Interventional surgical robot with force detection function

Abstract

The interventional operation robot with the force detection function comprises a bottom plate, an electric sliding table, a front end supporting frame, a delivery rotary twisting mechanism, a fixed clamping mechanism and a Y valve clamping mechanism, the electric sliding table and the front end supporting frame are fixedly installed on the bottom plate through screws, and a sliding table motor is connected with the electric sliding table through a coupler; the delivery rotary twisting mechanism is connected with the electric sliding table through a carrying plate, the fixed clamping mechanism and the Y valve clamping mechanism are installed on the front end supporting frame, and therefore a clamping structure formed by combining a trapezoid clamping block and a spring is adopted, precise control is matched with a threaded motor, the guide wire can be effectively prevented from slipping, surface damage of the guide wire can be reduced, and the service life of the guide wire is prolonged. And the delivery stability and safety of the guide wire are improved. Meanwhile, through the application of the force sensor, a doctor can sense the stress condition of the guide wire in the blood vessel in real time in the operation process, so that the risk of damage to the endometrium of the blood vessel is reduced, and the accuracy and safety of the operation are remarkably improved.

Description

Technical Field

[0001] This utility model relates to the field of surgical robot technology, specifically an interventional surgical robot with force detection function. Background Technology

[0002] Minimally invasive vascular interventional surgery is currently the primary method for treating cardiovascular and cerebrovascular diseases. Traditional minimally invasive vascular interventional surgery requires doctors to undergo prolonged X-ray fluoroscopy, using instruments such as needles, guidewires, and catheters to diagnose and treat via blood vessels. However, minimally invasive vascular interventional surgery also has significant drawbacks: (1) Doctors working for extended periods in an X-ray environment are at risk of varying degrees of radiation damage due to occupational hazards, such as skin damage, cataracts, spinal diseases, and the potential for inducing malignant tumors and gene mutations; (2) Due to the complexity and length of the procedure, the lead aprons worn by doctors to reduce radiation exposure can cause inconvenience and joint damage. These drawbacks limit the widespread application of vascular interventional surgery. Vascular interventional robot systems, which organically combine surgical robots with vascular interventional techniques, represent an important approach to solving these problems.

[0003] Currently, many universities and research institutions at home and abroad have carried out a lot of research in this area, but many problems still exist.

[0004] One issue is the clamping and delivery mechanism: Currently, there are two main types of clamping and delivery mechanisms: friction wheel delivery and movable, relatively parallel clamping blocks. If friction wheel delivery is used, there may be slippage of the catheter / guidewire because the guidewire diameter is less than 1mm. If the clamping force between the two friction wheels is too small, the catheter / guidewire will slip. To solve the slippage problem, the clamping force usually needs to be increased, but excessive clamping force can damage the surface of the catheter / guidewire. If another delivery method is used, the contact area will be increased, which can effectively avoid damage to the guidewire surface. However, this clamping method is also limited by precision and cannot completely and reliably clamp the guidewire. Another issue is force detection. In traditional minimally invasive interventional surgery, doctors can feel the force on the instruments in real time when operating them. However, when using interventional surgical robots, doctors can only make a rough judgment based on angiographic images. This is very dangerous for such high-precision surgeries. The intima of blood vessels is very thin and easily damaged. Once damaged, it may lead to serious consequences such as hemorrhagic shock, bleeding irritation, compression of surrounding tissues, and ischemia of downstream tissues, and may even endanger life.

[0005] Therefore, this utility model provides an interventional surgical robot with force detection function. Utility Model Content

[0006] To address the shortcomings of existing technologies, this invention provides an interventional surgical robot with force detection capabilities to solve the aforementioned problems.

[0007] To achieve the above objectives, this utility model is implemented through the following technical solution: an interventional surgical robot with force detection function, comprising a base plate, an electric slide, a front support frame, a delivery and twisting mechanism, a fixing and clamping mechanism, and a Y-valve clamping mechanism, wherein the electric slide and the front support frame are fixedly mounted on the base plate by screws, and the slide motor is connected to the electric slide via a coupling; the delivery and twisting mechanism is connected to the electric slide via a carrier plate, and the fixing and clamping mechanism and the Y-valve clamping mechanism are mounted on the front support frame.

[0008] Preferably, the delivery twisting mechanism includes a carrier plate as a support component, with parallel support slide rails installed on both sides of the carrier plate. A clamp support frame is fixed to the carrier plate by a connecting block. A clamp housing is fitted into the semi-circular groove of the clamp support frame. A trapezoidal clamping block is provided inside the clamp housing. The rear end of the trapezoidal clamping block is in clearance fit with a U-shaped pull plate through an annular groove. The U-shaped pull plate is connected to a threaded motor through a flange. The threaded motor is fixed to the carrier plate by a motor bracket. A twisting motor is installed on the clamp cover. The output shaft of the twisting motor drives the main twisting gear and the auxiliary twisting gear to mesh. The central hole of the auxiliary twisting gear is used to constrain the rotation of the clamp housing.

[0009] Preferably, the clamping end of the trapezoidal clamping block is provided with two spring mounting holes on the left and right sides for supporting small springs. The clamping springs are installed at the rear end of the trapezoidal clamping block and located in the cavity of the clamping housing to realize the clamping and release operation holes.

[0010] Preferably, the fixed clamping mechanism is mounted on the front support frame. The fixed clamping mechanism includes a fixed clamping motor, a clamping gear, and a clamping rack. The clamping gear is connected to the fixed clamping motor through an output shaft. The gear shaft serves as the rotation shaft of the clamping gear. The clamping rack meshes with the clamping gear and can slide within the rectangular groove of the front support frame.

[0011] Preferably, the Y-valve clamping mechanism is installed in the U-shaped rectangular groove of the front support frame. The Y-valve clamping mechanism includes Y-valve clamping blocks. The distance between the two Y-valve clamping blocks is controlled by the clamping threaded handle to realize the fixing and loosening operation of the Y-valve.

[0012] Beneficial effects

[0013] Compared with the prior art, the present invention has the following advantages:

[0014] (1) This utility model integrates an electric slide, a delivery twisting mechanism, a fixing clamping mechanism, and a Y-valve clamping mechanism to realize the clamping, pushing, and twisting operations of guidewires or catheters. It also introduces a force detection function to monitor the resistance experienced by the guidewire in the blood vessel in real time. In contrast to the background technology, traditional friction wheel or parallel clamping block delivery mechanisms suffer from guidewire slippage or damage. This embodiment uses a clamping structure combining trapezoidal clamping blocks and springs, coupled with precise control by a threaded motor. This not only effectively prevents guidewire slippage but also reduces surface damage to the guidewire, improving the delivery stability and safety. Simultaneously, the application of a force sensor allows doctors to perceive the force on the guidewire in the blood vessel in real time during operation, thereby reducing the risk of endothelial damage and significantly improving the accuracy and safety of the surgery.

[0015] (2) This utility model achieves precise fixation and release of the guidewire and Y-valve through a fixed clamping mechanism and a Y-valve clamping mechanism, while simultaneously providing feedback on the force changes of the guidewire in the blood vessel through a force detection function. In contrast to the background technology, in traditional surgery, doctors roughly judge the force on the guidewire by touch and imaging, which poses a safety hazard. This embodiment, however, uses sensors to detect the resistance difference of the delivery mechanism under no-load and loaded conditions to accurately quantify the force on the guidewire, effectively avoiding vascular damage caused by guidewire overload. It provides more reliable force feedback information, especially in complex surgeries, significantly improving the safety, precision, and operability of minimally invasive surgery. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the delivery twisting mechanism;

[0018] Figure 3 This is a schematic diagram of the planed structure of the delivery twisting mechanism;

[0019] Figure 4 This is a schematic diagram of the carrier plate sensor mounting structure;

[0020] Figure 5 This is a schematic diagram of the front support frame structure.

[0021] In the diagram: 1. Base plate; 2. Electric slide table; 21. Slide table motor; 3. Delivery twisting mechanism; 31. Fixture support frame; 311. Force sensor; 313. Connecting block; 314. Support slide rail; 316. Carrier plate; 317. Clamping spring; 32. Secondary twisting gear; 33. Main twisting gear; 34. Twisting motor; 35. Fixture housing; 36. U-shaped pull plate; 37. Threaded motor; 38. Motor bracket; 39. Fixture cover; 4. Fixed clamping mechanism; 41. Fixed clamping motor; 42. Clamping gear; 43. Clamping rack; 44. Front support frame; 46. Gear shaft; 5. Y-valve clamping mechanism; 51. Y-valve clamping block; 52. Clamping threaded handle. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Please see Figures 1-5 ,

[0024] Example 1

[0025] like Figure 1 As shown, the interventional surgical robot with force detection function in this embodiment includes an electric slide 2 and a front support frame 44, both of which are fixed to the base plate 1 by screws. The slide motor 21 is connected to the electric slide 2 through a coupling. The delivery twisting mechanism 3 is connected to the electric slide 2 through a carrier plate 316. The fixing clamping mechanism 4 and the Y valve clamping mechanism 5 are installed on the front support frame 44.

[0026] like Figure 2 , Figure 3 and Figure 4As shown, the delivery twisting mechanism 3 uses a carrier plate 316 as the carrier for other components. Support rails 314 are installed parallel to both sides of the edge of the carrier plate 316. The lower end of the connecting block 313 is connected to the carrier plate 316, and the upper end is connected to the clamp support frame 31. The clamp housing 35 is installed in the semi-circular groove of the clamp support frame 31. Trapezoidal clamping blocks 318 are installed on the two mating clamp housings 35, and their rear annular grooves are clearance-fitted with the U-shaped pull plate 36. The U-shaped pull plate 36 is connected to the threaded motor 37 via a flange. The threaded motor is then connected to the carrier plate 316 via the motor bracket 38. The clamp cover 39 is connected to the clamp support frame 31 to constrain the clamp housing 35 in the circular groove, so that the upper and lower clamp housing 35 can only rotate and cannot move. The twisting motor 34 is fixed as a whole to the clamp cover 39, and the main twisting gear 33 is installed on its output shaft. The main twisting gear 33 is then meshed with the auxiliary twisting gear 32. The center hole of the auxiliary twisting gear 32 is used to constrain the upper and lower clamp housing 35. The trapezoidal clamping block 318 has two spring mounting holes on the left and right sides of the trapezoidal clamping end for supporting the installation of small springs 319. The clamping spring 317 is installed at the rear end of the trapezoidal clamping block 318 and installed in the cavity of the clamp housing 35, so that it is behind the spring baffle 3181 of the trapezoidal clamping block 318. The fixed clamping mechanism 4 is installed on the front support frame 44.

[0027] like Figure 5 As shown, the clamping gear 42 is installed in the rectangular slot of the front support frame 44. At the rear end of the rectangular slot of the front support frame 44, there is a platform for mounting and fixing the clamping motor 41. The clamping gear 42 is mounted on the output shaft of the clamping motor 41, and the gear shaft 46 is used as the rotation shaft of the clamping gear 42 on the other side. The clamping rack 43 meshes with the clamping gear 42 and can slide in the rectangular slot of the front support frame 44. The Y valve clamping mechanism 5 is installed on the front support frame 44, and the Y valve clamping block 51 is installed in the U-shaped rectangular slot at the front end of the front support frame 44. The distance between the two Y valve clamping blocks 51 can be controlled by rotating the clamping threaded handle 52.

[0028] Specifically, by integrating an electric slide, a delivery and twisting mechanism, a fixing and clamping mechanism, and a Y-valve clamping mechanism, the clamping, pushing, and twisting operations of the guidewire or catheter are realized. A force detection function is introduced to monitor the resistance experienced by the guidewire in the blood vessel in real time. In contrast to the background technology, traditional friction wheel or parallel clamping block delivery mechanisms suffer from guidewire slippage or damage. This embodiment employs a clamping structure combining trapezoidal clamping blocks and springs, coupled with precise control by a threaded motor. This not only effectively prevents guidewire slippage but also reduces surface damage to the guidewire, improving delivery stability and safety. Simultaneously, the application of a force sensor allows doctors to perceive the force exerted on the guidewire in the blood vessel in real time during the operation, thereby reducing the risk of intimal damage and significantly improving the accuracy and safety of the surgery.

[0029] Example 2

[0030] The interventional surgical robot with force detection function used in this embodiment can perform clamping, pushing, pulling, and twisting operations on catheters or guidewires, as well as Y-valve clamping and fixing operations and force detection. Here, the guidewire is used as an example for explanation, as follows.

[0031] 1. Clamping operation

[0032] The guide wire is inserted through the center hole of the trapezoidal clamp 318 and exits through the center hole of the auxiliary twisting gear 32. When the guide wire needs to be clamped, the threaded motor 37 is rotated, causing the flange and U-shaped pull plate 36 mounted on its output shaft to move forward. This stretches the clamping spring 317 in the clamp housing 35, pushing the trapezoidal clamp 318 forward. This reduces the gap between the upper and lower ends of the clamping end at the front, compressing the support spring 319 and completing the clamping operation of the guide wire. When the guide wire needs to be released, the threaded motor 37 is rotated in the opposite direction, causing the flange and U-shaped pull plate 36 mounted on its output shaft to move backward. This stretches the support spring 319 naturally, increasing the gap between the upper and lower ends of the clamping end at the front, thus releasing the guide wire.

[0033] 2. Push-pull operation

[0034] After the delivery twisting mechanism completes the clamping of the guide wire, the electric slide 2 is controlled by the slide motor 21 to push and pull the delivery twisting mechanism. When the electric slide reaches the limit position, the clamping mechanism 4 clamps the guide wire, and the delivery twisting mechanism releases the guide wire and returns to the other end to continue the next push and pull operation of the guide wire.

[0035] 3. Twisting operation

[0036] After the twisting mechanism clamps the guide wire, it controls the twisting motor 34 to rotate, driving the main twisting gear 33 and the auxiliary twisting gear 32 to mesh and rotate. The auxiliary twisting gear 32 drives the clamp housing 35, and under the constraint of the clamp support frame 31 and the clamp cover 39, the entire trapezoidal clamping block 318 rotates, thereby completing the twisting operation of the guide wire.

[0037] 4. Y-valve clamping and fixing operation

[0038] The Y valve is placed between two Y valve clamping blocks 51, and the distance between the two Y valve clamping blocks 51 is controlled by rotating the clamping threaded handle 52 to complete the clamping, fixing and releasing of the Y valve.

[0039] 5. Force testing

[0040] Before the guidewire enters the blood vessel, the resistance value of the force sensor 311 is read and set as f1. When the guidewire is pushed in the blood vessel, if it encounters resistance, this resistance will be fed back to the entire delivery twisting mechanism, causing it to have a tendency to move in sequence. This resistance is then detected by the force sensor 311 installed on the overload plate 316 and set as f2. Here, f1 is the resistance encountered by the entire delivery twisting mechanism in the no-load state, and f2 is the resistance encountered by the delivery twisting mechanism in the working state. The resistance value obtained by subtracting f1 from f2 is the resistance encountered by the guidewire in the blood vessel.

[0041] Specifically, the guidewire and Y-valve are precisely fixed and released using a fixed clamping mechanism and a Y-valve clamping mechanism. Simultaneously, a force detection function provides feedback on the force changes of the guidewire within the blood vessel. In contrast to the background technology, traditional surgery relies on touch and imaging to roughly determine the guidewire force, which poses safety risks. This embodiment, however, uses sensors to detect the resistance difference between the delivery mechanism under no-load and loaded conditions to precisely quantify the guidewire force, effectively avoiding vascular damage caused by guidewire overload. It provides more reliable force feedback information, especially in complex surgeries, significantly improving the safety, precision, and operability of minimally invasive surgery.

[0042] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0043] Working Principle: This robot includes a base plate, a delivery and twisting mechanism, a fixing and clamping mechanism, and a Y-valve clamping mechanism. The base plate is used for connecting and fixing other mechanisms. The guidewire delivery mechanism is mounted on the base plate and is used for clamping, twisting, and driving the guidewire forward and backward. The guidewire fixing and clamping mechanism is located at the front end of the guidewire delivery mechanism and is used to clamp and fix the guidewire when the guidewire delivery mechanism retracts after reaching its limit position, preventing the guidewire from moving. The Y-valve clamping mechanism is located at the front of the main body and is used to fix the Y-valve. This robot can accurately mimic the doctor's operating techniques and can effectively realize the pushing and twisting actions of the guidewire or catheter, enabling the catheter or guidewire to be accurately and stably delivered to the lesion for interventional treatment while monitoring the force on the catheter or guidewire in the blood vessel in real time, improving the accuracy and safety of the operation.

[0044] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0045] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An interventional surgical robot with force detection function, characterized in that, It comprises a base plate (1), an electric sliding table (2), a front end support frame (44), a delivery and twisting mechanism (3), a fixed clamping mechanism (4) and a Y valve clamping mechanism (5), wherein, The electric sliding table (2) and the front end support frame (44) are fixedly installed on the base plate (1) by screws, and the sliding table motor (21) is connected with the electric sliding table (2) through a shaft coupling. The delivery and twisting mechanism (3) is connected with the electric sliding table (2) through a carrier plate (316), and the fixed clamping mechanism (4) and the Y valve clamping mechanism (5) are installed on the front end support frame (44).

2. The interventional operating robot with a force detection function according to claim 1, characterized in that, The delivery and twisting mechanism (3) comprises a carrier plate (316) as a support component, parallel support rails (314) are installed on both sides of the carrier plate (316), a clamp support frame (31) is fixed to the carrier plate (316) through a connecting block (313), a clamp sleeve (35) is embedded in a semicircular groove of the clamp support frame (31), a trapezoidal clamp block (318) is arranged in the clamp sleeve (35), the rear end of the trapezoidal clamp block (318) is gap-fitted with a U-shaped pull plate (36) through an annular groove, the U-shaped pull plate (36) is connected with a threaded motor (37) through a flange, the threaded motor (37) is fixed to the carrier plate (316) through a motor support (38), a twisting motor (34) is installed on a clamp gland (39), the output shaft of the twisting motor (34) drives a main twisting gear (33) and a secondary twisting gear (32) to mesh, and the center hole of the secondary twisting gear (32) is used to constrain the rotation of the clamp sleeve (35).

3. The interventional operating robot with a force detection function according to claim 1, characterized by, The clamping end of the trapezoidal clamp block (318) is provided with two spring mounting holes on the left and right sides for supporting small springs (319), and a clamping spring (317) is installed at the rear end of the trapezoidal clamp block (318) and located in the cavity of the clamp sleeve (35) to realize clamping and releasing operations.

4. The interventional operating robot with a force detection function according to claim 1, characterized by, The fixed clamping mechanism (4) is installed on the front end support frame (44), and the fixed clamping mechanism (4) comprises a fixed clamping motor (41), a clamping gear (42) and a clamping rack (43), the clamping gear (42) is connected with the fixed clamping motor (41) through an output shaft, a gear shaft (46) serves as a rotation shaft of the clamping gear (42), the clamping rack (43) is engaged with the clamping gear (42) and can slide in a rectangular groove of the front end support frame (44).

5. The interventional operating robot with a force detection function according to claim 1, characterized by, The Y valve clamping mechanism (5) is installed in a U-shaped rectangular groove of the front end support frame (44), and the Y valve clamping mechanism (5) comprises Y valve clamping blocks (51), the distance between the two Y valve clamping blocks (51) is controlled through a clamping threaded handle (52) to realize the fixing and loosening operations of the Y valve.

Images