CN107753107B - Guide wire controller and operation method thereof - Google Patents
Guide wire controller and operation method thereofInfo
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- CN107753107B CN107753107B CN201710768460.2A CN201710768460A CN107753107B CN 107753107 B CN107753107 B CN 107753107B CN 201710768460 A CN201710768460 A CN 201710768460A CN 107753107 B CN107753107 B CN 107753107B
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- guide wire
- guidewire
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- clamping
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- Biomedical Technology (AREA)
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Abstract
本发明公开了一种介入手术机器人从端装置中的导丝控制器及其使用方法，属于微创血管介入手术技术领域。该导丝控制器包括导丝控制器基座，以及安装在导丝控制器基座上的导丝夹紧装置和夹紧切换机构；导丝夹紧装置用于夹紧导丝，夹紧切换机构用于驱使导丝夹紧装置松开对导丝的夹紧；导丝锁止器采用特殊的锥面、锥孔结构，实现对导丝的夹紧。基座安装在高度可调节的底座上，基座上还有导丝扭转装置和测力组件。本发明整体结构简单，采用模块化结构设计，拆装组合简便，结构紧凑，整体重量轻便，制造成本较低。
The present invention discloses a guidewire controller in a slave end device of an interventional surgical robot and a method for using the same, and belongs to the technical field of minimally invasive vascular interventional surgery. The guidewire controller includes a guidewire controller base, and a guidewire clamping device and a clamping switching mechanism installed on the guidewire controller base; the guidewire clamping device is used to clamp the guidewire, and the clamping switching mechanism is used to drive the guidewire clamping device to loosen the clamping of the guidewire; the guidewire locker adopts a special conical surface and conical hole structure to achieve the clamping of the guidewire. The base is installed on a height-adjustable base, and the base also has a guidewire torsion device and a force measuring component. The overall structure of the present invention is simple, and it adopts a modular structural design, which is easy to disassemble and assemble. It has a compact structure, is light in overall weight, and has a low manufacturing cost.
Description
Technical Field
The invention belongs to the technical field of minimally invasive vascular interventional operations, and relates to a guide wire controller and a control method thereof. The guide wire controller can be used for contrast and interventional operation virtual reality operation training and operation actual operation.
Background
Cardiovascular disease is the most common disease of human beings, a major cause of death in the world population at present, and seriously threatens human health. Cardiovascular and cerebrovascular diseases become one of three causes of death of human diseases, and 250 ten thousand of 900 ten thousand of patients suffering from cardiovascular and cerebrovascular diseases die each year in China.
The cardiac and cerebral vascular minimally invasive interventional therapy is a main treatment means for cardiac and cerebral vascular diseases, and is an emerging medical operation for performing minimally invasive treatment on lesion sites by means of an interventional catheter to reach the distant lesion sites such as coronary arteries, brain, liver and kidney in the blood vessels under the guidance of medical imaging equipment. In the vascular interventional therapy process, a doctor needs to complete the operation by means of the guidance of Digital Silhouette Angiography (DSA) based on X rays, the doctor is provided with a lead-containing protective clothing, but the upper limbs and the head of the doctor cannot be protected from X rays, due to the complexity of vascular interventional therapy, the operation is often required to be carried out in an X-ray environment for a long time, the accumulated radiation quantity of the doctor is large, and the doctor wears a heavy lead-containing protective clothing for a long time, so that the pressure load of the spine is increased, and the occurrence rate of thyroid cancer, radioactive lens injury, lumbar vertebra disease and the like of the vascular interventional doctor is obviously higher than that of doctors of other disciplines. Medical staff working on the endovascular treatment operation nationwide, about 70 ten thousand people, perform the endovascular treatment more than ten million times per year nationwide, and the occupational injury related to X-rays has become an unavoidable problem, which seriously threatens the health condition of doctors and the long-term development of vascular interventional therapeutics. The surgical method for teleoperation of the catheter and the guide wire by means of the robot technology can effectively solve the problem, can greatly improve the precision and stability of surgical operation, can effectively reduce the damage of radioactive rays to a doctor of a main knife and can reduce the occurrence probability of accidents in the operation. Therefore, the auxiliary robots for cardiovascular and cerebrovascular intervention operation are more and more focused, and become an important research and development object in the field of medical robots in various countries.
The current vascular intervention operation robot mainly adopts a master-slave end operation structure to isolate doctors from radioactive rays, for example, the patent of the invention with the application number of 201410206956.7 applied by Tianjin university discloses a slave manipulator device of a master-slave minimally invasive vascular intervention operation auxiliary system, which comprises an axial pushing unit, a rotating unit, a clamping unit, an operation catheter, an operation force detection unit and an angle adjustment base. The surgical operation device has the advantages of simulating the interventional operation action of a doctor, being high in operation precision, effectively improving the safety of the operation, and ensuring that different therapists or different interventional positions can be adjusted to angles expected by operators. For another example, the Harbin industrial university is applied for a patent of a catheter robot system for minimally invasive interventional operation in blood vessels, a controllable catheter is adopted, pose information of a bending controllable section of the controllable catheter can be obtained, flexibility of the front end of the controllable catheter and maneuverability of catheterization are guaranteed, meanwhile, pushing/pulling, rotating and bending actions of the controllable catheter are achieved through a master-hand handle control master-slave interventional device, information of conveying force of the controllable catheter in an operating room can be obtained, and accuracy and stability of catheterization are guaranteed. The slave end of the master-slave minimally invasive vascular interventional operation robot and the control method thereof comprise a slave end control mechanism and a slave end moving platform, wherein the slave end control mechanism consists of a clamping driving mechanism I, a thrust feedback mechanism II, a nondestructive clamping mechanism III and a clamping control mechanism IV. According to the technical scheme, the nondestructive clamping mechanism, the clamping control mechanism, the clamping driving mechanism and the thrust feedback mechanism are designed to finish the operations of clamping, loosening, rotating, pushing force measurement and the like of the guide wire in the operation process, the accuracy of pushing force measurement is improved, the reliability of clamping the guide wire is improved, the structure is relatively complex, the disassembly and assembly easiness is not greatly improved, and meanwhile, the problem of the relative position between the head end of the guide tube or the guide wire and the blood vessel wall in the pushing process is not solved well.
The technical scheme is an advanced study on the vascular interventional operation robot in China, but has the following problems that (1) the clamping force on the guide wire is poor, (2) the structure is relatively large and complicated, the manufacturing cost is high, the operation accuracy is affected, (3) the guide wire is inconvenient to assemble and disassemble, the guide wire is not easy to replace in operation, the guide wire and an interface are inconvenient to sterilize, and (4) the relative position and stress of the guide wire in a blood vessel cannot be known in operation, and the operation risk is high.
The inventor and Beijing university are cooperated to study, and study is continuously conducted on the technology of the interventional operation robot, so that the operation mode of the device is improved, the device is more in line with the actual demands of doctors, and the device is simpler in structure and easy to disassemble.
Disclosure of Invention
The invention provides a guide wire controller and a control method thereof, and aims to solve the problems of complexity of a guide wire clamping structure and inconvenience in clamping in the prior art, and the rotation angle and stress condition of a guide wire cannot be perceived in a visual way. The guide wire controller adopts a modularized design, is simple in structure, convenient to assemble and disassemble and convenient to replace and disinfect, adopts a guide wire clamping device and a clamping switching mechanism to clamp and loosen a guide wire, is provided with a six-axis force sensor, solves the problems that the conventional robot is difficult to finish the cooperative operation of a catheter and the guide wire and can not intuitively feel the operation, is used for interventional operation or radiography, improves the safety and operability of the interventional operation or radiography, has a simple structure, is easy to realize, and can be used for operation training, teaching or training.
The invention is realized by the following technical scheme:
The guide wire controller is characterized by comprising a guide wire controller base (6) and a guide wire clamping device (7) arranged on the guide wire controller base (6), a clamping switching mechanism (8) arranged on the guide wire controller base (6), and a six-axis force sensor force measuring device (9), wherein an angle adjusting base (10) is arranged below the base, the guide wire clamping device (7) is used for clamping a guide wire, the clamping switching mechanism (8) is used for driving the guide wire clamping device (7) to loosen the clamping of the guide wire, the six-axis force sensor force measuring device (9) is used for measuring resistance or resistance moment in the guide wire moving process, the guide wire clamping device (7) is positioned on the upper side of the guide wire controller base (6), the clamping switching mechanism (8) is positioned on the rear side of the guide wire controller base (6), the guide wire clamping device (7) comprises a guide wire locking sleeve (710), a guide wire locking rod (720) and a guide wire locking taper hole, the guide wire locking sleeve (710) is provided with a taper hole, and the guide wire locking device (730) is provided with a taper hole matched with the guide wire locking sleeve (710) and is formed by at least two taper holes along the outer sides of the guide wire locking taper hole (730) which are matched with the guide wire locking taper hole (730) to be contracted towards the outer circumference of the guide wire.
One end of the guide wire locking rod (720) is provided with a guide wire locking device (730) and then is arranged in the guide wire locking sleeve (710), and the guide wire locking rod (720) enables the guide wire locking device (730) to clamp the guide wire by extruding the guide wire locking device (730).
The guide wire locking rod (720) is sleeved with a spring (740), and the spring (740) is pressed into the guide wire locking sleeve (710) through a locker end cover (760) arranged at the end part of the guide wire locking sleeve (710).
The clamping switching mechanism (8) is connected with the guide wire locking rod (720), and the guide wire locking rod (720) can be pulled to compress the spring (740), so that the guide wire locking rod (720) releases the extrusion of the guide wire locking device (730), and the guide wire locking device (730) releases the clamping of the guide wire.
The outer conical surface of the guide wire locking device (730) is preferably provided with 4 cuts along the circumferential direction, and the conical end is cut into 4 parts uniformly.
The guide wire controller base (6) comprises a shell (610) and an upper cover (620) covered on the shell (610), a partition plate (910) is installed in the shell (610), a plug board (941) of a guide wire connecting piece (940) penetrates through the upper cover (620), a pair of plug boards (611) are arranged at the bottom of the shell (610), insertion holes (130) are formed in a supporting plate (140) on the upper portion of the angle adjusting base (10), and the plug boards (611) are inserted into the insertion holes (130) and fixed through pins.
The angle adjusting base (10) comprises a vertical plate (110), a base (120), a supporting plate (140), a vertical plate connecting shaft (150), a sleeve (160), a sleeve connecting shaft (170), an adjusting rod (180), a connecting shaft (190) and a fastening screw (200).
The guidewire controller further includes a guidewire twisting device (630), the guidewire twisting device (630) configured to drive rotation of the guidewire lock sleeve (710).
The guide wire torsion assembly (630) comprises a motor (631) arranged on a guide wire controller base (6), the motor (631) is connected with a pinion (632), and the guide wire locking sleeve (710) is provided with a large gear (633) meshed with the pinion (632). And when the torque sensor detects the output torque of the rotary driving motor, the real-time output torque subtracts the output torque in no-load state, so that the real-time torque in operation of the surgical catheter can be obtained.
The guide wire locking sleeve (710) is supported and arranged on the guide wire controller base (6) through a sleeve supporting component (790), the sleeve supporting component (790) comprises a positioning base (791), and the guide wire locking sleeve (710) is installed in the positioning base (791) through a bearing (780).
The bottom of the positioning base (791) is provided with a locking switch (792) which can be shifted through a connecting seat (793), the guide wire connecting piece (940) is provided with a plug board (941) with a plug hole (942), and the locking switch (792) can be shifted to insert the locking switch (792) into the plug hole (942), so that the guide wire connecting piece (940) is locked.
The six-axis force sensor force measuring device (9) comprises a partition plate (910), a guide wire connecting piece (940) and a six-axis force sensor (950), wherein the partition plate (910), the guide wire connecting piece (940) and the six-axis force sensor (950) are arranged in a guide wire controller base (6), the guide wire connecting piece (940) is used for being connected with a sleeve supporting component (790), the sleeve supporting component is movably arranged on the partition plate (910) through a linear guide rail pair (920), one end of the six-axis force sensor (950) is connected with the partition plate (910), and the other end of the six-axis force sensor is connected with the guide wire connecting piece (940).
A control method of a guide wire controller for an interventional operation robot as described above adopts a guide wire clamping device (7) to clamp a guide wire, and adopts a clamping switching mechanism (8) to drive the guide wire clamping device (7) to loosen the clamping of the guide wire, so that the clamping and loosening of the guide wire are separately controlled.
The guide wire controller of the present invention can be used for manufacturing devices such as an interventional operation robot, a radiography robot, and a simulation operation robot.
Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
(1) The guide wire clamping device and the clamping switching mechanism are detachably arranged on the base body part to clamp and unclamp the guide wire, the guide wire clamping device is structurally designed, the guide wire clamping device is simple in combination mode, convenient to disassemble and assemble and convenient to replace and disinfect, and different from the existing clamping mode of the guide wire, the guide wire clamping device clamps the guide wire in a normal state, and the clamping switching mechanism can drive the guide wire clamping mechanism to unclamp the guide wire when necessary, so that the clamping and unclamping of the guide wire can be controlled respectively, the clamping structure of the guide wire can be greatly simplified, the clamping of a matched guide tube is facilitated, and the collaborative operation of the guide wire of the guide tube is completed;
(2) The guide wire clamping device in the guide wire controller adopts a special guide wire locking device and a conical surface matching mode of the guide wire locking sleeve, and the guide wire locking rod can extrude the guide wire locking device to radially shrink so as to clamp the guide wire;
(3) According to the guide wire controller, the guide wire clamping mechanism applies acting force to the guide wire locking rod through the spring, so that the guide wire locking rod is extruded to clamp the guide wire, the clamping force of the guide wire can be conveniently adjusted by adjusting the precompression amount of the spring, and the adjustment is convenient;
(4) According to the guide wire controller, the guide wire locking device can loosen the clamping of the guide wire through the cooperation of the clamping switching mechanism and the structural form of the guide wire clamping mechanism, the steering engine drives the turntable to rotate in the clamping switching mechanism, the wire on the turntable is wound, the wire pulls the guide wire locking rod to overcome the elastic force of the spring to move, so that the guide wire locking device is extruded from the opening of the guide wire locking device, the guide wire is loosened by the guide wire locking device, and the guide wire controller has the advantages of simple structural mode, convenience and reliability in switching and strong controllability;
(5) The guide wire controller can realize the torsion operation of the guide wire through the guide wire torsion device, thereby meeting the angle control of the head end of the guide wire in the operation process and ensuring that the catheter can be smoothly pushed to a preset position in a blood vessel;
(6) According to the guide wire controller, the force measurement component can detect the pushing force of the guide wire in the pushing process, so that the guide wire can be precisely controlled, and the operation safety is improved; the force measuring component is arranged in the base body part, has a compact structure and a relatively closed structure, can well protect the six-axis force sensor, has simple and convenient force measuring form of the six-axis force sensor, relatively few intermediate connecting pieces and high force measuring accuracy;
(7) According to the guide wire controller, the guide wire clamping mechanism adopts a structure that the guide wire locking sleeve is supported by the positioning base through the bearing, so that the clamping of the guide wire is not affected, and the guide wire twisting device is not affected to drive the guide wire locking sleeve to rotate;
(8) According to the guide wire controller, the connection structure between the positioning base of the guide wire clamping mechanism and the guide wire connecting piece is ingenious, and the connection or the release can be completed by stirring the locking switch, so that the guide wire controller is convenient to assemble and disassemble;
(9) The guide wire controller is provided with the angle adjusting base, can obtain any intervention angle of 0-45 degrees according to different patients or operation intervention positions through adjusting the angle adjusting base, has a simple overall structure, adopts a modularized structural design, is simple and convenient to assemble and disassemble, has a compact structure, can be mostly made of plastics, and has light overall weight and lower manufacturing cost;
drawings
FIG. 1 is a schematic perspective view of a guidewire controller according to the present invention;
FIG. 2 is a schematic diagram of a front view of a base portion of a guidewire controller according to the present invention;
FIG. 3 is a cross-sectional view of A-A of FIG. 2;
FIG. 4 is a cross-sectional view of B-B in FIG. 3;
FIG. 5 is an exploded view of a base portion of a guidewire controller of the present invention;
FIG. 6 is a schematic diagram of a front view of a guidewire clamping mechanism in a guidewire controller according to the present invention;
FIG. 7 is a cross-sectional view of C-C of FIG. 6;
FIG. 8 is a cross-sectional view of D-D of FIG. 7;
FIG. 9 is an exploded schematic view of a guidewire clamping mechanism in a guidewire controller of the present invention;
FIG. 10 is a schematic perspective view of a clamp switching mechanism in a guidewire controller according to the present invention;
fig. 11 is an exploded view of a clamp switching mechanism in a guidewire controller of the present invention.
FIG. 12 is a schematic view of an angle adjustable base structure according to the present invention;
FIG. 13 is a schematic diagram of a displacement acquisition unit according to the present invention;
Fig. 14 is a schematic perspective view of the operation platform from above
The reference numerals in the drawings are respectively:
6 guide wire controller base, 610 shell, 611 plugboard, 620 upper cover, 630 guide wire torsion device, 631 motor, 632 pinion and 633 big gear;
7 guide wire clamping device, 710 guide wire locking sleeve, 720 guide wire locking rod, 730 guide wire locking device, 740 spring, 750 gasket, 760 locking device end cover, 770 locking device pulling plate, 780 bearing, 790 sleeve supporting component, 791 positioning base, 792 locking switch, 793 connecting base, 794 bearing pressing plate and 795 positioning pressing plate;
8 clamping switching mechanisms, 810 rudder stands, 811 plug-in blocks, 820 steering engines, 830 turntables, 840 switching boards and 850 linear guide rail pairs A;
9 six-axis force sensor force measuring device, 910 partition board, 920 linear guide rail pair B, 930 bearing board, 940, guide wire connecting piece, 941 plug board, 942 plug hole, 950 six-axis force sensor and 960 sensor fixing board.
10-Angle adjusting base, 110 vertical plate, 120-base frame, 130 jack, 140 support plate, 150 vertical plate connecting shaft, 160 sleeve, 170 sleeve connecting shaft, 180 adjusting rod, 190 connecting shaft and 200 fastening screw.
Detailed Description
The invention is further described below in connection with specific embodiments and the accompanying drawings.
Example 1
The present embodiment provides a guide wire controller mounted on a platform connection block, the platform connection block 1130 has two, and the two platform connection blocks 1030 are respectively provided with a catheter controller and a guide wire controller. Wherein, platform connecting block 1130 passes through linear guide vice 1020 to be set up on supporting platform 1110, and every platform connecting block 1130 all drives alone through actuating mechanism 1140, and actuating mechanism quantity is unanimous with platform connecting block quantity, and the pipe controller is used for centre gripping pipe and carries out rotation and propelling movement power detection etc. to the pipe, and the wire guide controller is used for centre gripping wire and carries out rotation and propelling movement power detection etc. to the wire guide.
Each of the drive mechanisms 1140 includes a drive motor 1142, a rope 1141, and a tensioning mechanism 1150;
the device is provided with a support platform 1110, a platform connecting block 1130, a driving mechanism 1140 and a tensioning mechanism 1150, adopts a form of a track with multiple sliding blocks to complete the control of the linear movement of the catheter controller and the guide wire controller on the same linear track at the same time, and is provided with six force sensors at the same time, so that the hand operating acting force of a doctor can be fed back. The guide wire and guide wire pushing device has the advantages that the guide wire and guide wire pushing device is convenient to install and adjust, high in control precision, capable of pushing the guide wire and guide wire simultaneously in a coordinated mode, feeding back force sense of interventional machinery such as the guide wire and the like, and real in hand feeling.
The structure of the guide wire controller will be described in detail.
Mechanism of guide wire controller
As shown in FIG. 1, the wire guide controller mainly comprises eight parts, namely a wire guide controller base 6, a wire guide clamping device 7, a clamping switching mechanism 8, a wire guide torsion device 630, a six-axis force sensor force measuring device 9 and an angle adjusting base 10, wherein the wire guide controller base 6 is an installation foundation of the other four parts, the wire guide clamping device 7 and the clamping switching mechanism 8 are detachably installed on the wire guide controller base 6, the wire guide clamping device 7 is located on the upper side of the wire guide controller base 6, the clamping switching mechanism 8 is located on the rear side of the wire guide controller base 6, the wire guide clamping device 7 is used for clamping a wire guide, the clamping switching mechanism 8 is used for driving the wire guide clamping device 7 to loosen the clamping of the wire guide, the wire guide torsion device 630 is used for completing the torsion operation of the wire guide, and the six-axis force sensor force measuring device 9 is used for detecting the pushing force of the wire guide. The six-axis force sensor can feed back the resistance and the resistance moment between the guide wire and the vascular wall in real time. The device can complete clamping, loosening, pushing, twisting and force measuring of the guide wire through mutual matching of all parts, thereby matching with control of the catheter and completing cooperative matching in the operation process. . The specific structures of the respective parts will be described in detail below.
As shown in fig. 2 to 5 and 12, the guide wire controller base 6 mainly includes a housing 610 and an upper cover 620, in this embodiment, the housing 610 is a shell-like structure with an open top and a rear end, and the upper cover 620 is mounted on the top of the housing 610, so that a relatively closed space is formed in the housing 610, and room is made for mounting of the subsequent guide wire twisting device 630 and the six-axis force sensor force measuring device 9. The guide wire clamping device 7 is installed above the upper cover 620, and the clamping switching mechanism 8 is fixed at the rear side of the housing 610, and the installation positions are reasonably distributed, so that the requirements of respective function implementation are met. Since the guide wire controller base 6 is used as a base part, the whole device is mounted on the inclination angle adjustable base for corresponding operation, a pair of plugboards 611 are arranged at the bottom of the shell B610 for the convenience of mounting, and the plugboards 611 are inserted into the plugholes 130 and then fixed by pins.
The angle adjusting base comprises a vertical plate 110, a base 120, a supporting plate 140, a vertical plate connecting shaft 150, a sleeve 160, a sleeve connecting shaft 170, an adjusting rod 180, a connecting shaft 190 and a fastening screw 200, wherein the vertical plate is arranged on the base, the sleeve is connected with the base and can rotate around the sleeve connecting shaft, the adjusting rod is embedded in the sleeve 26, the fastening screw capable of adjusting the embedded length is arranged at the joint of the adjusting rod, the supporting plate of the angle adjusting base is connected with the vertical plate through the vertical plate connecting shaft respectively, the vertical plate connecting shaft is connected with the adjusting rod through the connecting shaft, and the vertical plate connecting shaft and the connecting shaft are rotatable connecting shafts.
The length of the adjusting rod penetrating into the sleeve determines the size of the intervention angle, and when the length of the adjusting rod penetrating into the sleeve reaches the required intervention angle, the adjusting rod is fixed through a fastening screw, so that the required angle is kept unchanged.
The six-axis force sensor force measuring device 9 is installed in a shell 610, and has a structure similar to that of the catheter force measuring assembly 5, and mainly comprises a partition plate 910, a guide wire connecting piece 940 and a six-axis force sensor 950, wherein the partition plate 910 is installed in the middle of the shell 610 to divide the space in the shell 610 into an upper part and a lower part, two opposite side edges of the partition plate 910 are upwards folded to form side plates, a linear guide rail pair 920 is respectively installed on the opposite inner sides of the two side plates, the linear guide rail pair 920 is connected with the guide wire connecting piece 940, the guide wire connecting piece 940 is used for connecting the guide wire clamping device 7, and the guide wire connecting piece 940 can slide relative to the partition plate 910, which is also a premise of being capable of carrying out push force detection on guide wires subsequently. In this embodiment, the linear guide pair 920 is also preferably a ball linear guide pair, and the friction force is small and almost negligible, so that the movement resistance of the guide wire connector 940 is negligible, and high accuracy of the detection of the guide wire pushing force is ensured. The linear guide pair 920 includes a guide rail fixed to a side plate of the partition 910 and a slider connected to the wire connector 940 through a support plate 930. The baffle 910 is further provided with an L-shaped sensor fixing plate 960, one end of the sensor 950 is connected with the guide wire connecting piece 940, and the other end is connected with the sensor fixing plate 960, so that the pushing force of the guide wire is transmitted to the guide wire connecting piece 940 through the guide wire clamping device 7, the guide wire connecting piece 940 moves relative to the baffle 910, a pulling force is generated on the six-axis force sensor 950, and the resistance moment between the catheter and the blood vessel wall can be measured in real time through the six-axis force sensor 10.
The base is provided with a guide rail, and a displacement acquisition unit 1150 is arranged on the base and comprises a laser mouse displacement sensor 51, an interventional instrument guide tube 52, a guide tube fixing seat 53 and a guide rail 54. The laser mouse displacement sensor 51 is fixed on the base, two tube fixing seats 53 are respectively positioned at two ends of the laser mouse displacement sensor 51, the bottoms of the two tube fixing seats are matched with a guide rail 54 through a wedge surface, the guide rail 54 is fixed on the base through screws, and the interventional instrument guide tube 52 is fixed on the guide tube fixing seats 53.
The guide wire passes through the measuring area of the laser mouse displacement sensor 51 along the interventional instrument guide tube 52 and enters the guide tube 52, at this time, the laser mouse displacement sensor 51 measures the axial displacement and the rotational displacement of the guide wire in real time and sends displacement signals to a computer for processing, and the position of the guide tube fixing seat 53 can be adjusted along the guide rail 54.
To facilitate the connection between the guide wire connector 940 and the guide wire clamping device 7, the present embodiment provides a pair of plug boards 941 with insertion holes 942 on the guide wire connector 940, where the plug boards 941 pass through the upper cover 620 from the housing 610, so that the insertion holes 942 are higher than the surface of the upper cover 620, and by means of which the guide wire connector 940 can be quickly connected to or disconnected from the guide wire clamping device 7. At the same time, specific requirements are imposed on the structure of the guide wire clamping device 7, as will be explained in more detail below, in order to accommodate the structural form of the guide wire connection 940.
As shown in fig. 6 to 9, the wire clamping device 7 includes a wire locking sleeve 710, a wire locking lever 720, a wire locker 730 and a sleeve supporting assembly 790, wherein the wire locking sleeve 710, the wire locking lever 720 and the wire locker 730 each have a central hole penetrating along respective axes for a wire to pass through, the wire locker 730 has a mushroom-like structure, both ends of which are different in size, a smaller end can be inserted into an end of the wire locking lever 720, a larger end is exposed to the outside and has an outer tapered surface, at least two cuts are formed along a circumferential direction of the outer tapered surface, in this embodiment, 4 cuts are formed to cut the tapered end into uniform 4 parts, and the wire locking lever 720 loaded into the wire locker 730 is inserted into the wire locking sleeve 710 and the wire locker 730 has a tapered hole matched with the outer tapered surface of the wire locker 730. Meanwhile, one end of the wire locking rod 720, which is close to the wire locking rod 720, is provided with a baffle ring, the wire locking rod 720 is sleeved with a spring 740, one end of the spring 740 is limited by the baffle ring, a locker end cover 760 is installed at the end part of the wire locking sleeve 710, the spring 740 is pressed into the wire locking sleeve 710, and a gasket 750 is arranged between the locker end cover 760 and the end part of the spring 740, so that the locker end cover 760 can better press the spring 740. Thus, the latch end cap 760 presses the spring 740, the spring 740 applies a pushing force to the wire latch lever 720, and the wire latch lever 720 presses the wire latch 730, so that the outer conical surface of the wire latch 730 moves relatively to the tapered hole surface of the wire latch sleeve 710, and the end of the wire latch 730 having the conical surface is radially contracted due to the existence of the notch on the wire latch 730, so that the wire is clamped by the clamping force on the whole circumference of the wire, the clamping area is large, the clamping is reliable, and the damage to the wire is small.
In order to meet the requirement that the above-mentioned wire clamping device 7 is connected to the wire connecting member 940, and the subsequent wire twisting device 630 can twist the wire, the supporting structure of the wire locking sleeve 710 is designed in this embodiment, and the wire locking sleeve 710 is supported by the sleeve supporting component 790 and is disposed on the wire controller base 6. The sleeve support assembly 790 comprises a positioning base 791, a bearing pressing plate 794 and a positioning pressing plate 795, wherein the positioning base 791 is provided with a U-shaped accommodating cavity, two bearing clamping grooves are formed in the accommodating cavity, two bearings 780 are respectively arranged at two ends of the guide wire locking sleeve 710, the two bearings 780 are clamped in the bearing clamping grooves, the bearing pressing plate 794 is used for pressing the bearing from above the bearing 780, the axial movement of the guide wire locking sleeve 710 can be prevented, the bearing pressing plate 794 is fixed through the positioning pressing plate 795, the radial movement of the guide wire locking sleeve 710 is prevented, and a plug-in connection mode is adopted between the bearing pressing plate 794 and the positioning base 791, so that the guide wire locking sleeve is convenient to plug. In addition, an open slot is respectively provided at two sides of the bottom of the positioning base 791, a connecting seat 793 is provided in the open slot in a matching way, and a locking switch 792 which can be moved is provided in the space between the positioning base 791 and the connecting seat 793, and the locking switch 792 is used for locking or unlocking the guide wire connecting piece 940. The locking switch 792 is composed of a horizontal clamping plate and a vertical poking plate, wherein the clamping plate is arranged in a sliding groove on the connecting seat 793 in a sliding manner, and the poking plate penetrates through a hole on the positioning base 791 to expose the surface of the connecting seat 793 for poking. When the wire clamping device 7 is mounted above the upper cover 620, the plug board B941 is inserted into a vertical insertion hole formed between the positioning base 791 and the connection base 793, and the clamping plate is inserted into the insertion hole B942 of the plug board B941 by pulling the locking switch 792, so that the detachable connection between the wire clamping device 7 and the wire connecting piece 940 is realized.
The structure of the guide wire twisting device 630, as shown in connection with fig. 1 to 5, comprises a motor 631, a pinion 632 and a large gear 633, wherein the motor 631 is fixed in the housing 610, has a good protection effect, the output shaft of the motor 631 is connected with the pinion 632, the large gear 633 is connected with the front end of the guide wire locking sleeve 710 through a key, and the pinion 632 and the large gear 633 are meshed for transmission. The torque sensor is mounted between the output of the motor and the pinion.
In use, the motor 631 drives the pinion 632 to rotate, and the large gear 633 drives the guide wire locking sleeve 710 to rotate through the meshing transmission of the pinion, so that the guide wire can rotate along with the guide wire locking sleeve 710 under the premise of clamping the guide wire, thereby adjusting the angle of the guide wire end head and ensuring the smooth pushing of the catheter in the blood vessel. When the torque sensor detects the output torque of the rotary driving motor, the real-time output torque subtracts the output torque in no-load state, so that the real-time torque during operation of the surgical catheter can be obtained.
The guide wire twisting device 630 can realize the twisting operation of the guide wire, thereby meeting the angle control of the head end of the guide wire in the operation process, ensuring that the guide wire can be smoothly pushed to a preset position in a catheter and a blood vessel, and the guide wire twisting device 630 adopts a mode of driving a gear by a motor 631, and can adjust the rotation speed of the guide wire by adjusting the transmission ratio of a large gear and a small gear.
Referring to fig. 10 and 11, the clamping and switching mechanism 8 includes a steering engine base 810 and a steering engine 820, wherein the steering engine base 810 is used for installing the clamping and switching mechanism 8 on the housing 610, the steering engine 820 is installed on the steering engine base 810, the steering engine 820 is connected with a turntable 830 and can drive the turntable 830 to rotate, a wire is wound on the turntable 830, and the free end of the wire is used for pulling the wire locking rod 720, so that the wire locking rod 720 releases the extrusion of the wire locking rod 730, and the wire locking rod 730 releases the clamping of the wire. In order to achieve the above function without affecting the clamping of the guide wire in the normal state, the connection structure of the wire and the guide wire locking lever 720 is designed, in this embodiment, the end of the guide wire locking lever 720 is connected with a latch pulling plate 770 through threads, the distance between the latch pulling plate 770 and the latch end cap 760 is adjusted by the threaded matching length of the latch pulling plate 770 and the guide wire locking lever 720, meanwhile, a switching plate 840 is arranged on the partition plate 910 through a linear guide rail pair 850, the switching plate 840 has an arc gap, the switching plate 840 is clamped between the latch end cap 760 and the latch pulling plate 770, the turntable 830 is connected with the switching plate 840 through the arc gap, the steering engine 820 drives the turntable 830 to rotate, the switching plate 840 is pulled backwards through the line, the switching plate 840 is blocked by the latch pulling plate 770, the guide wire locking lever 720 is driven to move backwards against the spring 740, and thus the guide wire is released.
To facilitate the mounting of the guide clamping switching mechanism 8 to the housing 610, the steering engine mount 810 is provided with a pair of insertion blocks 811 for mounting it to the housing 610, and the connection can be completed by inserting the insertion blocks 811 into the rear side of the housing 610 and fixing with bolts.
In the prior art, the clamping and loosening of the guide wires are realized through the same mechanism, the guide wires are not separated, so that the clamping structure is relatively complex, but in the specific use, the guide wires are required to be clamped in most cases, and in the matched operation of the guide tube and the guide wires, the guide wires are required to be loosened only when the clamping position of the guide tube and the clamping position of the guide wires reach the limit position and the clamping position of the guide wires are required to be adjusted, so that the clamping and loosening of the guide wires are controlled separately, the guide wire clamping device 7 always clamps the guide wires by default in consideration of the actual use condition, and when the guide wires are required to be loosened, the guide wires are loosened through switching by the clamping switching mechanism 8, so that the structure is greatly optimized.
By combining the above description, the structure and the connection relation of each part of the guide wire controller for the interventional operation robot have been clearly and completely expressed, and the guide wire controller has the advantages that:
① The device has the advantages of simple integral structure, simple structure, light weight and greatly reduced manufacturing cost, adopts modularized structural design, can complete assembly through simple combination, is convenient to assemble and disassemble, has a compact structure and small volume, and has most parts which are simple in structure and can be made of plastic products;
② The six-axis force sensor arranged on the device can transmit force and moment information of the guide wire back in real time, so that an operator can remotely sense resistance generated in the wire feeding process, powerful guidance is provided for subsequent actions of the operator, and the catheter controller is matched to cooperatively control the guide wire of the catheter to operate, so that various operation requirements of an operation are met;
③ The angle-adjustable base is arranged, the angle can be adjusted according to the operation requirement, the adaptability is wider, the structure is more closed, and the sensor and the motor are well protected;
The guide wire controller can be used for mainly completing clamping, loosening, pushing, twisting, force measurement and force feedback of the guide wire, meets various operation requirements of interventional operation, and details corresponding operation steps are described below.
First, the guide wire controller base 6 is inserted into the insertion hole of the angle adjustment base through the insertion plate 611 and fixed by a pin, and the angle adjustment base is reliably connected with the platform connection block. The front end of the guidewire is then passed through the guidewire lock rod 720, the guidewire lock 730, and out the front end of the guidewire lock sleeve 710, tightening the lock end cap 760, causing the guidewire lock 730 to grip the guidewire.
After the preparation, the guide wire can be correspondingly controlled, and the method concretely comprises the following steps:
push operation of (one) guide wire
Steering engine B820 does not act, and the guide wire is clamped by guide wire lock 730, and platform connecting block 1130 moves, so that the guide wire is driven to move forward together, and pushing of the guide wire is achieved.
Push force detection of guide wire
In the guide wire pushing process, the pushing force of the guide wire is transmitted to the six-axis force sensor 950 through the guide wire clamping device 7, the six-axis force sensor B950 deforms, and force signals are converted into electric signals to be output, so that the pushing force is measured.
(III) twisting operation of the guide wire
On the premise of clamping the guide wire, the motor 631 is powered on, and the guide wire locking sleeve 710 is driven to rotate through the meshing transmission of the pinion 632 and the large gear 633, so that the guide wire is driven to rotate, and the twisting operation of the guide wire is realized.
(IV) wire unwinding operation
The steering engine 820 is powered to drive the turntable 830 to rotate, the wire is wound on the turntable 830, the switching plate 840 is driven to move backwards, the switching plate 840 pulls the guide wire locking rod 720 to move, and the guide wire locking device 730 releases the clamping of the guide wire.
The clamping, loosening, pushing, twisting and pushing force detection of the guide wire can be completed through the steps, and the cooperative operation of the guide wire and the catheter can be completed through orderly execution among the steps, so that various operation requirements in the operation process can be met.
The clamping, loosening, pushing, twisting and pushing force detection of the guide wire can be completed through the steps, and the cooperative operation of the guide wire and the catheter can be completed through orderly execution among the steps, so that various operation requirements in the operation process can be met.
The examples of the present invention are merely for describing the preferred embodiments of the present invention, and are not intended to limit the spirit and scope of the present invention, and those skilled in the art should make various changes and modifications to the technical solution of the present invention without departing from the spirit of the present invention.
Claims (10)
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| CN108433813B (en) * | 2018-04-18 | 2024-02-06 | 合肥美亚光电技术股份有限公司 | Filiform object detection device and master-slave intervention operation remote operation system with same |
| CA3112905C (en) * | 2018-09-24 | 2023-08-22 | EndoWays LTD. | Catheterization apparatus, catheter, and method |
| CN110236679B (en) * | 2019-07-10 | 2020-07-21 | 北京唯迈医疗设备有限公司 | Disinfection box of interventional operation robot |
| CN110524300B (en) * | 2019-09-05 | 2020-06-30 | 中擎电机有限公司 | Motor end cover plate machining auxiliary equipment |
| CN113995940B (en) * | 2020-07-28 | 2024-03-29 | 复旦大学 | A minimally invasive vascular interventional surgery robot execution device |
| CN113393724B (en) * | 2021-06-09 | 2022-04-26 | 南方医科大学深圳医院 | Device and method for training electrosurgery equipment for nurses in newly admitted operating room |
| CN115568954B (en) * | 2022-09-30 | 2025-08-05 | 上海交通大学 | XMR image-guided cardiovascular interventional surgery robot |
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| CN104042259A (en) * | 2014-05-16 | 2014-09-17 | 天津理工大学 | Slave manipulator device for auxiliary system of main and slave minimally invasive blood vessel interventional surgery |
| CN105662586A (en) * | 2016-03-03 | 2016-06-15 | 北京理工大学 | Interventional operation robot where catheter and guide wire are cooperatively pushed and control method thereof |
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| CN103157170B (en) * | 2013-02-25 | 2014-12-03 | 中国科学院自动化研究所 | Blood vessel interventional operation conduit or guide wire control device based on two-point clamping |
| CN103083784B (en) * | 2013-02-25 | 2014-09-17 | 中国科学院自动化研究所 | Catheter or guide wire operating device for vessel interventional operation |
| CN105796179B (en) * | 2016-03-03 | 2018-05-18 | 北京理工大学 | A kind of principal and subordinate's intervention operation robot is from end operating device and its control method |
| CN105662589B (en) * | 2016-03-03 | 2017-12-12 | 北京理工大学 | Principal and subordinate's interventional surgery robot from end and its control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104042259A (en) * | 2014-05-16 | 2014-09-17 | 天津理工大学 | Slave manipulator device for auxiliary system of main and slave minimally invasive blood vessel interventional surgery |
| CN105662586A (en) * | 2016-03-03 | 2016-06-15 | 北京理工大学 | Interventional operation robot where catheter and guide wire are cooperatively pushed and control method thereof |
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Effective date of registration: 20210720 Address after: 100160 119 South 4th Ring Road West, Fengtai District, Beijing Applicant after: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Address before: 100050 Tiantan Xili 6, Dongcheng District, Beijing Applicant before: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Applicant before: Li Youxiang Applicant before: Jiang Yuhua |
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Application publication date: 20180306 Assignee: Beijing wansi Medical Technology Co.,Ltd. Assignor: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Contract record no.: X2024980004749 Denomination of invention: A wire guide controller and its operating method Granted publication date: 20240130 License type: Exclusive License Record date: 20240422 |
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