Slave Driving Device for Interventional Surgical Robots
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Solution Overview
Problem
Existing interventional surgical robots have a large overall volume and are bulky, making them inconvenient for spatial layout due to the need for sufficient internal space for catheter delivery.
Innovation Solution
A slave driving device with a frame, a first fixed driving mechanism, a second movable driving mechanism, a driving assembly, and a detection component to ensure the elongated medical instrument remains straightened during delivery, reducing the overall size and weight by allowing the second driving mechanism to move on the frame.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple driving devices are used to deliver catheters with sufficient motion travel, then the catheter delivery function is improved, but the overall volume and bulkiness of the device increases
Solution Approach 1:
The patent applies the dynamics principle by making the second driving mechanism movable rather than fixed. The second driving mechanism can move along the longitudinal direction of the frame, allowing the system to achieve sufficient motion travel for catheter delivery without requiring a larger overall device volume. This dynamic configuration enables compact spatial layout while maintaining delivery capability.
2Volume of stationary object
If the second driving mechanism is made movable on the frame, then the device volume is reduced, but the complexity of controlling coordinated movement increases
Solution Approach 1:
The patent implements feedback control through detection components that monitor the positions and states of both driving mechanisms. The control system receives feedback signals about the motion states of the first and second driving mechanisms and adjusts their movements accordingly to ensure coordinated catheter delivery. This feedback mechanism manages the complexity of controlling the movable second driving mechanism while maintaining precise coordinated movement.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution reduces the overall size and weight of the slave driving device, facilitating better spatial layout and improving surgical robot design by ensuring efficient and precise catheter delivery.
Implementation Method 1
a lead screw structure arranged on the frame and in transmission connection with the driving motor, and the lead screw structure is connected to the second driving mechanism to drive movement of the second driving mechanism on the frame
Implementation Method 2
a synchronous belt structure arranged on the frame and in transmission connection with the driving motor, and the synchronous belt structure is connected to the second driving mechanism to drive movement of the second driving mechanism on the frame
Implementation Method 3
the detection component is a pressure sensor, the nut seat is fixedly connected to a connection block, the nut seat includes a base and a sleeve shaft that sequentially passes through the pressure sensor and the connection block, and the pressure sensor is located between the base and the connection block
Data Source
AI summary
The present application relates to the technical field of medical robots, and in particular, to a slave driving device of an interventional surgical robot and an elongated medical instrument delivery method. The slave driving device includes: a frame; a first driving mechanism, fixedly arranged on the frame to clamp one end of an elongated medical instrument to deliver the elongated medical instrument; and a second driving mechanism, movably arranged on the frame to clamp the other end of the elongated medical instrument to deliver the elongated medical instrument through movement on the frame. Since only the second driving mechanism is able to move on the frame, the overall size of the slave driving device is reduced by using a reasonable structural design, and the occupied space and the overall weight of the slave driving device are reduced, thereby facilitating the spatial layout of the surgical robot.