire during the operation, ensure that the guide wire can be smoothly advanced to the predetermined position in the catheter and in the blood vessel; the guide wire twisting assembly 630 adopts the form of a motor B631 driving a gear, and by adjusting the transmission ratio of the large and small gears, the rotation speed of the guide wire can be adjusted.

[0131] The clamping and switching mechanism 8 includes a servo base 810 and a servo B820; wherein, the servo base 810 is used to mount the clamping and switching mechanism 8 on the housing B610, the servo B820 is mounted on the servo base 810, the servo B820 is connected with a turntable 830 and can drive the turntable 830 to rotate. A wire is wound around the turntable 830, and the free end of the wire is used to pull the guide wire locking rod 720, so that the guide wire locking rod 720 releases the extrusion on the guide wire lock 730, so that the guide wire lock 730 releases the clamping of the guide wire. In order to achieve the above functions and not affect the clamping of the guide wire in its normal state, the connection structure between the wire and the guide wire locking rod 720 is designed. In this embodiment, a lock plate 770 is connected to the end of the guide wire locking rod 720 by a thread. There is a certain distance between the lock plate 770 and the lock end cover 760, and this distance can be adjusted by the thread engagement length between the lock plate 770 and the guide wire locking rod 720; at the same time, a switching plate 840 is arranged on the partition B910 through a linear guide pair C850. The switching plate 840 has an arc notch. Through this notch, the switching plate 840 is stuck between the lock end cover 760 and the lock plate 770. The wire on the turntable 830 is connected to the switching plate 840. Therefore, the servo B820 drives the turntable 830 to rotate, pulls the switching plate 840 to move backward through the wire, the switching plate 840 is blocked by the lock plate 770, and drives the guide wire locking rod 720 to move backward against the switching spring 740, so as to release the guide wire.

[0132] In addition, to facilitate the installation of the guide clamping and switching mechanism 8 on the housing B610, the servo base 810 is provided with a pair of plug-in blocks 811 for mounting it on the housing B610. By inserting the plug-in blocks 811 into the rear side of the housing B610 and fixing them with bolts, the connection can be completed.

[0133] In the prior art, the clamping and loosening of the guide wire are achieved by the same mechanism without separating them for operation, resulting in a relatively complex clamping structure. However, in actual use, the guide wire generally needs to be clamped most of the time. In general, during the operation of the catheter and the guide wire, the guide wire needs to be loosened only when the clamping positions of the catheter and the guide wire reach the limit positions and the clamping position of the guide wire needs to be adjusted. Therefore, considering the actual use situation in this embodiment, the clamping and loosening of the guide wire are controlled separately. The guide wire clamping mechanism 7 defaults to always clamp the guide wire, and when the guide wire needs to be loosened, it is switched through the clamping switching mechanism 8 to loosen the guide wire, greatly optimizing the structure.

[0134] Based on the above description, the structures and their connection relationships of all parts of the guide wire controller for the interventional surgical robot have been clearly and completely described. It has similar advantages to the catheter controller, namely:

[0135] ① The overall structure is simple, adopting a modular structure design. Each part is relatively independent, and can be assembled by simple combination. It is convenient for disassembly and assembly, and has a compact structure and small volume. Most of the components have a simple structure and can be made of plastic products, which are light in weight and greatly reduce the manufacturing cost.

[0136] ② It can simultaneously achieve the clamping, loosening, pushing, twisting and force measurement of the guide wire, so as to cooperate with the catheter controller for the coordinated control operation of the catheter and the guide wire, meeting various operation requirements of the surgery.

[0137] ③ It has a relatively closed structure form, providing good protection for sensors and motors.

[0138] By using the above guide wire controller, the clamping, loosening, pushing, twisting and force measurement of the guide wire can be mainly completed, meeting various operation requirements of the interventional surgery. The corresponding operation steps are described in detail below.

[0139] First, insert the base body 6 into the quick connection hole of the platform connection block 1130 through the plug board B611 and fix it with a pin. Then, pass the front end of the guide wire through the guide wire locking rod 720 and the guide wire lock 730 in sequence, and extend it from the front end of the guide wire locking sleeve 710. Tighten the lock end cover 760 to make the guide wire lock 730 clamp the guide wire. Of course, in cooperation with the above catheter controller, the end of the guide wire is inserted into the catheter through the medical three-way valve 310.

[0140] After the above preparations, the corresponding control of the guide wire can be carried out as follows:

[0141] (1) Pushing operation of the guide wire

[0142] The servo B820 does not operate, the guide wire is clamped by the guide wire stopper 730, and the platform connection block 1130 moves, driving the guide wire to move forward together to achieve the pushing of the guide wire.

[0143] (2) Detection of the pushing force of the guide wire

[0144] During the pushing process of the guide wire, the pushing force of the guide wire is transmitted to the six-axis force sensor 950 through the guide wire clamping mechanism 7, and the force sensor 950 transmits the force and torque of the guide wire in real time, enabling the operator to remotely sense the resistance generated during the wire feeding process.

[0145] (3) Twisting operation of the guide wire

[0146] On the premise that the guide wire is clamped, the motor B631 is powered on. Through the meshing transmission of the small gear B632 and the large gear B633, the guide wire locking sleeve 710 is driven to rotate, thereby driving the guide wire to rotate and realizing the twisting operation of the guide wire.

[0147] (4) Loosening operation of the guide wire

[0148] The servo B820 is powered on to drive the turntable 830 to rotate. The wire is wound onto the turntable 830, first driving the switching plate 840 to move backward. The switching plate 840 pulls the guide wire locking rod 720 to move, and the guide wire stopper 730 releases the clamping of the guide wire.

[0149] Through the above steps, the clamping, loosening, pushing, twisting and pushing force detection of the guide wire can be completed. The cooperation between the guide wire and the catheter can be completed by performing these steps in an orderly manner, thus meeting various operation requirements during the operation.

[0150] For the whole machine, the control method of the slave operation device of the above-mentioned robot platform for the cooperative operation of the catheter and the guide wire is to control the relative positions of the catheter controller and the guide wire controller in the moving direction through the operation platform, and cooperate with the control actions of the catheter controller and the guide wire controller on the catheter and the guide wire to complete the operation in an orderly manner; it can simultaneously control the clamping, relaxation, pushing, twisting, force measurement or force feedback transmission of the catheter and the guide wire to complete complex surgical actions; it should be particularly noted that when the guide wire controller pushes the guide wire close to the catheter controller, at this time, the guide wire controller needs to move backward, then the catheter controller clamps the guide wire through the guide wire auxiliary clamping mechanism 2, and after the guide wire controller releases the guide wire and pushes it backward to the required position, the guide wire gripper re-clamps the guide wire. At this time, the guide wire auxiliary clamping mechanism 2 can release the guide wire to realize the switching action during the guide wire pushing process. This form ensures that the position of the guide wire does not change during the switching process.

[0151] The examples described in the present invention are only descriptions of the preferred embodiments of the present invention, and do not limit the concept and scope of the present invention. Without departing from the design concept of the present invention, various deformations and improvements made by those skilled in the art to the technical solutions of the present invention shall fall within the protection scope of the present invention.

Claims

1. An operating platform, comprising a support platform (1110), a platform connection block (1130), a linear guide pair D (1020), a drive assembly (1140), a displacement measurement assembly (1170), an IP camera (1180), and a height-adjustable base (1101). A platform connection block (1130) is arranged on the support platform (1110) through the linear guide pair D (1020); the platform connection block (1130) is driven by a drive assembly (1140), and the drive assembly (1140) includes a drive motor (1142) fixed on the support platform, a rope (1141), and a tensioning mechanism (1150); there are two tensioning mechanisms, which are respectively arranged at both ends of the support platform (1110); the rope (1141) is tensioned on the two tensioning mechanisms, and the rope is connected to the platform connection block (1130); the drive motor (1142) is connected to a rope pulley (1143), and the rope pulley is used to drive the rope (1141) to drive the platform connection block (1130) to move; there are more than two platform connection blocks, which are respectively installed with a catheter controller, a guide wire controller, and other auxiliary mechanisms; the platform connection blocks are installed on the same linear guide pair D (1020) to realize the linear movement control of the catheter controller and the guide wire controller on the same linear track; the height-adjustable base (1101) is installed under the support platform (1110), and the height-adjustable base (1101) is composed of two lifting platforms; the displacement measurement assembly (1170) is composed of a grating scale (1171) arranged on one side of the support platform (1110) and a grating scale reading head (1172) fixed on the platform connection block (1130). Two reverse limit sensors are arranged on the grating scale reading head (1172) along the movement direction of the platform connection block; the displacement measurement assembly (1170) is used to measure the displacement of the catheter and the guide wire, and transmit the collected axial displacement and rotational displacement to a computer for calculation and analysis. The IP camera (1180) collects real-time on-site images; each platform connection block (1130) is individually driven and controlled by a drive assembly; the number of drive assemblies is the same as the number of platform connection blocks.

2. The operation platform according to claim 1, characterized in that There are two platform connection blocks (1130), which are respectively installed with a catheter controller and a guide wire controller.

3. An operating platform according to claim 1, characterized in that, There are three or more platform connection blocks (1130).

4. An operating platform according to claim 3, wherein The tensioning mechanism (1150) includes a guide fixing sleeve (1151) and an adjusting sleeve (1152). A guide rod (1153) is installed in the guide fixing sleeve (1151). One end of the guide rod (1153) is connected to a tensioning bracket (1154). Two guide wheels (1155) for supporting the rope (1141) are respectively arranged at both ends of the tensioning bracket (1154); the adjusting sleeve (1152) is installed with a screw rod (1156), and the screw rod (1156) can adjust the position of the guide rod (1153) in the guide fixing sleeve (1151) to make the guide wheel (1155) tension the rope (1141).

5. An operating platform according to claim 1, characterized in that, The catheter controller includes a catheter control main body part (1), a catheter clamping mechanism (3), and a guide wire auxiliary clamping mechanism (2). The catheter clamping mechanism is used to clamp the catheter, and the guide wire auxiliary clamping mechanism is used to clamp or release the guide wire. Both the catheter clamping mechanism and the guide wire auxiliary clamping mechanism are detachably mounted on the main body part.

6. An operating platform according to claim 1, characterized in that, The guide wire controller includes a guide wire control base body (6), a guide wire clamping mechanism (7) mounted on the base body (6), a clamping switching mechanism (8), and a six-dimensional force measuring component (9). The guide wire clamping mechanism (7) is used to clamp the guide wire, and the clamping switching mechanism (8) is used to drive the guide wire clamping mechanism (7) to release the clamping of the guide wire.

7. An operating platform according to any one of claims 1-6, characterized in that, The lifting platform A is composed of a lifting platform bottom plate (1-1), a threaded rod (1-2), shaft A (1-3), shaft B (1-4), a lifting platform top plate (1-5), and a lifting platform support rod (1-6). Among them, the lower end of the lifting platform support rod (1-6) is mounted on the lifting platform bottom plate (1-1), and the upper end supports the lifting platform top plate (1-5). The shaft A serves as the rotation axis of the lifting platform support rod. The shaft B is the rotation axis of the lifting platform support rod. The threaded rod passes through the shaft A and the shaft B, and the connection thread directions with the shaft A and the shaft B are opposite. A bracket is mounted on the lifting platform top plate (1-5), and the bracket is connected to the support platform (1110).

8. The operating platform according to any one of claims 1-7, characterized in that, The operation platform is used for teaching or simulation training.

9. A remote control system for the operating platform according to any one of claims 1-7, comprising a master part and a slave part, the master part being connected to the slave part by wireless or wired communication means, characterized in that: The master end part receives operation signals, controls the actions of the slave end part, and receives feedback signals from the slave end part. The slave end part receives and executes the operation signals sent by the master end part. The master end part includes a master end control computer and a master end control platform. The slave end part includes a support platform (1110), a platform connection block (1130), a linear guide pair D (1020), a driving component (1140), a displacement measuring component (1170), an IP camera (1180), and an adjustable-height base (1101).

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