A guide wire control device capable of measuring micro-resistance and having a force measurement self-checking function

Abstract

The application discloses a guide wire control device capable of measuring tiny resistance and having a force self-checking function, comprising: a guide wire pushing mechanism, which is provided with a first pressure sensor; an active end guide wire clamping mechanism, which is fixed with a force measuring end of the first pressure sensor and is provided with a first guide wire clamping part, a first force amplifying lever articulated thereon and a second pressure sensor fixed thereon, and a force measuring end of the second pressure sensor is connected with the first force amplifying lever through a first connecting sheet; and a passive end clamping mechanism, which is fixed on the active end guide wire clamping mechanism, is provided with a second guide wire clamping part, is articulated with a second force amplifying lever and is fixed with a third pressure sensor, and a force measuring end of the third pressure sensor is connected with the second force amplifying lever through a second connecting sheet. The device can detect tiny friction force suffered by the guide wire during movement and has the force self-checking function, can timely feedback information to an operator, and improves the safety of surgery.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of control and force detection of a minimally invasive vascular interventional surgery robot guide wire, and more particularly to a guide wire control device capable of measuring small resistance and having a force self-checking function. BACKGROUND

[0002] Nearly 30 million people die of cardiovascular and cerebrovascular diseases worldwide each year, accounting for about 30% of all disease mortality. In China, there are nearly 300 million people suffering from cardiovascular and cerebrovascular diseases. Cardiovascular and cerebrovascular diseases have become one of the three major causes of human disease death, seriously affecting the health of the nation and the normal life of people.

[0003] Cardiovascular and cerebrovascular minimally invasive interventional therapy is the main treatment for cardiovascular and cerebrovascular diseases. Compared with traditional surgical operation, it has obvious advantages such as small incision and short postoperative recovery time. Cardiovascular and cerebrovascular interventional surgery is a process of sending catheters, guide wires and stents into the patient's body by the doctor's hand to complete the treatment.

[0004] The interventional surgery has the following two problems, first, during the operation, because the DSA will emit X-rays, the doctor's physical decline is fast, the attention and stability will also decline, which will lead to the decline of operation precision, and easy to cause the endovascular injury, blood vessel perforation rupture and other accidents caused by improper pushing force, which will lead to the danger of patient's life. Secondly, the accumulation of long-term ionizing radiation will greatly increase the probability of doctors suffering from leukemia, cancer and acute cataract. The phenomenon of doctors continuously accumulating radiation due to interventional surgery has become an important problem that cannot be ignored, which damages the professional life of doctors and restricts the development of interventional surgery.

[0005] By means of robot technology, this problem can be effectively solved, and the operation precision and stability can be greatly improved, and the harm of radiation to interventional doctors can be effectively reduced, and the probability of intraoperative accidents can be reduced. Therefore, cardiovascular and cerebrovascular interventional surgery auxiliary robots are more and more concerned by people, and gradually become the key research object of today's major technological powers in the field of medical robots.

[0006] But it is well known that the robot has no feeling, how to ensure safety in surgery is a concern, how to make the robot have a hand like a doctor, and can sense in time when danger occurs, is a problem that needs to be considered. There are several problems in the control and stress detection of the guide wire of the interventional surgery robot in China: (1) the guide wire is relatively soft, and the resistance received by the guide wire tip in the blood vessel is very small through the long guide wire to the end of the resistance, which is difficult to be detected; (2) the sensor is directly used to measure the change of the stress of the guide wire, and the sterile environment cannot be effectively guaranteed; (3) there is no good method for indirectly measuring the stress of the guide wire axial friction; (4) the accuracy of the force measurement cannot be ensured, and if the sensor fails or the machine has a problem, the system cannot know, and the doctor cannot judge.

[0007] Therefore, how to provide a guide wire control device capable of measuring the small frictional force received by the guide wire during movement at the clamping end of the guide wire, judging in real time according to the change of the stress condition, giving timely and effective information feedback to the operator, ensuring that the surgery can be safely and reliably performed, and the system can judge the accuracy of the stress data, ensure that the data output by the system is accurate and effective, and when data anomaly occurs, the user can be informed in time, and the guide wire control device capable of measuring small resistance and having force self-checking function to improve the safety of surgery is a problem that needs to be solved by those skilled in the art. SUMMARY

[0008] Therefore, how to provide a guide wire control device capable of measuring the small frictional force received by the guide wire during movement at the clamping end of the guide wire, judging in real time according to the change of the stress condition, giving timely and effective information feedback to the operator, ensuring that the surgery can be safely and reliably performed, and the system can judge the accuracy of the stress data, ensure that the data output by the system is accurate and effective, and when data anomaly occurs, the user can be informed in time, and the guide wire control device capable of measuring small resistance and having force self-checking function to improve the safety of surgery is a problem that needs to be solved by those skilled in the art.

[0009] In order to achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0010] A guide wire control device capable of measuring small resistance and having force self-checking function, comprising:

[0011] A guide wire pushing mechanism, wherein a first pressure sensor capable of moving left and right is arranged on the guide wire pushing mechanism;

[0012] The active end guide wire clamping mechanism is fixedly connected with the force measuring end of the first pressure sensor, and a first guide wire clamping part capable of moving up and down and forward and backward is arranged on the active end guide wire clamping mechanism; a first force amplification lever is hingedly connected to the first guide wire clamping part, and a second pressure sensor is fixedly arranged on the first force amplification lever; a first clamping end is fixedly arranged on the first force amplification lever, and the force measuring end of the second pressure sensor is connected with the first force amplification lever through a first connecting piece;

[0013] The passive end clamping mechanism is fixedly arranged on the active end guide wire clamping mechanism, and a second guide wire clamping part capable of moving up and down is arranged on the passive end clamping mechanism; a second force amplification lever is hingedly connected to the second guide wire clamping part, and a third pressure sensor is fixedly arranged on the second force amplification lever; a second clamping end is fixedly arranged on the second force amplification lever, and the force measuring end of the third pressure sensor is connected with the second force amplification lever through a second connecting piece;

[0014] The first clamping end and the second clamping end cooperate with each other to realize clamping and rotation of the guide wire, and realize pushing of the guide wire under the action of the guide wire pushing mechanism.

[0015] Compared with the prior art, the guide wire control device provided by the technical scheme can measure a small resistance and has a force self-checking function; the device is electrically connected with a control system of a minimally invasive blood vessel intervention surgery robot, and reciprocating movement of the device is coordinated with a pushing mechanism of the intervention surgery robot to push the guide wire; the first force amplification lever and the second force amplification lever are actually a lever structure, so that the first force amplification lever can amplify the force received by the first clamping end from the guide wire, and the amplified force is easily detected by the second pressure sensor; the second force amplification lever can amplify the force received by the second clamping end from the guide wire, and the amplified force is easily detected by the third pressure sensor; the force actually received by the guide wire is the sum of the forces detected by the second pressure sensor and the third pressure sensor; the robot control system presents the change of the force to the doctor after calculation based on the values of the two sensors, so as to give the doctor timely and effective information feedback and ensure that the surgery can be safely and reliably performed; the first pressure sensor can detect the force change of the whole active end guide wire clamping mechanism and the passive end clamping mechanism, and the system also collects the value for comparison with the sum of the values detected by the second pressure sensor and the third pressure sensor; if the comparison result is not large, it indicates that the force measurement is accurate; if the difference is too large, the system will give an abnormal prompt to the doctor, indicating that the test data has a problem, and the doctor needs to pay attention to use and perform equipment maintenance if necessary.

[0016] Therefore, the device is used for pushing and rotating control of the guide wire in an interventional operation, and can detect the slight friction force received by the guide wire during movement at the clamping end of the guide wire, judge in real time according to the change of the force condition, give timely and effective information feedback to the operator, and protect the operation to be safely and reliably performed. When an abnormal condition occurs, the operator can be timely reminded, and it is a safety protection device, which assists the doctor to better perform the interventional operation treatment. Meanwhile, the system can judge the accuracy of the force data by itself, ensure that the data output by the system is accurate and effective, and can timely inform the user when the data is abnormal, thereby improving the operation safety.

[0017] Further, the guide wire pushing mechanism comprises:

[0018] a mounting bottom plate;

[0019] a first lead screw motor fixed on the top end surface of the mounting bottom plate through a first motor support;

[0020] a first linear guide rail fixedly connected with the top end of the mounting bottom plate, and the length direction of the first linear guide rail is the same as the pushing direction of the guide wire;

[0021] a first connecting plate fixed on a first sliding block on the first linear guide rail, a first threaded hole is formed in the first connecting plate, a lead screw of the first lead screw motor is in threaded connection with the first threaded hole, and the first pressure sensor is fixed on the first connecting plate.

[0022] The beneficial effects generated by the above technical solutions are that, under the driving of the first lead screw motor, the active end guide wire clamping mechanism and the passive end clamping mechanism can move in the left-right direction to complete the pushing action of the guide wire, and the first pressure sensor can detect the force condition of the active end guide wire clamping mechanism and the passive end clamping mechanism as a whole to realize the self-checking function of the system.

[0023] Further, the active end guide wire clamping mechanism comprises:

[0024] a right-angle mounting plate, a vertical mounting plate is fixed on the bottom end surface of the horizontal plate of the right-angle mounting plate, the force measuring end of the first pressure sensor is located below the bottom end surface of the horizontal plate of the right-angle mounting plate, and is fixedly connected with one side of the vertical mounting plate, and the passive end clamping mechanism is fixed on the outer side surface of the vertical plate of the right-angle mounting plate;

[0025] a second lead screw motor fixed on the inner side surface of the vertical plate of the right-angle mounting plate, and the lead screw of the second lead screw motor is vertically arranged;

[0026] A second linear guide rail is fixed vertically on the other side of the vertical mounting plate;

[0027] The first guide wire clamping part comprises:

[0028] A T-shaped connecting plate is fixedly connected with a second sliding block on the second linear guide rail through a vertical plate thereof, a horizontal plate of the T-shaped connecting plate is provided with a second threaded hole, and a screw rod of a second screw motor is threadedly connected with the second threaded hole;

[0029] A third screw motor is fixed on the top end surface of the horizontal plate of the T-shaped connecting plate through a second motor support, and a screw rod of the third screw motor is horizontally arranged;

[0030] A third linear guide rail is fixed horizontally on the top end surface of the horizontal plate of the T-shaped connecting plate;

[0031] A second connecting plate is fixedly connected with a third sliding block on the third linear guide rail through a bottom end surface thereof, the second connecting plate is provided with a third threaded hole, a screw rod of the third screw motor is threadedly connected with the third threaded hole, one end of a first force amplification lever is provided with a first hinged hole, the first hinged hole is sleeved on a first hinged column on the top end surface of the second connecting plate, the other end of the first force amplification lever is fixedly connected with the first clamping end, the second pressure sensor is fixed on the top end surface of the second connecting plate and arranged close to the first force amplification lever, and two first sleeve holes are formed in the first connecting piece, one of the first sleeve holes is hingedly connected with a connecting column on the first force amplification lever, and the other first sleeve hole is hingedly connected with a connecting column on a force sensing end of the second pressure sensor.

[0032] The beneficial effects of the above technical scheme are that the first clamping end can move up and down under the driving of the second screw motor to complete a rubbing and rotating action on the guide wire, and the first clamping end can move forward and backward under the driving of the third screw motor to complete a clamping action on the guide wire. When the guide wire is subjected to resistance, the first force amplification lever can amplify the force and transmit the force to the second pressure sensor, so that a more tiny force can be detected.

[0033] Further, the first hinged hole is embedded with a first bearing, and an inner ring of the first bearing is sleeved on the first hinged column.

[0034] The beneficial effects of the above technical scheme are that the sensitivity of the first force amplification lever rotating on the first hinged column is improved, the first force amplification lever can more sensitively perceive the resistance of the guide wire, and the force can be more accurately transmitted to the second pressure sensor.

[0035] Further, the first clamping end comprises:

[0036] A first fixing member is fixed at the other end of the first force amplification lever;

[0037] A first clamping block is detachably connected to the other side of the first fixing member.

[0038] Further, the first fixing member is a first electromagnet, and a first iron sheet is fixed on one side of the first clamping block.

[0039] The above technical solution has the beneficial effect that the first clamping block is easy to disassemble and replace, and the disassembled first clamping block can be subjected to subsequent disinfection treatment, thereby ensuring the cleanliness of the guide wire and improving the safety of the guide wire.

[0040] Further, the passive end clamping mechanism comprises:

[0041] A fourth lead screw motor is fixed on the outer side of the vertical plate of the right-angle mounting plate, and the lead screw of the fourth lead screw motor is arranged vertically;

[0042] A fourth linear guide rail is fixed vertically on the outer side of the vertical plate of the right-angle mounting plate;

[0043] The second guide wire clamping part comprises:

[0044] A third connecting plate is fixedly connected to a fourth sliding block on the fourth linear guide rail on one side, a fourth threaded hole is formed in the third connecting plate, the lead screw of the fourth lead screw motor is threadedly connected to the fourth threaded hole, a second hinge hole is formed at one end of the second force amplification lever, the second hinge hole is sleeved on a second hinge column on the other side of the third connecting plate, the other end of the second force amplification lever is fixed with the second clamping end, the third pressure sensor is fixed on the other side of the third connecting plate and is arranged close to the second force amplification lever, two second sleeve holes are formed in the second connecting piece, one of the second sleeve holes is hingedly connected to the connecting column on the second force amplification lever, and the other second sleeve hole is hingedly connected to the connecting column on the force end of the third pressure sensor.

[0045] The above technical solution has the beneficial effect that the second clamping end can move up and down under the driving of the fourth lead screw motor, thereby completing the rolling and rotating action of the guide wire. When the guide wire is subjected to resistance, the second force amplification lever can amplify the force and transmit it to the third pressure sensor, thereby ensuring that a smaller force can be detected.

[0046] Further, the second hinge hole is embedded with a second bearing, and the inner ring of the second bearing is sleeved on the second hinge column.

[0047] The above technical solution has the beneficial effect of improving the sensitivity of the second force amplification lever in rotating on the second hinge column, making the second force amplification lever more sensitive to the resistance received by the guide wire and more accurately transmitting the force to the third pressure sensor.

[0048] Further, the second clamping end comprises:

[0049] A second fixing member is fixed on the other end of the second force amplification lever;

[0050] A second clamping block is detachably connected to the other side of the second fixing member, and the second clamping block and the first clamping block cooperate to clamp and rotate the guide wire.

[0051] Further, the second fixing member is a second electromagnet, the second clamping block is an L-shaped plate, a second iron sheet is fixed on the bottom end surface of the horizontal plate of the second clamping block, the second electromagnet is magnetically connected to the second iron sheet, and the vertical plate of the second clamping block cooperates with the first clamping block to clamp and rotate the guide wire.

[0052] The above technical solution has the beneficial effect of facilitating the disassembly and replacement of the second clamping block, facilitating subsequent disinfection of the disassembled second clamping block, ensuring the cleanliness of the guide wire, and improving the safety of the guide wire. BRIEF DESCRIPTION OF DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only embodiments of the present application, and those skilled in the art can obtain other drawings according to the provided drawings without creative labor.

[0054] Figure 1 The accompanying drawings are schematic views of the axial side structure of the guide wire control device capable of measuring small resistance and having force self-checking function from the first perspective.

[0055] Figure 2 The accompanying drawings are schematic views of the axial side structure of the guide wire control device capable of measuring small resistance and having force self-checking function from the second perspective.

[0056] Figure 3 The accompanying drawings are schematic views of the assembly structure of the guide wire pushing mechanism.

[0057] Figure 4 The drawing is an exploded structural schematic diagram of the guide wire pushing mechanism.

[0058] Figure 5 The drawing is an assembled structural schematic diagram of the active end guide wire clamping mechanism and the passive end clamping mechanism.

[0059] Figure 6 The drawing is an assembled structural schematic diagram of the active end guide wire clamping mechanism.

[0060] Figure 7 The drawing is an exploded structural schematic diagram of the active end guide wire clamping mechanism.

[0061] Figure 8 The drawing is an assembled structural schematic diagram of the passive end clamping mechanism.

[0062] Figure 9 The drawing is an exploded structural schematic diagram of the passive end clamping mechanism. DETAILED DESCRIPTION

[0063] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0064] The present application provides a guide wire control device capable of measuring small resistance and having a force measurement self-checking function, which aims to solve the problems that the existing interventional surgery robot cannot detect the small resistance received by the guide wire, the force detection device is difficult to install, the force measuring device has no self-checking function, the accuracy of the force measurement cannot be guaranteed, and the force control of the guide wire cannot meet the clinical needs.

[0065] Referring to Figures 1-9 The embodiments of the present application disclose a guide wire control device capable of measuring small resistance and having a force measurement self-checking function, which comprises:

[0066] The guide wire pushing mechanism 1 is provided with a first pressure sensor 17 that can move left and right.

[0067] The active end guide wire clamping mechanism 2 is fixedly connected with the force measuring end of the first pressure sensor 17, and is provided with a first guide wire clamping part 25 which can move up and down and front and back, the first guide wire clamping part 25 is hingedly connected with a first force amplification lever 258 and fixedly connected with a second pressure sensor 260, the first force amplification lever 258 is fixedly connected with a first clamping end 259, and the force measuring end of the second pressure sensor 260 is connected with the first force amplification lever 258 through a first connecting sheet 261;

[0068] The passive end clamping mechanism 3 is fixed on the active end guide wire clamping mechanism 2, and is provided with a second guide wire clamping part 33 which can move up and down, the second guide wire clamping part 33 is hingedly connected with a second force amplification lever 333 and fixedly connected with a third pressure sensor 335, the second force amplification lever 333 is fixedly connected with a second clamping end 334, and the force measuring end of the third pressure sensor 335 is connected with the second force amplification lever 333 through a second connecting sheet 336;

[0069] The first clamping end 259 and the second clamping end 334 cooperate with each other to realize the clamping and rotation of the guide wire 100, and realize the pushing of the guide wire 100 under the action of the guide wire pushing mechanism 1.

[0070] Specifically, the guide wire pushing mechanism 1 comprises:

[0071] A mounting bottom plate 11;

[0072] A first lead screw motor 12 is fixed on the top end face of the mounting bottom plate 11 through a first motor support 13;

[0073] A first linear guide rail 14 is fixedly connected with the top end of the mounting bottom plate 11, and the length direction of the first linear guide rail 14 is the same as the pushing direction of the guide wire 100;

[0074] A first connecting plate 15 is fixed on a first sliding block 16 on the first linear guide rail 14, and a first threaded hole 151 is formed in the first connecting plate 15, a lead screw of the first lead screw motor 12 is threadedly connected with the first threaded hole 151, and the first pressure sensor 17 is fixed on the first connecting plate 15.

[0075] The active end guide wire clamping mechanism 2 comprises:

[0076] A right-angle mounting plate 21, a vertical mounting plate 22 is fixed on the bottom end face of the horizontal plate of the right-angle mounting plate 21, the force measuring end of the first pressure sensor 17 is located below the bottom end face of the horizontal plate of the right-angle mounting plate 21 and is fixedly connected with one side of the vertical mounting plate 22, and the passive end clamping mechanism 3 is fixed on the outer side face of the vertical plate of the right-angle mounting plate 21;

[0077] A second lead screw motor 23 is fixed on the inner side of the vertical plate of the right-angle mounting plate 21, and the lead screw of the second lead screw motor 23 is arranged vertically;

[0078] A second linear guide rail 24 is fixed on the other side of the vertical mounting plate 22 vertically;

[0079] The first wire clamping part 25 comprises:

[0080] A T-shaped connecting plate 251 is fixedly connected with a second sliding block 252 on the second linear guide rail 24 through the vertical plate of the T-shaped connecting plate 251, and a second threaded hole 2511 is formed in the horizontal plate of the T-shaped connecting plate 251, and the lead screw of the second lead screw motor 23 is threadedly connected with the second threaded hole 2511;

[0081] A third lead screw motor 253 is fixed on the top end surface of the horizontal plate of the T-shaped connecting plate 251 through a second motor support, and the lead screw of the third lead screw motor 253 is arranged horizontally;

[0082] A third linear guide rail 254 is fixed on the top end surface of the horizontal plate of the T-shaped connecting plate 251 horizontally;

[0083] A second connecting plate 256 is fixedly connected with a third sliding block 257 on the third linear guide rail 254 through the bottom end surface of the second connecting plate 256, a third threaded hole 2561 is formed in the second connecting plate 256, the lead screw of the third lead screw motor 253 is threadedly connected with the third threaded hole 2561, a first hinged hole 2581 is formed in one end of a first force amplification lever 258, the first hinged hole 2581 is sleeved on a first hinged column 2562 on the top end surface of the second connecting plate 256, a first clamping end 259 is fixed to the other end of the first force amplification lever 258, a second pressure sensor 260 is fixed on the top end surface of the second connecting plate 256 and arranged close to the first force amplification lever 258, two first sleeve holes 2611 are formed in a first connecting piece 261, one of the first sleeve holes 2611 is hingedly connected with a connecting column on the first force amplification lever 258, and the other first sleeve hole 2611 is hingedly connected with a connecting column on the force sensing end of the second pressure sensor 260.

[0084] A first bearing 262 is embedded in the first hinged hole 2581, and the inner ring of the first bearing 262 is sleeved on the first hinged column 2562.

[0085] The first clamping end 259 comprises:

[0086] A first fixing part 2591 is fixed on the other end of the first force amplification lever 258 on one side;

[0087] The first clamping block 2592 is detachably connected to the other side of the first fixing member 2591.

[0088] The first fixing member 2591 is a first electromagnet, and a first iron sheet is fixed on one side surface of the first clamping block 2592.

[0089] The passive end clamping mechanism 3 comprises:

[0090] The fourth lead screw motor 31 is fixed on the outer side surface of the vertical plate of the right-angle mounting plate 21, and the lead screw of the fourth lead screw motor 31 is arranged vertically;

[0091] The fourth linear guide rail 32 is fixed vertically on the outer side surface of the vertical plate of the right-angle mounting plate 21;

[0092] The second wire guide clamping part 33 comprises:

[0093] The third connecting plate 331 is fixedly connected to the fourth sliding block 332 on the fourth linear guide rail 32 on one side surface, and a fourth threaded hole 3311 is formed in the third connecting plate 331, the lead screw of the fourth lead screw motor 31 is threadedly connected to the fourth threaded hole 3311, a second hinged hole 3331 is formed at one end of the second force amplification lever 333, the second hinged hole 3331 is sleeved on a second hinged column 3312 on the other side surface of the third connecting plate 331, a second clamping end 334 is fixed to the other end of the second force amplification lever 333, a third pressure sensor 335 is fixed to the other side surface of the third connecting plate 331 and arranged close to the second force amplification lever 333, two second sleeve holes 3361 are formed in the second connecting piece 336, one of the second sleeve holes 3361 is hingedly connected to the connecting column on the second force amplification lever 333, and the other second sleeve hole 3361 is hingedly connected to the connecting column on the force end of the third pressure sensor 335.

[0094] The second bearing 337 is embedded in the second hinged hole 3331, and the inner ring of the second bearing 337 is sleeved on the second hinged column 3312.

[0095] The second clamping end 334 comprises:

[0096] The second fixing member 3341 is fixed on the other end of the second force amplification lever 333 on one side.

[0097] The second clamping block 3342 is detachably connected to the other side of the second fixing member 3341, and the second clamping block 3342 cooperates with the first clamping block 2592 to clamp and rotate the guide wire 100.

[0098] The second fixing member 3341 is a second electromagnet, and the second clamping block 3342 is an L-shaped plate, and a second iron sheet is fixed to the bottom end surface of the horizontal plate of the second clamping block 3342, and the second electromagnet is magnetically connected with the second iron sheet, and the vertical plate of the second clamping block 3342 is matched with the first clamping block 2592 to realize clamping and rotation of the guide wire 100.

[0099] The control device is electrically connected with the control system of the minimally invasive vascular interventional surgery robot, and cooperates with the advancing mechanism of the interventional surgery robot to reciprocatingly push the guide wire. Wherein, the second lead screw motor 23 and the fourth lead screw motor 31 drive the first clamping block 2592 and the second clamping block 3342 to synchronously and reversely move when rotating the guide wire 100, so as to ensure that the position of the guide wire 100 is basically unchanged when the guide wire is rubbed (the purpose of rotating the guide wire is to facilitate the smooth movement of the guide wire in the human body). In the force measurement process, the second pressure sensor 260 and the third pressure sensor 335 will detect the change of the force, and the actual force received by the guide wire 100 should be the sum of the changes of the two sensors, and the resultant force also needs to be appropriately amplified according to the amplification coefficient of the proportion of the first force amplification lever 258 and the second force amplification lever 333. The control system obtains the values of the two sensors, and after calculation, the change of the force is presented to the doctor. The first pressure sensor 17 can detect the force change of the whole front end device (active end guide wire clamping mechanism and passive end clamping mechanism), and the system also collects this value for real-time comparison with the sum of the changes of the second pressure sensor 260 and the third pressure sensor 335. If the comparison result is not much different, it means that the force measurement is accurate. If the difference is too large, the system will prompt the doctor that the test data is abnormal, and the doctor needs to pay attention to use, and if necessary, the equipment needs to be repaired.

[0100] The advantages of the present application are as follows:

[0101] 1. The present application adopts an indirect force measurement method, which solves the problem of inconvenient installation of the guide wire and the force measurement device.

[0102] 2. The present application amplifies the force transmitted by the guide wire through the first force amplification lever and the second force amplification lever according to the lever principle, so that the force measurement device can more accurately capture the small resistance.

[0103] 3. The present application has simple overall structure, good stability and compact structure.

[0104] 4. The present application has a force measurement accuracy self-checking function, which can timely find the force measurement abnormality and ensure the accuracy of the force measurement.

[0105] 5. The application judges the stress change of the guide wire axial friction force through data analysis of two force sensors of the active end and the passive end, so as to timely remind the doctor to operate and protect the patient safety.

[0106] The various embodiments are described in the specification with progressive progression from one embodiment to another. Each embodiment is focused on the differences from other embodiments. The same or similar parts between the embodiments can be mutually referred. For the device disclosed by the embodiments, since it corresponds to the method disclosed by the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part.

[0107] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the application. Therefore, the application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A guidewire control device capable of measuring minute resistance and having a force measurement self-checking function, characterized in that: include: A guide wire pushing mechanism (1), wherein the guide wire pushing mechanism (1) is provided with a first pressure sensor (17) that can move leftward and rightward; An active end guide wire clamping mechanism (2), wherein the active end guide wire clamping mechanism (2) is fixedly connected to the force measuring end of the first pressure sensor (17), and a first guide wire clamping portion (25) movable up and down and forward and backward is provided on the active end guide wire clamping mechanism (2), a first force measuring amplification lever (258) and a second pressure sensor (260) are hingedly connected to the first guide wire clamping portion (255), a first clamping end (259) is fixed to the first force measuring amplification lever (258), and the force measuring end of the second pressure sensor (260) is connected to the first force measuring amplification lever (258) via a first connecting piece (261); A passive end clamping mechanism (3), wherein the passive end clamping mechanism (3) is fixed to the active end guide wire clamping mechanism (2), and the passive end clamping mechanism (3) is provided with a second guide wire clamping portion (33) movable up and down, a second force amplifying lever (333) and a third pressure sensor (335) are hingedly connected to the second guide wire clamping portion (333), a second clamping end (334) is fixed to the second force amplifying lever (333), and a force measuring end of the third pressure sensor (335) is connected to the second force amplifying lever (333) via a second connecting piece (336); The first clamping end (259) and the second clamping end (334) cooperate with each other to achieve clamping and rotation of the guide wire (100), and the guide wire (100) is pushed under the action of the guide wire pushing mechanism (1); The control device is electrically connected to the control system of the minimally invasive vascular interventional surgical robot. During the force measurement process, the control system collects the sensor values ​​of the second pressure sensor (260) and the third pressure sensor (335). The first pressure sensor (17) can detect the overall force change of the active end guide wire clamping mechanism (2) and the passive end clamping mechanism (3). The control system also collects this value for comparison with the sum of the values ​​detected by the second pressure sensor (260) and the third pressure sensor (335).

2. A guidewire control device capable of measuring minute resistance and having a force measurement self-checking function according to claim 1, characterized in that: The guide wire pushing mechanism (1) comprises: Install the base plate (11); A first screw motor (12), the first screw motor (12) being fixed to the top surface of the mounting base plate (11) via a first motor bracket (13); a first linear guide rail (14), wherein the bottom end of the first linear guide rail (14) is fixedly connected to the top end of the mounting base plate (11), and the length direction of the first linear guide rail (14) is the same as the pushing direction of the guide wire (100); A first connecting plate (15), wherein the first connecting plate (15) is fixed to a first slider (16) on the first linear guide rail (14), a first threaded hole (151) is provided on the first connecting plate (15), a screw rod of the first screw motor (12) is threadedly connected to the first threaded hole (151), and the first pressure sensor (17) is fixed to the first connecting plate (15).

3. A guidewire control device capable of measuring minute resistance and having a force measurement self-checking function according to claim 2, characterized in that: The active end guide wire clamping mechanism (2) comprises: A right-angle mounting plate (21), a vertical mounting plate (22) being fixed to the bottom end surface of the horizontal plate of the right-angle mounting plate (21), a force measuring end of the first pressure sensor (17) being located below the bottom end surface of the horizontal plate of the right-angle mounting plate (21) and fixedly connected to one side of the vertical mounting plate (22), and the passive end clamping mechanism (3) being fixed to the outer side surface of the vertical plate of the right-angle mounting plate (21); a second screw motor (23), the second screw motor (23) being fixed on the inner side surface of the vertical plate of the right-angle mounting plate (21), and the screw of the second screw motor (23) being arranged vertically; a second linear guide rail (24), the second linear guide rail (24) being vertically fixed on the other side surface of the vertical mounting plate (22); The first guide wire clamping portion (25) comprises: A T-shaped connecting plate (251), wherein the vertical plate of the T-shaped connecting plate (251) is fixedly connected to the second slider (252) on the second linear guide rail (24), and a second threaded hole (2511) is formed on the horizontal plate of the T-shaped connecting plate (251), and the screw rod of the second screw motor (23) is threadedly connected to the second threaded hole (2511); a third screw motor (253), the third screw motor (253) being fixed to the top end surface of the transverse plate of the T-shaped connecting plate (251) via a second motor bracket, and the screw of the third screw motor (253) being arranged horizontally; a third linear guide rail (254), the third linear guide rail (254) being horizontally fixed on the top end surface of the transverse plate of the T-shaped connecting plate (251); A second connecting plate (256), the bottom end surface of the second connecting plate (256) is fixedly connected to the third slider (257) on the third linear guide rail (254), a third threaded hole (2561) is provided on the second connecting plate (256), the screw of the third screw motor (253) is threadedly connected to the third threaded hole (2561), a first hinge hole (2581) is provided at one end of the first force measuring amplification lever (258), the first hinge hole (2581) is sleeved on the first hinge column (2562) on the top surface of the second connecting plate (256), the first The first clamping end (259) is fixed to the other end of a force amplifying lever (258), the second pressure sensor (260) is fixed on the top surface of the second connecting plate (256) and is arranged close to the first force amplifying lever (258), and two first holes (2611) are opened on the first connecting plate (261), one of the first holes (2611) is hingedly connected to the connecting column on the first force amplifying lever (258), and the other first hole (2611) is hingedly connected to the connecting column on the force measuring end of the second pressure sensor (260).

4. A guidewire control device capable of measuring minute resistance and having a force measurement self-checking function according to claim 3, characterized in that: The first hinge hole (2581) has a first bearing (262) embedded therein, and the inner ring of the first bearing (262) is fixed on the first hinge column (2562).

5. The guidewire control device capable of measuring minute resistance and having a force measurement self-checking function according to claim 3, characterized in that: The first clamping end (259) comprises: a first fixing member (2591), one side of the first fixing member (2591) being fixed to the other end of the first force amplifying lever (258); A first clamping block (2592), wherein the first clamping block (2592) is detachably connected to the other side of the first fixing member (2591).

6. A guidewire control device capable of measuring minute resistance and having a force measurement self-checking function according to claim 5, characterized in that: The first fixing member (2591) is a first electromagnet, a first iron sheet is fixed on one side surface of the first clamping block (2592), and the first electromagnet is magnetically connected to the first iron sheet.

7. A guidewire control device capable of measuring minute resistance and having a force measurement self-checking function according to claim 5 or 6, characterized in that: The passive end clamping mechanism (3) comprises: a fourth screw motor (31), the fourth screw motor (31) being fixed on the outer side of the vertical plate of the right-angle mounting plate (21), and the screw of the fourth screw motor (31) being arranged vertically; a fourth linear guide rail (32), the fourth linear guide rail (32) being vertically fixed on the outer side surface of the vertical plate of the right-angle mounting plate (21); The second guide wire clamping portion (33) comprises: A third connecting plate (331), one side of the third connecting plate (331) is fixedly connected to the fourth slider (332) on the fourth linear guide rail (32), a fourth threaded hole (3311) is provided on the third connecting plate (331), the screw of the fourth screw motor (31) is threadedly connected to the fourth threaded hole (3311), a second hinge hole (3331) is provided at one end of the second force measuring amplification lever (333), the second hinge hole (3331) is sleeved on the second hinge column (3312) on the other side of the third connecting plate (331), the second The second clamping end (334) is fixed to the other end of the force amplifying lever (333), the third pressure sensor (335) is fixed to the other side of the third connecting plate (331) and is arranged close to the second force amplifying lever (333), and the second connecting plate (336) is provided with two second holes (3361), one of the second holes (3361) is hingedly connected to the connecting column on the second force amplifying lever (333), and the other second hole (3361) is hingedly connected to the connecting column on the force measuring end of the third pressure sensor (335).

8. A guidewire control device capable of measuring minute resistance and having a force measurement self-checking function according to claim 7, characterized in that: The second hinge hole (3331) has a second bearing (337) embedded therein, and the inner ring of the second bearing (337) is fixed on the second hinge column (3312).

9. A guidewire control device capable of measuring minute resistance and having a force measurement self-checking function according to claim 8, characterized in that: The second clamping end (334) includes: a second fixing member (3341), one side of the second fixing member (3341) being fixed to the other end of the second force amplifying lever (333); The second clamping block (3342) is detachably connected to the other side of the second fixing member (3341), and the second clamping block (3342) cooperates with the first clamping block (2592) to achieve clamping and rotation of the guide wire (100).

10. A guidewire control device capable of measuring minute resistance and having a force measurement self-checking function according to claim 9, characterized in that: The second fixing member (3341) is a second electromagnet, the second clamping block (3342) is an L-shaped plate, a second iron sheet is fixed on the bottom end surface of the horizontal plate of the second clamping block (3342), the second electromagnet is magnetically connected to the second iron sheet, and the vertical plate of the second clamping block (3342) cooperates with the first clamping block (2592) to achieve clamping and rotation of the guide wire (100).

Images