CN207979771U - A kind of intervention operation robot is from end device and its operating platform - Google Patents

Abstract

The utility model discloses a slave end device of an interventional surgery robot and an operating platform thereof, belonging to the technical field of minimally invasive blood vessel interventional surgery. The operating platform includes a support platform, on which at least one platform connection block is provided through a linear guide rail pair D; the platform connection block is driven by a drive mechanism, and it is used for installing a catheter controller or a guide wire controller; the platform connection block passes through Driven by a driving mechanism, it is used to install a catheter controller or a guide wire controller. The slave end device of the interventional operation robot includes a catheter controller, a guide wire controller and an upper operating platform; the catheter controller and the guide wire controller are respectively installed on a platform connection block. The interventional surgery robot of the utility model is equipped with a catheter controller and a guide wire controller on the operation platform from the end device, which solves the problem that the existing robot is difficult to complete the coordinated operation of the catheter and the guide wire.

Description

An interventional surgery robot slave device and its operating platform

technical field

The utility model belongs to the technical field of minimally invasive vascular interventional surgery, and relates to a control technology for a catheter guide wire in a robot slave end in interventional surgery, more specifically, relates to a slave end device of an interventional surgery robot and an operating platform thereof.

Background technique

The increasing incidence of cardiovascular and cerebrovascular diseases has seriously affected national health and social life, and brought enormous pressure to China's medical and health system. Cardiovascular and cerebrovascular diseases have become one of the three major causes of human death. Every year, 16.7 million people die from cardiovascular and cerebrovascular diseases in the world, accounting for 29.2% of all disease mortality. Every year, there are 9 million patients with cardiovascular and cerebrovascular diseases in my country. 2.5 million people died.

Cardiovascular and cerebrovascular minimally invasive interventional therapy is the main treatment for cardiovascular and cerebrovascular diseases. It can reduce the trauma and pain caused by traditional craniotomy and thoracotomy, shorten postoperative recovery time, and effectively improve the utilization of medical resources. However, in traditional cardiovascular and cerebrovascular interventional procedures, doctors manually send devices such as catheters, guide wires, and stents into the patient's body. On the one hand, during the operation, due to the influence of radiation, the physical strength of the doctor decreases rapidly, and the concentration and stability decrease accordingly, resulting in a decrease in operation accuracy and prone to accidents such as intimal injury, vascular perforation and rupture caused by improper pushing force , resulting in danger to the patient's life. On the other hand, the cumulative damage of long-term ionizing radiation will greatly increase the chances of the operator suffering from leukemia, cancer and acute cataract. The problem of "eating the thread" has become a problem that can not be ignored, which damages the professional life of doctors and restricts the development of interventional surgery. The surgical method of remote operation of catheter and guide wire with the help of robot technology can effectively deal with this problem, which can greatly improve the accuracy and stability of surgical operation, and at the same time, it can effectively reduce the damage of radiation to the surgeon and reduce the probability of intraoperative accidents. Therefore, more and more people pay more and more attention to assisting robots for cardiovascular and cerebrovascular interventional operations, and gradually become the key research and development objects in the field of medical robots in today's technological powers.

The research on robotics for vascular interventional surgery abroad is relatively early, but clinical application has not yet been fully realized. Domestic related research started relatively late, mainly including Beijing Institute of Technology, Tianjin University of Technology, Beijing University of Aeronautics and Astronautics and Harbin Institute of Technology.

At present, the vascular interventional surgery robot mainly adopts the master-slave operation structure to isolate the doctor from the radiation. For example, the application number applied by Tianjin University of Technology is: 201410206956.7, and the publication date is: Invention patent on September 17, 2014, which discloses a The slave manipulator device of the master-slave minimally invasive vascular interventional surgery auxiliary system includes an axial pushing unit, a rotating unit, a gripping unit, a surgical catheter, an operating force detection unit and an adjustable base, and its working methods include signal detection, transmission, processing, action. The advantage lies in: it can imitate the doctor's intervention operation action, the operation accuracy is high, and the operation safety can be effectively improved; it can ensure that different patients or different intervention positions can be adjusted to the angle expected by the operator; the whole device is made of aluminum alloy material, small size and light weight. The invention can well complete the pushing of the guide wire, and uses magneto-rheological fluid to realize force feedback, which has the advantages of small inertia of moving parts and sensitive feedback. As another example, the application number applied by Beihang University is: 201210510169.2, and the publication date is: the patent document on September 17, 2014, which discloses a master-slave teleoperated vascular interventional surgery robot, including a master-end control mechanism, a slave The end propulsion mechanism and PMAC controller; the main end control mechanism is used as the doctor's operation end; the slave end propulsion mechanism is used as the actuator of the robot, which replaces the doctor in the operating room to control the catheter and completes the movement function of the catheter; the PMAC control box is used to realize the main end The information transmission between the control mechanism and the slave-end propulsion mechanism enables the slave-end catheter propulsion mechanism to move according to the movement information of the master-end control mechanism. It adopts the master-slave remote operation method to assist the doctor to perform the operation, and the slave-end push mechanism realizes the axis of the catheter. Feed and circular motion. As another example, Harbin Institute of Technology applied for a patent on January 17, 2011 called a catheter robotic system for minimally invasive interventional surgery in blood vessels. Its main handle and computer host are placed in the control room, and the control cabinet, Catheter handles, master-slave interventional devices, magnetic field generators and controllable catheters are placed in the operating room. The position and posture signals of the master handle are processed by the computer host and then transmitted to the control cabinet. There are motion control cards and drivers in the control cabinet, and the motion control card receives The command sends instructions to the driver, and the driver transmits the control signal to each motor of the master-slave interventional device, and then controls the interventional device to realize the push/pull, rotation and bending operations of the controllable catheter, and the pose sensor collects the pose of the controllable bending section Information, position and attitude signals are transmitted to the host computer through the motion control card for signal processing. This solution uses a controllable catheter, which can obtain the position and posture information of the controllable catheter bending and controllable section, and ensure the flexibility of the front end of the controllable catheter and the maneuverability of the intubation operation. The push/pull, rotation and bending actions of the controllable catheter can be obtained, and the information on the delivery force of the controllable catheter in the operating room can be obtained to ensure the accuracy and stability of the intubation.

The above-mentioned solutions are relatively advanced research on vascular interventional surgery robots in China, but they all have the following problems: (1) only the guide wire or catheter can be pushed independently, and the catheter and guide wire cannot be pushed cooperatively during the operation. It cannot completely simulate the doctor's operation, and it is difficult to operate in some parts that require the simultaneous advancement of the guide wire catheter, resulting in low operation accuracy, low operation efficiency, low degree of assistance to the doctor, and certain safety hazards; (2) The structure is relatively bloated and complicated, not only the manufacturing cost is high, but also affects the operation accuracy; (3) the disassembly and assembly of the catheter guide wire is inconvenient, and it is not easy to replace the catheter guide wire during the operation, and the high-tube guide wire is disinfected; (4) ) The relative position of the catheter guide wire in the blood vessel cannot be known during the operation, and the operation risk is high.

The inventor has been committed to research in this area, and has applied for related patents before that. For example, the Chinese patent application number is: 201510064919.1, and the publication date is: May 20, 2015. The patent document discloses a method for interventional surgery The measuring device of the robot, its base is connected with the upper cover through the hinge; the upper cover is provided with a concave limit plate and a push block. When the upper cover is closed, the concave limit plate connects the column gear with the driving wheel and the idler wheel. Compress to limit the vertical displacement, the push block pushes the left U-shaped block to the right, and the right U-shaped block and the left U-shaped block clamp the guide wire drive auxiliary part; the base is installed on on the slider of the linear drive assembly. This solution can effectively reduce the loss of the pushing force during the transmission process and reduce the large errors caused by assembly or vibration, but it is only used to drive the guide wire and cannot complete the cooperative operation of the catheter guide wire; moreover, although the guide wire The disassembly and assembly of the wire has been improved compared to the aforementioned design, but it is still improved; in addition, it is impossible to understand the relative position of the guide wire in the blood vessel, the tip of the guide wire and the wall of the blood vessel during the operation.

After that, the inventor continued to study the technology of interventional surgery robot, and applied for the application number: 201610119761.8 on March 3, 2016, titled: Master-slave minimally invasive vascular interventional surgery robot slave end and its control method Patent, which includes the slave-end control mechanism and the slave-end mobile platform. The slave-end control mechanism is composed of clamping drive mechanism I, thrust feedback mechanism II, non-destructive clamping mechanism III, and clamping control mechanism IV. At the same time, the invention also provides its control method. This scheme designs a non-destructive clamping mechanism, clamping control mechanism, clamping drive mechanism and thrust feedback mechanism to complete operations such as clamping, loosening, rotating, pushing, and pushing force measurement of the guide wire during the operation, adding push The accuracy of force measurement improves the reliability of guide wire clamping, but its structure is relatively complicated, and the ease of disassembly and assembly has not been greatly improved. At the same time, the distance between the catheter or guide wire tip and the vessel wall The relative position issue is not well resolved either.

It should be noted that the clamping mechanism of the catheter and guide wire is pushed on the operating platform. Due to the operation requirements of the actual operation, it is necessary to arrange the catheter, guide wire and auxiliary mechanism on the same track, and can arbitrarily realize each in the axial direction. However, in the prior art, a motor drives a slide rail composed of a nut screw pair to complete the linear motion, which has the following problems: (1) Large volume and weight: since two sets of slide rails are required to manipulate the catheter and guide wire respectively, The volume of the device is increased, and at the same time, due to the heavy weight of the two sets of slide rails, it is not suitable for clinical operations; (2) the actual action of the doctor's hand operation cannot be reproduced: two sets of slide rails are used to complete the control of the catheter and guide wire, Because of the coaxial arrangement, there is no intersection between the movement strokes of the catheter and the guide wire, that is, the position of the guide wire control slide rail in the axial direction is always far behind the position of the catheter control slide rail in the axial direction, but in actual operation During the process, the distance between the hands of the doctor operating the catheter and the guide wire is arbitrary, so it cannot reproduce the actual action of the doctor's hand operation, and cannot complete the coordinated push of the catheter and guide wire, which does not meet the actual surgical operation requirements; (3) Poor expandability: During the operation, it is necessary to perform auxiliary operations on the catheter and guide wire, and when the axial linear motion of the auxiliary operation is not synchronized with the movement of the catheter and guide wire, it is necessary to add slide rails, and the existing linear slide rails are used , using the arrangement of the slide rail through the shaft, the respective strokes have no intersection, so the expansion of its functions cannot be completed. At present, there is also an urgent need to provide a surgical robot operating platform that can realize the cooperative operation of catheters and guide wires.

Contents of the invention

1. Problems to be solved

The utility model provides a slave end device of an interventional surgery robot and its operating platform. The purpose of the operating platform is to solve the problem that the existing technology is difficult to meet the cooperative operation requirements of catheter guide wires; the slave end device of the interventional surgery robot is installed on the operating platform The catheter controller and the guide wire controller solve the problem that the existing robots are difficult to complete the cooperative operation of the catheter and the guide wire. 2. Technical solution

In order to solve the above problems, the utility model adopts the following technical solutions.

An operation platform, including a support platform, at least one platform connection block is arranged on the support platform through a linear guide rail pair D; the platform connection block is driven by a driving mechanism, and it is used for installing a catheter controller or a guide wire controller .

As a further improvement, there are two platform connecting blocks, which are respectively used for installing the catheter controller and the guide wire controller, and each platform connecting block is independently controlled by a driving mechanism.

As a further improvement, each of the drive mechanisms includes a drive motor fixed on the support platform, a rope and a tension mechanism; the tension mechanism has two, respectively arranged at both ends of the support platform; On a tensioning mechanism, it is connected to the platform connection block; the drive motor is connected to the sheave, and the sheave is used to drive the rope to drive the platform connection block to move.

As a further improvement, the tensioning mechanism includes a guide fixing sleeve and an adjusting screw sleeve, a guide rod is installed in the guide fixing sleeve, one end of the guide rod is connected to a tension bracket, and a guide wheel for supporting the rope is respectively provided at both ends of the tension bracket ; The adjusting screw sleeve is equipped with a screw rod, and the screw rod can adjust the position of the guide rod in the guide fixed sleeve, so that the guide wheel tensions the rope.

A slave device of an interventional operation robot, comprising a catheter controller, a guide wire controller and the above-mentioned operating platform; the catheter controller and the guide wire controller are respectively installed on two platform connecting blocks.

As a further improvement, the catheter controller includes a main body, a catheter clamping mechanism and a guide wire auxiliary clamping mechanism, the catheter clamping mechanism is used to clamp the catheter, and the guide wire auxiliary clamping mechanism is used to clamp or loosen the guide wire ; The catheter clamping mechanism and guide wire auxiliary clamping mechanism can be disassembled and installed on the main body.

As a further improvement, the catheter clamping mechanism includes a medical three-way valve and a clamping assembly; the medical three-way valve is used for connecting catheters, and it is fixed on the main body through the clamping assembly; the main body includes Housing A and the upper cover installed on the housing A, the clamping assembly is detachably installed on the upper cover.

As a further improvement, the catheter controller also includes a catheter twisting assembly, which is used to drive the screw cap of the medical three-way valve to drive the catheter to rotate; the catheter twisting assembly includes a motor A, a pinion A and a large gear A; the motor A is installed in the main body, and it connects the pinion A; the said large gear A cooperates with the connecting sheath installed on the screw cap of the medical three-way valve, and the connecting sheath is used to fix the catheter; said small gear A and the large gear A meshing transmission.

As a further improvement, the catheter controller also includes a catheter force-measuring assembly for detecting the pushing force of the catheter; the catheter force-measuring assembly includes a partition A, a catheter connecting plate and a force sensor A arranged in the main body; the catheter The connecting plate is used to connect the conduit clamping mechanism, which is movably arranged through the linear guide rail pair A; one end of the force sensor A is connected to the partition A, and the other end is connected to the conduit connecting plate.

As a further improvement, the medical three-way valve is clamped and fixed from both sides by two clamping assemblies, each clamping assembly includes a clamping block and a switch base fixed under the clamping block, the clamping block and A toggleable switch A is arranged between the switch bases, and the switch A is used for locking or unlocking the conduit connecting plate.

As a further improvement, the guide wire auxiliary clamping mechanism includes a support member, a clamping member and a driving element; The support can be driven to move up and down in the vertical direction.

As a further improvement, the driving element is a steering gear A, the steering gear A is connected to a wire wheel, a wire is wound on the wire wheel, and one end of the wire is connected to a clamping member.

As a further improvement, the guidewire controller includes a base part, a guidewire clamping mechanism installed on the base part, and a clamping switching mechanism, the guidewire clamping mechanism is used to clamp the guidewire, and the clamping switching mechanism is used to Drive the guidewire clamping mechanism to loosen the clamping of the guidewire.

As a further improvement, the guide wire clamping mechanism includes a guide wire locking sleeve, a guide wire locking rod and a guide wire locker, and one end of the guide wire locking rod is installed with the guide wire locker and then loaded into the guide wire lock inside the locking sleeve; the guide wire locking sleeve has a tapered hole, and the guide wire locking device has an outer tapered surface that matches the tapered hole of the guide wire locking sleeve, and the outer tapering surface of the guide wire locking device At least two incisions are made along the circumferential direction, and the guide wire locker clamps the guide wire by radial contraction under force; The inner locker end cap is press-fitted in the guide wire locking sleeve.

As a further improvement, the clamping switching mechanism includes a steering gear B, the steering gear B is installed with a turntable, and a wire is wound on the turntable, and the end of the wire is connected with a switching plate set by a linear guide rail pair C; Install the locker pull plate, and the switching plate is stuck between the locker end cover and the locker pull plate.

As a further improvement, the guidewire controller also includes a guidewire twisting assembly for driving the guidewire locking sleeve to rotate; the guidewire twisting assembly includes a motor B arranged on the base part, and the motor B is connected to a pinion B ; The guide wire locking sleeve is equipped with a large gear B meshing with the pinion B; the guide wire locking sleeve is supported and arranged on the base part through the sleeve support assembly; the sleeve support assembly It includes a positioning base, and the guide wire locking sleeve is installed in the positioning base through bearing installation.

As a further improvement, the guidewire controller also includes a guidewire force-measuring assembly for detecting the push force of the guidewire; the guidewire force-measuring assembly includes a partition B arranged in the base part, a guidewire connector and Force sensor B; the guide wire connector is used to connect the sleeve support assembly, which is movably arranged on the partition B through the linear guide rail pair B; one end of the force sensor B is connected with the partition B, and the other end is connected with the partition B Guidewire connector connection.

As a further improvement, the bottom of the positioning base is provided with a toggleable locking switch through the connecting seat; the guide wire connector is provided with a plug-in board B with a plug-in hole B, and the toggle lock switch can be The locking switch is inserted into the insertion hole B, thereby locking the guide wire connector.

A control method for a slave device of an interventional surgery robot. The operating platform controls the relative positions of the catheter controller and the guide wire controller in the moving direction, and completes the cooperative pushing operation of the catheter and the guide wire; wherein, the catheter controller is used to control the movement of the catheter Action, the wire controller is used to control the action of the guide wire.

3. Beneficial effects

Compared with the prior art, the beneficial effects of the utility model are:

(1) The operation platform of the present utility model arranges the axial movement control of the catheter and the guide wire in a single track, that is, adopts the form of multiple platform connecting blocks on one track, and the platform connecting blocks are used to fix the catheter controller or the guide wire controller , due to the use of multiple sliders running on the same track, the strokes of each slider are completely coincident, the difference is that the sequence is smooth, this method is completely in line with the actual operation form of the doctor's hand, and can complete the coordination of the catheter and the guide wire Push, in line with actual surgical operation needs;

(2) The operating platform of the present utility model adopts the form of multiple sliders on one track for the linear control of the catheter controller and the guide wire controller, avoiding the need for a set of tracks for the control of each linear motion in the prior art And a set of sliders cause the problem of large volume and heavy weight. The present invention adopts the form of multiple sliders sharing the track, which reduces the volume of the device, reduces the weight of the device, and reduces the cost, so that it can be better applied to clinical surgery;

(3) The operation platform of the utility model can be expanded according to the needs. When the auxiliary operation of the catheter and the guide wire is required during the operation, and the axial linear motion of the auxiliary operation is not synchronized with the movement of the catheter and the guide wire , can be completed by increasing the number of platform connection blocks, using the increased platform connection blocks to carry the auxiliary operating device to realize the auxiliary function of the catheter and guide wire, which can be expanded according to specific needs, and has good scalability. The operation is relatively simple;

(4) The operation platform of the present utility model adopts the rope drive to complete the control of the linear movement, and utilizes the tension mechanism to play the role of tension and guidance at the same time, because the rope drive uses the rope to replace the traditional rigid structure, so that its structure Simple, the mechanism is relatively light, the inertia is small, the flexibility of the device is good, and there will be no rigid collision or impact. At the same time, the movement of each platform connection block is individually controlled by a motor, and the respective movements of the platform connection blocks can be linearly controlled. At the same time, due to the use of pulleys to complete the guide, the axial friction is small, and the tension mechanism can be used for tension, which makes the installation and adjustment convenient;

(5) The slave end device of the interventional surgery robot of the utility model can complete the cooperative operation of the catheter and the guide wire during the interventional operation by setting the catheter controller and the guide wire controller on the operating platform, and can meet various requirements of the operation;

(6) The slave end device of the interventional surgery robot of the utility model, in the catheter controller, the catheter clamping mechanism and the guide wire auxiliary clamping mechanism are detachably installed on the main part. The simple combination method is convenient for disassembly and assembly, and the catheter The clamping mechanism can clamp the catheter, and the guidewire auxiliary clamping mechanism can clamp or loosen the guidewire, so as to cooperate with the guidewire controller, the catheter guidewire can be pushed separately or simultaneously, and work together;

(7) The slave end device of the interventional surgery robot of the utility model, the catheter clamping mechanism in the catheter controller adopts the structural form of the clamping component to clamp the medical three-way valve, the disassembly and assembly are simple, and the clamping structure is greatly simplified. The valve can not only be connected to the catheter simply and quickly, which facilitates the disinfection of their joints, but more importantly, through the medical three-way valve, the contrast agent can be injected into the blood vessel during the operation, and the inside of the blood vessel can be contrasted, so that it can be observed The relative position of the catheter guide wire and the blood vessel is convenient for further operation of the catheter guide wire and improves the safety of the operation; in addition, the cost of the medical three-way valve is low, it can be used once and can be discarded after use, unlike the existing The clamping mechanism also needs to be disassembled and sterilized repeatedly;

(8) The slave end device of the interventional surgery robot of the utility model can realize the twisting operation of the catheter through the catheter twisting component in the catheter controller, so as to meet the angle control of the catheter head during the operation process and ensure that the catheter can smoothly move to the predetermined position in the blood vessel. The position is advanced; the catheter torsion component adopts the form of a motor-driven gear, and the rotation speed of the catheter can be adjusted by adjusting the transmission ratio of the small gear and the large gear, and the connection between the large gear and the medical three-way valve is realized through the connecting sheath, which can complete the catheter The torsion drive can easily and conveniently install the catheter on the medical three-way valve; similarly, the guide wire torsion assembly also has the same effect;

(9) From the end device of the interventional surgery robot of the utility model, the catheter controller or the guide wire controller can detect the pushing force of the catheter or the guide wire during the pushing process through the force-measuring component, so as to achieve precise control of the catheter or the guide wire, and improve Surgical safety; the force sensor is used for real-time dynamic force feedback to control the pushing force for the doctor; the force measuring component is installed inside the main part or the base part, with a compact structure and a relatively closed structure, which can well protect the force sensor, and The force measuring form of the force sensor is simple and convenient, there are relatively few intermediate connectors, and the force measuring accuracy is high;

(10) From the end device of the interventional surgery robot of the utility model, the clamping assembly of the catheter clamping mechanism in the catheter controller can simply and reliably clamp the medical three-way valve, and through the switching of the switch in the clamping assembly, The disassembly and assembly of the conduit holder and the conduit connecting plate in the force measuring component can be quickly completed, and the structural design is ingenious;

(11) The slave end device of the interventional surgery robot of the utility model, the guide wire auxiliary clamping mechanism in the catheter controller innovatively adopts the structural form in which the steering gear drives the wire pulley to drive the wire to pull the clamping part to clamp the guide wire, and the spring The reverse force can make the clamping part release the guide wire, the operation is simple and convenient, and it is easy to control. It can cooperate with the catheter clamping mechanism to complete the cooperative operation of the catheter guide wire;

(12) The slave end device of the interventional surgery robot of the utility model, the guide wire clamping mechanism in the guide wire controller adopts the matching form of the guide wire locker and the guide wire locking sleeve with the taper surface, and the guide wire locking rod can be squeezed The guide wire locker makes it shrink radially to clamp the guide wire. In this way, the entire circumference of the guide wire is clamped, the clamping area is large, the clamping is reliable, and the damage to the guide wire is small;

(13) In the slave end device of the interventional surgery robot of the utility model, the clamping switch mechanism in the guide wire controller cooperates with the structural form of the guide wire clamping mechanism so that the guide wire locker loosens the clamping of the guide wire and clamps the guide wire. In the switching mechanism, the turntable is driven by the steering gear to rotate, the wire on the turntable is wound, and the wire pulls the guide wire lock lever to overcome the elastic force of the switching spring to move, so that the guide wire lock is squeezed from open to make the guide wire lock Loosen the guide wire, the structure is simple, the switch is convenient and reliable, and the controllability is strong;

(14) The slave end device of the interventional surgery robot of the utility model, the guide wire clamping mechanism in the guide wire controller adopts a structure in which the positioning base supports the guide wire locking sleeve through bearings, which neither affects the clamping of the guide wire, nor The effect guidewire torsion assembly drives the guidewire locking sleeve to rotate.

(15) The slave device of the interventional surgery robot of the utility model has a simple overall structure. Both the catheter controller and the guide wire controller adopt a modular structure design, which is easy to disassemble and assemble, and has a compact structure, and most of them can be made of plastic. The overall weight is light and the manufacturing cost is low.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram that the operating platform of the present invention observes from above;

Fig. 2 is a three-dimensional structural schematic view of the operating platform of the present invention viewed from the lower side;

Fig. 3 is a three-dimensional structural schematic diagram of the tensioning mechanism in the operating platform of the present invention;

Fig. 4 is a schematic diagram of the explosion structure of the tensioning mechanism in the operating platform of the present invention;

Fig. 5 is the three-dimensional structure schematic diagram of catheter controller in the utility model;

Fig. 6 is a front view structural schematic diagram of the main part of the catheter controller;

Fig. 7 is A-A sectional view among Fig. 6;

Fig. 8 is B-B sectional view among Fig. 7;

Figure 9 is an exploded view of the main body of the catheter controller;

Fig. 10 is a front structural schematic diagram of the catheter clamping mechanism in the catheter controller;

Fig. 11 is a C-C sectional view in Fig. 10;

Fig. 12 is a three-dimensional structural schematic diagram of the catheter clamping mechanism in the catheter controller;

Figure 13 is an exploded view of the catheter clamping mechanism in the catheter controller;

Fig. 14 is a three-dimensional structural schematic diagram of the guide wire auxiliary clamping mechanism in the catheter controller;

Figure 15 is an exploded view of the guidewire auxiliary clamping mechanism in the catheter controller;

Fig. 16 is a schematic diagram of the three-dimensional structure of the wire guide controller in the present invention;

Fig. 17 is a front view structural schematic diagram of the base part in the wire guide controller;

Figure 18 is a sectional view of D-D in Figure 17;

Figure 19 is a cross-sectional view of E-E in Figure 18;

Fig. 20 is an exploded schematic view of the base part of the guide wire controller;

Fig. 21 is a front structural schematic diagram of the guide wire clamping mechanism in the guide wire controller;

Figure 22 is a sectional view of F-F in Figure 21;

Figure 23 is a sectional view of H-H in Figure 22;

Fig. 24 is an exploded schematic diagram of the guide wire clamping mechanism in the guide wire controller;

Fig. 25 is a three-dimensional structural schematic diagram of the clamping switching mechanism in the wire guide controller;

Fig. 26 is an exploded view of the clamp switching mechanism in the wire guide controller.

In the figure: 1, the main body; 110, the housing A; 111, the plugboard A; 120, the upper cover;

2. Guide wire auxiliary clamping mechanism; 210, base; 211, insert block; 220, support member; 221, spring cavity; 230, clamping member; 231, pressing block; 240, spring; 250, steering gear A ; 260, wire wheel;

3. Catheter clamping mechanism; 310, medical three-way valve; 320, clamping assembly; 321, switch base; 322, clamping block; 323, switch A; 324, connecting sheath;

4. Catheter torsion assembly; 401, motor A; 402, pinion A; 403, large gear A;

5. Catheter force measuring component; 510, partition A; 520, linear guide rail pair A; 530, supporting plate A; 540, conduit connecting plate; 541, plug-in board A; 542, plug-in hole A; Sensor A; 560, sensor fixing plate A;

6. Base part; 610, shell B; 611, inserting plate B; 620, cover plate; 630, guide wire torsion assembly; 631, motor B; 632, pinion B; 633, large gear B;

7. Guide wire clamping mechanism; 710, guide wire locking sleeve; 720, guide wire locking lever; 730, guide wire locker; 740, switching spring; 750, spacer; 760, locker end cover ; 770, lock plate; 780, bearing; 790, sleeve support assembly; 791, positioning base; 792, locking switch; 793, connecting seat; 794, bearing pressure plate; 795, positioning pressure plate;

8. Clamping switching mechanism; 810, steering gear base; 811, plug-in block; 820, steering gear B; 830, turntable; 840, switching board; 850, linear guide pair C;

9. Guide wire force measuring component; 910, partition B; 920, linear guide rail pair B; 930, support plate B; 940, guide wire connector; 941, plug board B; 942, plug hole B; 950 . Force sensor B; 960. Sensor fixing plate B.

1110, support platform; 1120, linear guide rail pair D; 1130, platform connection block; 1140, driving mechanism; 1141, rope; 1142, driving motor; 1143, rope wheel; 1150, tensioning mechanism; 1153, guide rod; 1154, tension bracket; 1155, guide wheel; 1156, screw rod.

Detailed ways

The utility model is further described below in conjunction with specific embodiments and accompanying drawings.

Example 1

As shown in Fig. 1 and Fig. 2, the present embodiment provides an operating platform, including a support platform 1110, a platform connection block 1130 and a driving mechanism 1140; wherein, the platform connection block 1130 has at least one, which is arranged on the On the support platform 1110, this embodiment has three platform connection blocks 1130, each platform connection block 1130 is driven independently by a driving mechanism 1140, and the platform connection block 1130 is used to install catheter controllers, guide wire controllers or other supporting auxiliary structures . The catheter controller and guidewire controller have corresponding structures in the prior art. The catheter controller is used to clamp the catheter and detect the rotation and push force of the catheter. The guidewire controller is used to clamp the guidewire and rotate and push the guidewire. Push force detection, etc.

Each drive mechanism 1140 described includes a drive motor 1142, a rope 1141 and a tensioning mechanism 1150; wherein, the drive motor 1142 is fixed on the bottom of the support platform 1110, and it is connected with a sheave 1143, and the sheave 1143 is used to drive the rope 1141 to drive The platform connection block 1130 moves; the tensioning mechanism 1150 has two, respectively arranged at the two ends of the supporting platform 1110, for supporting the rope 1141, and making the rope 1141 tensioned, and the rope wheel 1143 is wound around the two tensioning mechanisms 1150 Above, the sheave 1143 is connected to the platform connection block 1130 .

As shown in Figures 3 and 4, the tensioning mechanism 1150 includes a guide fixing sleeve 1151 and an adjusting screw sleeve 1152, and a guide rod 1153 is installed in the guide fixing sleeve 1151, and one end of the guide rod 1153 is connected with the tension bracket 1154, and the tension bracket 1154 Both ends are respectively provided with a guide wheel 1155 supporting the rope 1141; the adjusting screw sleeve 1152 is equipped with a screw 1156, and the screw 1156 can adjust the position of the guide rod 1153 in the guide fixed sleeve 1151, so that the guide wheel 1155 tensions the rope 1141.

The operating platform solves the problems of large volume and weight of the device in the prior art, the device cannot reproduce the actual action of the doctor's hand operation, and the poor scalability of the device. It designs a support platform 1110, a driving mechanism 1140 and a tensioning mechanism 1150 It cooperates with each other, and adopts the form of one track and multiple sliders to complete the linear movement control of the catheter controller and guide wire controller; it has the advantages of convenient installation and adjustment and high control accuracy.

Example 2

This embodiment provides a slave device for an interventional surgery robot, which mainly includes a catheter controller, a guide wire controller, and the operating platform in Embodiment 1. In this embodiment, the operating platform has two platform connecting blocks 1130, and the catheter The controller and guide wire controller are installed on two platform connection blocks 1130 respectively. The structure of the operating platform has been described in detail in Embodiment 1. This embodiment improves the structures of the catheter controller and the guidewire controller. The structures of the catheter controller and the guidewire controller will be described in detail below.

1. Structure of catheter controller

As shown in Figure 5, the catheter controller mainly includes five parts, namely the main body part 1, the guide wire auxiliary clamping mechanism 2, the catheter clamping mechanism 3, the catheter twisting assembly 4 and the catheter force measuring assembly 5; wherein, the main part 1 is the installation basis of the other four parts. The catheter clamping mechanism 3 and the guide wire auxiliary clamping mechanism 2 can be detachably installed on the main body part 1. The guide wire auxiliary clamping mechanism 2 is used for auxiliary clamping or Relax, the catheter clamping mechanism 3 is used to clamp the catheter, the catheter twisting assembly 4 is used to complete the twisting operation on the catheter, and the catheter force measuring assembly 5 is used to detect the pushing force of the catheter. Through the mutual cooperation of various parts, the device can complete the clamping, pushing, twisting and force measurement of the catheter, as well as the auxiliary clamping or loosening of the guide wire, so as to realize the cooperative cooperation between the catheter and the guide wire, and complete the operation requirements . The specific structure of each part will be described in detail below.

As shown in FIG. 6 to FIG. 9 , the main body 1 includes a casing A110 and an upper cover 120. In this embodiment, the casing A110 is a shell-like structure with an open top and rear end, and the upper cover 120 is installed on the top of the casing A110. The top forms a relatively closed space in the housing A110, making room for the subsequent installation of the catheter torsion assembly 4 and the catheter force-measuring assembly 5. The catheter clamping mechanism 3 is installed above the upper cover 120, and the guide wire auxiliary clamping mechanism 2 is fixed at the rear end of the housing A110, and the installation positions are reasonably allocated. Since the main body part 1 is used as the basic part, the whole device is installed on the platform connection block 1130 for corresponding operations. 1130 is provided with a quick connection hole, the plugboard A111 is inserted into the fast connection hole, a pin hole is set on the plugboard A111, and the pin passes through the platform connection block 1130 and inserted into the pin hole, so that the plugboard A111 is reliably connected with the platform connection block 1130, and Easy to disassemble.

Still referring to Figures 6 to 9, the conduit force measuring assembly 5 is installed in the housing A110, which mainly includes a partition A510, a conduit connecting plate 540 and a force sensor A550; wherein, the partition A510 is fixed in the middle of the casing A110 , the inner space of the shell A110 is mainly divided into upper and lower parts, the opposite sides of the partition A510 are folded upwards to form side plates, and a linear guide rail pair A520 is installed on each of the two side plates, and the linear guide rail pair A520 is connected to the conduit connecting plate 540, so that the conduit connecting plate 540 can move relative to the partition A510, which is also the premise for subsequent testing of the push force of the conduit. In this embodiment, the linear guide rail pair A520 preferably adopts a ball linear guide rail pair, and the friction force is small and can be ignored, so that the movement resistance of the catheter connecting plate 540 can be ignored, ensuring high precision of catheter pushing force detection. The linear guide rail pair A520 includes a guide rail and a slider, the guide rail is fixed on the side plate of the partition A510, the slider is connected to the conduit connecting plate 540 through the supporting plate A530, and the conduit connecting plate 540 is used to connect the conduit clamping mechanism 3 . An L-shaped sensor fixing plate A560 is also installed on the partition A510. One end of the force sensor A550 is connected to the conduit connecting plate 540, and the other end is connected to the sensor fixing plate A560. In this way, the thrust of the conduit is transmitted through the conduit clamping mechanism 3 On the conduit connecting plate 540, the conduit connecting plate 540 moves relative to the partition A510, and will be sensed by the conversion element of the force sensor A550, such as a strain gauge, to convert the force signal into an electrical signal and output it, thereby obtaining the magnitude of the force.

It can be seen from the above that the pushing force of the catheter during the pushing process can be detected through the catheter force measuring component 5, so as to achieve precise control of the catheter and improve the safety of the operation; the force sensor A550 is used for real-time dynamic force feedback to control the size of the pushing force for doctors to operate The conduit force measuring assembly 5 is installed in the housing A110, and has a compact structure and a relatively closed structure, which can well protect the force sensor A550, and the force measuring form of the force sensor A550 is simple and convenient, and there are relatively few intermediate connectors, so the force measuring High accuracy.

Of course, in order to facilitate the connection between the conduit connecting plate 540 and the conduit clamping mechanism 3, in this embodiment, a pair of socket plates A541 with insertion holes A542 are arranged on the conduit connection plate 540, and the socket plates A541 are connected from the casing A110 passes through the upper cover 120 , so that the insertion hole A542 is higher than the surface of the upper cover 120 , through which the conduit connecting plate 540 and the conduit clamping mechanism 3 can be quickly connected or removed. At the same time, in order to adapt to the structure of the conduit connecting plate 540 , there are also specific requirements on the structure of the conduit clamping mechanism 3 , which will be described in detail below.

As shown in Figures 10 to 13, the catheter clamping mechanism 3 includes a medical three-way valve 310 and a clamping assembly 320; wherein the medical three-way valve 310 is used for connecting catheters, and it is an existing clinically commonly used medical appliance. It is innovatively used in the clamping control of the catheter, which mainly includes a three-way body, a control valve and a screw cap, and the screw cap can rotate relative to the three-way body. When in use, the catheter is first connected to the connecting sheath 324, and then the connecting sheath 324 is screwed to the screw cap, so that the catheter is connected to the medical three-way valve 310 and can rotate relatively; the connecting sheath 324 is used as an intermediate connecting element, It is very common in the prior art and will not be repeated here. The clamping assembly 320 is used to clamp and fix the medical three-way valve 310. Of course, the three-way body of the medical three-way valve 310 is fixed. , it includes a clamping block 322, one side of the clamping block 322 has a card slot that fits with the shape of the half of the three-way body of the medical three-way valve 310, and the slots of the two clamping blocks 322 can be combined together It forms a clamping cavity, which can reliably clamp the three-way body of the medical three-way valve 310 without affecting the rotation of the screw cap. Of course, in order to adapt to the connection structure of the above-mentioned conduit connecting plate 540, here, an open slot is provided on the lower side of the clamping block 322, and a switch base 321 is fitted in the opening slot, and between the clamping block 322 and the switch base 321 A switch A323 that can be toggled is provided, and the switch A323 is used to lock or unlock the conduit connecting plate 540 . Switch A323 is made up of horizontal clamping plate and vertical toggle plate, clamping plate is slidably arranged in the chute on the switch base 321, after the toggle plate passes through the hole on the clamping block 322, it is for toggle. When the conduit clamping mechanism 3 is installed above the upper cover 120, the plug board A541 is inserted into the vertical jack formed between the clamping block 322 and the switch base 321, and the plug board can be inserted by flipping the switch A323. The insertion hole A542 of the insertion plate A541 realizes the detachable connection between the conduit connecting plate 540 and the conduit clamping mechanism 3 .

It can be seen from the above that the catheter clamping mechanism 3 adopts the structural form of the clamping assembly 320 clamping the medical three-way valve 310, which is easy to disassemble and assemble, and greatly simplifies the clamping structure. The innovative use of the medical three-way valve 310 to connect the catheter, not only can it be connected to the catheter simply and quickly, which facilitates the disinfection of their joints, but more importantly, through the medical three-way valve 310, it can be injected into the blood vessel during the operation. Contrast agent is used to contrast the inside of the blood vessel at the tip of the catheter, so that the relative position of the catheter guide wire and the blood vessel can be observed, which facilitates further operation of the catheter guide wire and improves the safety of the operation; in addition, the cost of the medical three-way valve 310 It is low, can be used once, and can be discarded after use, instead of being repeatedly disassembled and sterilized like the existing clamping mechanism.

5 to 9, the catheter torsion assembly 4 includes a motor A401, a small gear A402 and a large gear A403; wherein, the motor A401 is fixed in the housing A110, which has a good protective effect, and the output shaft of the motor A401 is connected to a small The gear A402 and the large gear A403 are connected to the connecting sheath 324 of the fixed catheter, and the small gear A402 and the large gear A403 are meshed for transmission; during use, the motor A401 drives the small gear A402 to rotate, and the small gear A402 and the large gear A403 are meshed for transmission, and the large gear A403 Drive the connecting sheath 324 to rotate, thereby driving the catheter to twist, the angle of the catheter tip can be adjusted, and the catheter can be smoothly advanced in the blood vessel. The center of the large gear A403 is provided with a hole matching the shape of the connection sheath 324, and the connection sheath 324 is inserted into the hole to connect the connection sheath 324 with the large gear A403.

The catheter twisting assembly 4 can realize the twisting operation of the catheter, so as to meet the angle control of the catheter head end during the operation, and ensure that the catheter can be smoothly advanced to the predetermined position in the blood vessel; The rotation speed of the catheter can be adjusted by adjusting the transmission ratio of the large and small gears, and the connection between the large gear A403 and the medical three-way valve 310 is realized through the connecting sheath 324, which can not only complete the torsional drive of the catheter, but also easily and conveniently install the catheter on the 310 on the medical three-way valve.

14 and 15, the guide wire auxiliary clamping mechanism 2 includes a base 210, a support member 220, a clamping member 230 and a driving element; wherein, the base 210 is used to install the guide wire auxiliary clamping mechanism 2 on On the housing A110, the supporting member 220 and the driving element are installed on the base 210, and the clamping member 230 is supported and arranged in the supporting member 220 by the spring 240, which can move up and down in the vertical direction through the driving element, and the guide wire To clamp or loosen. There is a spring chamber 221 on the support member 220, and the spring 240 is located in the spring chamber 221; the clamping member 230 is a rod-shaped structure, and its upper end has a pressing block 231, and its lower end has a small hole, and the lower end is inserted into the spring from above the support member 220. Inside the cavity 221 , after passing through the spring 240 , it protrudes from the bottom of the support member 220 to connect with the driving element. The driving element only needs to be able to drive the clamping part 230 to move up and down, but the driving component in this embodiment adopts the steering gear A250, the steering gear A250 is connected to the wire wheel 260, and the wire wheel 260 is wound with a wire, and one end of the wire penetrates into the lower end of the clamping part 230 The small hole is connected to the clamping member 230. When in use, the steering gear A250 drives the wire wheel 260 to rotate, and the wire drives the clamping part 230 to move down to compress the spring 240, and the pressing block 231 at the upper end of the clamping part 230 moves down to press the guide wire on the upper surface of the supporting part 220, Thereby, the clamping of the guide wire is realized.

In addition, in order to facilitate the installation of the guide wire auxiliary clamping mechanism 2 on the housing A110, the base 210 is provided with a pair of inserting blocks 211 for installing it on the housing A110, through which the pair of inserting blocks 211 are inserted into the housing A110 on the rear side and fasten with bolts.

Based on the above description, the structure and connection relationship of each part of the catheter controller has been clearly and completely described. The device has the following advantages:

① The overall structure is simple, adopting modular structure design, each part is relatively independent, the assembly can be completed through simple combination, convenient disassembly and assembly, and the structure is compact and small in size; most parts are simple in structure and can be made of plastic Made of finished products, light in weight, and greatly reduce manufacturing costs;

② It can realize the clamping, pushing, twisting and force measurement of the catheter at the same time, as well as the auxiliary clamping or loosening of the guide wire, so that it can cooperate with the guide wire controller to complete the cooperative operation control of the catheter guide wire to meet various operation needs of the operation ;

③The relatively closed structure has better protection for sensors and motors;

④During the operation, it is more convenient to perform angiography on the blood vessels at the tip of the catheter, so as to understand the relative positional relationship between the catheter guide wire and the blood vessels, and improve the safety of the operation.

Use the above-mentioned catheter controller to control the catheter and guide wire, mainly to complete the clamping, pushing, twisting and force measurement of the catheter, as well as the clamping and loosening of the guide wire, and the cooperative control of the catheter guide wire to meet the operation of interventional surgery Requirements, the corresponding operation steps are described in detail below.

Firstly, install the main body 1 into the quick connection hole of the platform connection block 1130 through the plugboard A111, and fix it with a pin.

Then, the catheter clamping mechanism 3 clamps and installs the catheter, which is specifically: first connect and install the tail end of the catheter on the connecting sheath 324, and simultaneously install the large gear A403 and the connecting sheath 324 in this step, which is a subsequent catheter twisting assembly 4 transmission to prepare; then screw the connecting sheath 324 onto the screw cap of the medical three-way valve 310; then clamp and fix the medical three-way valve 310 from both sides through the clamping block 322 of the clamping assembly 320; finally, clamp The clamping assembly 320 behind the medical three-way valve 310 is inserted into the conduit connection plate 540 above the upper cover 120, and the toggle switch A323 is inserted into the insertion hole A542 of the conduit connection plate 540 to lock, so that the conduit clamping mechanism 3 It is connected and fixed with the conduit connecting plate 540 , at this time, the pinion gear A402 and the bull gear A403 are also meshed for transmission connection; the clamping of the conduit by the conduit clamping mechanism 3 and installation on the main body 1 are completed.

Next, after the guide wire controller clamps the guide wire, the head end of the guide wire is inserted into the catheter through the medical three-way valve 310 to ensure that the guide wire behind the medical three-way valve 310 passes through the guide wire auxiliary clamping mechanism 2 Between the support piece 220 and the pressing block 231 of the clamping piece 230, the guide wire is installed in place.

After the above preparations, the catheter controller can control the catheter and guide wire accordingly, as follows:

(1) When it is necessary to control the catheter alone

The guide wire auxiliary clamping mechanism 2 releases the guide wire, that is, the steering gear A250 is powered off, and the clamping part 230 is under the force of the spring 240, and its pressing block 231 is far away from the surface of the supporting part 220, so that the pressing block 231 will not The guide wire is pressed; the platform connecting block 1130 moves, which drives the main body part 1 to move, and then drives the catheter clamping mechanism 3 to move, controls the catheter to move independently, and completes the push.

(2) When it is necessary to control the catheter and the guide wire at the same time

The guide wire auxiliary clamping mechanism 2 assists in clamping the guide wire, that is, the steering gear A250 is energized to drive the wire wheel 260 to rotate, and the wire wheel 260 pulls the clamping part 230 downward through the wire, and the clamping part 230 overcomes the resistance of the spring 240 and moves downward , until the pressing block 231 presses the guide wire on the surface of the support member 220 to complete the clamping of the guide wire; the platform connecting block 1130 drives the main body part 1 to move, and then the catheter clamping mechanism 3 drives the catheter to move, and at the same time, the guide wire The auxiliary clamping mechanism 2 drives the guide wire to act synchronously, so as to realize the synchronous pushing of the catheter and the guide wire.

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

The operation platform stops, the catheter clamping mechanism 3 does not move, the guidewire auxiliary clamping mechanism 2 releases the guidewire, and the guidewire controller drives the guidewire to push the guidewire alone.

(4) Torsion control of the catheter

The motor A401 moves, through the meshing transmission of the pinion gear A402 and the big gear A403, it drives the connecting sheath 324 and the screw cap of the medical three-way valve 310 to rotate together, and then drives the catheter to twist to complete the twisting operation of the catheter and realize the angle adjustment of the catheter head end .

(5) Detection of catheter pushing force

The action of the operating platform drives the main body 1 to push forward, and its driving force is transmitted to the conduit clamping mechanism 3 through the partition A510, the force sensor A550 and the conduit connecting plate 540. During the pushing process, the force sensor A550 receives the thrust information and converts it to It is an electrical signal output, and then achieves the detection of the pushing force of the catheter.

Through the above steps, the clamping, pushing, twisting and pushing force detection of the catheter can be completed, as well as the auxiliary clamping and loosening of the guide wire. The orderly work between each step can be completed with the guide wire controller. The coordinated operation of the silk can meet various operational needs during the operation. The guide wire controller will be described in detail below.

2. Mechanism of guide wire controller

As shown in Figure 16, the guidewire controller also mainly includes five parts, which are respectively the base part 6, the guidewire clamping mechanism 7, the clamping switching mechanism 8, the guidewire torsion assembly 630 and the guidewire force measuring assembly 9; , the base part 6 is the installation basis of the other four parts, the guide wire clamping mechanism 7 and the clamping switching mechanism 8 can be detachably installed on the base part 6, the guide wire clamping mechanism 7 is located on the upper side of the base part 6, and the clip Tight switching mechanism 8 is positioned at the rear side of base part 6, and guide wire clamping mechanism 7 is used for clamping guide wire, and clamping switching mechanism 8 is used for driving guide wire clamping mechanism 7 to loosen the clamping to guide wire, and guide wire The wire twisting assembly 630 is used to complete the twisting operation on the guide wire, and the guide wire force measuring assembly 9 is used to detect the pushing force of the guide wire. The device can complete the clamping, loosening, pushing, twisting and force measurement of the guide wire through the mutual cooperation of various parts, so as to cooperate with the catheter controller to control the catheter and complete the cooperative cooperation in the operation process. The specific structure of each part will be described in detail below.

As shown in FIG. 17 to FIG. 20 , the structure of the base part 6 is basically the same as that of the main body part 1, mainly including a shell B610 and a cover plate 620; in this embodiment, the shell B610 is a shell-like structure with open top and rear ends , the cover plate 620 is installed on the top of the housing B610, so that a relatively closed space is formed in the housing B610, and there is room for the subsequent installation of the guide wire torsion assembly 630 and the guide wire force measuring assembly 9. The guide wire clamping mechanism 7 is installed above the cover plate 620, and the clamping switch mechanism 8 is fixed on the rear side of the housing B610, and the installation positions are reasonably allocated to meet the needs of realizing their respective functions. Since the base part 6 is used as the basic part, the whole device is installed on the platform connection block 1130 for corresponding operations. For the convenience of installation, a pair of plug-in boards B611 are arranged at the bottom of the housing B610, and the plug-in boards B611 are inserted into the quick-connect holes, and then fixed by pins.

As shown in Figures 17 to 20, the guide wire force measuring assembly 9 is installed in the housing B610, and its structure is similar to that of the catheter force measuring assembly 5, which mainly includes a partition B910, a guide wire connector 940 and a force sensor B950; , the partition B910 is installed in the middle of the housing B610, and roughly divides the inner space of the housing B610 into upper and lower parts. The opposite sides of the partition B910 are folded upwards to form side panels, and one The linear guide rail pair B920, the linear guide rail pair B920 is connected to the guide wire connector 940, and the guide wire connector 940 is used to connect the guide wire clamping mechanism 7, so that the guide wire connector 940 can slide relative to the partition B910, which is also the follow-up to the guide wire connector 940. The premise of wire pushing force detection. In this embodiment, the linear guide rail pair B920 is also preferably a ball linear guide rail pair, and the friction force is small and almost negligible, so that the movement resistance of the guide wire connector 940 is negligible, ensuring the high precision of the guide wire pushing force detection. The linear guide rail pair B920 includes a guide rail and a slider, the guide rail is fixed on the side plate of the partition B910, and the slider is connected with the guide wire connector 940 through the supporting plate B930. An L-shaped sensor fixing plate B960 is also installed on the partition B910. One end of the force sensor B950 is connected to the guide wire connector 940, and the other end is connected to the sensor fixing plate B960. In this way, the thrust of the guide wire is clamped by the guide wire The mechanism 7 is transmitted to the guide wire connector 940, the guide wire connector 940 moves relative to the partition B910, and generates a pulling force on the force sensor B950, and the conversion element of the force sensor B950, such as a strain gauge, generates a force signal and converts the force signal into Electrical signal and output to obtain the magnitude of the force.

Of course, also in order to facilitate the connection between the guide wire connector 940 and the guide wire clamping mechanism 7, a pair of plug boards B941 with insertion holes B942 are arranged on the guide wire connector 940 in this embodiment, and the plug board B941 Through the cover plate 620 from the housing B610, the insertion hole B942 is higher than the surface of the cover plate 620, through which the guide wire connector 940 and the guide wire clamping mechanism 7 can be quickly connected or removed. At the same time, in order to adapt to the structure of the guide wire connector 940 , there are also specific requirements on the structure of the guide wire clamping mechanism 7 , which will be described in detail below.

As shown in Figures 21 to 24, the guide wire clamping mechanism 7 includes a guide wire locking sleeve 710, a guide wire locking rod 720, a guide wire locker 730 and a sleeve support assembly 790; wherein, the guide wire locking sleeve The cylinder 710, the guide wire locking rod 720 and the guide wire locker 730 all have central holes penetrating along their respective axes for the guidewire to pass through; the guidewire locker 730 has a mushroom-like structure with different sizes at both ends , the smaller end can be inserted into the end of the guide wire locking rod 720, the larger end is exposed outside, and has an outer tapered surface, at least two incisions are provided along the circumferential direction of the outer tapered surface, in this embodiment, 4 cut the tapered end into 4 even parts; and the guide wire lock rod 720 loaded into the guide wire locker 730 is inserted into the guide wire lock sleeve 710, and the guide wire lock sleeve 710 has a guide wire lock sleeve 710. A tapered hole matched with the outer tapered surface of the guide wire locker 730 . Simultaneously, one end of the guide wire lock lever 720 near the guide wire locker 730 has a stop ring, the guide wire lock lever 720 is covered with a switch spring 740, and one end of the switch spring 740 is limited by the stop ring, and then the guide wire lock Install the locker end cap 760 at the end of the stop sleeve 710, press the switch spring 740 into the guide wire lock sleeve 710, and set a gasket between the locker end cover 760 and the end of the switch spring 740 750, so that the locker end cover 760 can better compress the switching spring 740. In this way, the locker end cover 760 squeezes the switch spring 740, and the switch spring 740 exerts a thrust on the guide wire lock lever 720, and then the guide wire lock lever 720 squeezes the guide wire lock 730, so that the guide wire lock 730 The outer tapered surface of the guide wire lock sleeve 710 and the tapered hole surface of the guide wire lock sleeve 710 move relatively. Due to the existence of the cutout on the guide wire lock 730, the end of the guide wire lock 730 with the tapered surface will shrink radially, clamping Tight guide wire, in this way, the entire circumference of the guide wire is clamped, the clamping area is large, the clamping is reliable, and the damage to the guide wire is small.

It should be noted that, in order to meet the above-mentioned connection between the guide wire clamping mechanism 7 and the guide wire connector 940, and the subsequent guide wire twisting assembly 630 can realize the twisting of the guide wire, the guide wire locking sleeve 710 in this embodiment The supporting structure is designed, and a structural form in which the guide wire locking sleeve 710 is supported and arranged on the base part 6 through the sleeve supporting component 790 is adopted. The sleeve support assembly 790 includes a positioning base 791, a bearing pressing plate 794 and a positioning pressing plate 795; wherein, the positioning base 791 has a U-shaped accommodation cavity, and there are two bearing slots in the accommodation cavity, and the two guide wire locking sleeves 710 One bearing 780 is installed at each end, and the two bearings 780 are stuck in the bearing slots, and the bearing 780 is pressed from the top of the bearing 780 with a bearing pressure plate 794, which can prevent the axial movement of the guide wire locking sleeve 710, and the bearing pressure plate 794 The upper part is fixed by the positioning pressing plate 795 to prevent the radial movement of the guide wire locking sleeve 710, and the bearing pressing plate 794 and the positioning base 791 adopt a plug-in connection mode, which is convenient for insertion and assembly. In addition, an open slot is provided on both sides of the bottom of the positioning base 791, and a connecting seat 793 is arranged in the opening slot, and a locking switch 792 that can be toggled is set in the space between the positioning base 791 and the connecting seat 793. Locking switch 792 is used to lock or unlock guidewire connector 940 . The locking switch 792 is made up of a horizontal clamping plate and a vertical toggle plate, the clamping plate is slidably arranged in the chute on the connection seat 793, and the toggle plate passes through the hole on the positioning base 791 to expose the surface of the connection seat 793 , for toggle. When the guide wire clamping mechanism 7 is installed above the cover plate 620, the plug-in board B941 is inserted into the vertical socket formed between the positioning base 791 and the connection seat 793, and the locking switch 792 can be toggled to make the clamping plate B941 Insert it into the insertion hole B942 of the plug board B941, so as to realize the detachable connection between the guide wire clamping mechanism 7 and the guide wire connector 940.

As shown in FIG. 16 to FIG. 20 , the structure of the guide wire twisting assembly 630 is also similar to that of the catheter twisting assembly 4, which includes a motor B631, a small gear B632 and a large gear B633; wherein, the motor B631 is fixed in the housing B610 and has a good The protective function of the motor B631 is connected with the pinion B632 by the output shaft of the motor B631, and the bull gear B633 is connected with the front end of the guide wire locking sleeve 710 through a key, and the pinion B632 and the bull gear B633 are meshed for transmission. In use, the motor B631 drives the pinion gear B632 to rotate, and the large gear B633 drives the guide wire locking sleeve 710 to rotate through the meshing transmission of the large and small gears. 710 rotate together, so that the angle of the end of the guide wire can be adjusted to ensure that the catheter can be smoothly advanced in the blood vessel.

The guide wire twisting assembly 630 can realize the twisting operation of the guide wire, so as to meet the angle control of the guide wire head end during the operation, and ensure that the guide wire can be smoothly advanced to the predetermined position in the catheter and the blood vessel; the guide wire twisting assembly 630 The motor B631 is used to drive the gear, and the rotation speed of the guide wire can be adjusted by adjusting the transmission ratio of the large and small gears.

As shown in Figure 25 and Figure 26, the clamping switching mechanism 8 includes a steering gear base 810 and a steering gear B820; wherein, the steering gear base 810 is used to install the clamping switching mechanism 8 on the housing B610, and the steering gear B820 is installed on On the steering gear base 810, the steering gear B820 is connected with a turntable 830, which can drive the turntable 830 to rotate. The turntable 830 is wound with a wire, and the free end of the wire is used to pull the guide wire locking lever 720 to release the guide wire locking lever 720. Squeeze the guidewire locker 730 so that the guidewire locker 730 releases the clamping of the guidewire. In order to achieve the above functions without affecting the clamping of the guide wire by the guide wire clamping mechanism 7 under normal conditions, the connection structure between the wire and the guide wire locking lever 720 is designed. In this implementation, the guide wire locking lever 720 The end of 720 is threaded to a locker pull plate 770, and there is a distance between the locker pull plate 770 and the locker end cover 760, and this distance can be passed through the locker pull plate 770 and the guide wire locking rod 720 At the same time, a switching plate 840 is provided on the partition B910 through the linear guide rail pair C850, and the switching plate 840 has a circular arc gap. Through this gap, the switching plate 840 is stuck on the locker end cover 760 and the lock Between the pulling plates 770, the turntable 830 is connected to the switch plate 840 on the line, so that the steering gear B820 drives the turntable 830 to rotate, and the switch plate 840 is moved backward by pulling the line, and the switch plate 840 is blocked by the lock pull plate 770, driving the guide wire The locking lever 720 moves backward against the switching spring 740, thereby releasing the guide wire.

In addition, in order to facilitate the installation of the guide and clamp switching mechanism 8 on the housing B610, the steering gear base 810 is provided with a pair of plug-in blocks 811 for installing it on the housing B610, through which the plug-in blocks 811 are inserted into the housing the rear side of the B610 and fix it with bolts to complete the connection.

In the prior art, the clamping and loosening of the guide wire is realized by the same mechanism, and they are not operated separately, resulting in a relatively complicated clamping structure. However, in practical use, the guide wire is in most cases If it needs to be clamped, generally in the combined operation of catheter and guide wire, only when the clamping position of the catheter and the clamping position of the guide wire reach the limit position, it is released when the clamping position of the guide wire needs to be adjusted, and the guide wire needs to be loosened. , this embodiment considers the actual use situation, and controls the clamping and loosening of the guide wire separately. Switching is performed, and the guide wire is released, so that the structure is greatly optimized.

Based on the above explanations, the structure and connection relationship of each part of the guidewire controller for interventional surgery robots have been clearly and completely described, and it has similar advantages to catheter controllers, namely:

① The overall structure is simple, adopting modular structure design, each part is relatively independent, the assembly can be completed through simple combination, convenient disassembly and assembly, and the structure is compact and small in size; most parts are simple in structure and can be made of plastic Made of finished products, light in weight, and greatly reduce manufacturing costs;

②The clamping, loosening, pushing, twisting and force measurement of the guide wire can be realized at the same time, so as to cooperate with the catheter controller to coordinate the operation of the catheter guide wire to meet various operation needs of the operation;

③The relatively closed structure has better protection for sensors and motors;

Using the above-mentioned guide wire controller can mainly complete the clamping, loosening, pushing, twisting and force measurement of the guide wire to meet various operation requirements of interventional surgery. The corresponding operation steps will be described in detail below.

Firstly, the base part 6 is inserted into the quick connection hole of the platform connection block 1130 through the plug-in board B611, and fixed with pins. Then, pass the front end of the guide wire through the guide wire locking rod 720 and the guide wire locker 730 successively, and protrude from the front end of the guide wire locking sleeve 710, and tighten the locker end cap 760 to make the guide wire lock Stopper 730 clamps the guidewire. Of course, in cooperation with the above-mentioned catheter controller, the end of the guide wire is inserted into the catheter through the medical three-way valve 310 .

After the above preparations, the guide wire can be controlled accordingly, as follows:

(1) Push operation of guide wire

The steering gear B820 does not move, the guide wire is clamped by the guide wire locker 730, and the platform connection block 1130 moves, thereby driving the guide wire to move forward together to realize the push of the guide wire.

(2) Detection of the pushing force of the guide wire

During the pushing process of the guide wire, the pushing force of the guide wire is transmitted to the force sensor B950 through the guide wire clamping mechanism 7, and the force sensor B950 deforms and converts the force signal into an electrical signal for output, thereby measuring the pushing force.

(3) The twisting operation of the guide wire

On the premise that the guide wire is clamped, the motor B631 is energized, and the guide wire locking sleeve 710 is driven to rotate through the meshing transmission of the pinion gear B632 and the large gear B633, thereby driving the guide wire to rotate and realizing the torsion operation of the guide wire.

(4) Loosening operation of the guide wire

The steering gear B820 is powered on, drives the turntable 830 to rotate, the wire is wound on the turntable 830, firstly drives the switching plate 840 to move backward, the switching plate 840 pulls the guide wire locking lever 720 to move, and the guide wire locker 730 releases the lock on the guide wire. Clamp.

Through the above steps, the clamping, loosening, pushing, twisting, and pushing force detection of the guide wire can be completed, and the orderly execution of each step can complete the coordinated operation of the guide wire and the catheter, so as to meet the requirements of various procedures during the operation. an operational requirement.

For the whole machine, the above-mentioned method for controlling the cooperative operation of the interventional surgery robot from the end device to the catheter guide wire is to control the relative position of the catheter controller and the guide wire controller in the moving direction through the operating platform, and cooperate with the catheter controller and the guide wire controller. The control action of the guide wire controller on the catheter and the guide wire is completed in an orderly manner; it can simultaneously control the clamping, loosening, pushing, twisting or force measurement of the catheter and the guide wire to complete complex surgical actions; , when the guidewire controller pushes the guidewire close to the catheter controller, the guidewire controller needs to be moved backward at this time, the catheter controller clamps the guidewire through the guidewire auxiliary clamping mechanism 2, and the guidewire controller loosens After the guide wire is pushed back to the desired position, the guide wire holder re-clamps the guide wire. At this time, the guide wire auxiliary clamping mechanism 2 can release the guide wire to realize the switching action during the guide wire pushing process. The form guarantees that the position of the guide wire will not change during the switching process.

The examples described in the utility model only describe the preferred implementation of the utility model, and are not intended to limit the concept and scope of the utility model. Various deformations and improvements made in the scheme should fall within the protection scope of the present utility model.

Claims (18)

1. a kind of operating platform, including support platform (1110), it is characterised in that：By straight in the support platform (1110) Line guideway D (1120) is at least provided with a platform link block (1130)；The platform link block (1130) passes through driving machine Structure (1140) drives, it is for installing catheter controller or guidewire controller.

2. a kind of operating platform according to claim 1, it is characterised in that：The platform link block (1130) has two It is a, it is respectively used to installation catheter controller and guidewire controller, each platform link block (1130) passes through a driving mechanism (1140) individually control.

3. a kind of operating platform according to claim 2, it is characterised in that：Each driving mechanism (1140) includes Driving motor (1142), rope (1141) and the strainer (1150) being fixed in support platform (1110)；The tensioning device There are two structure (1150) tools, is separately positioned on the both ends of support platform (1110)；Rope (1141) is stretched in two strainers (1150) on, its connecting platform link block (1130)；Driving motor (1142) the connection rope sheave (1143), rope sheave (1143) are used It is mobile in driving rope (1141) band moving platform link block (1130).

4. a kind of operating platform according to claim 3, it is characterised in that：The strainer (1150) includes fixed guide Fixed set (1151) and Adjusting bolt Adjusting screw (1152) are oriented to installation guide rod (1153) in fixing sleeve (1151), guide rod (1153) The both ends of one end connection tensioning holder (1154), tensioning holder (1154) are respectively provided with the directive wheel of a support cable (1141) (1155)；Guide rod (1153) is adjusted in fixed guide in Adjusting bolt Adjusting screw (1152) the installation screw rod (1156), screw rod (1156) Position in fixed set (1151), makes directive wheel (1155) tensioning rope (1141).

5. a kind of intervention operation robot is from end device, including catheter controller and guidewire controller, it is characterised in that：Further include A kind of operating platform of any one of claim 2-4；The catheter controller and guidewire controller are separately mounted to two On platform link block (1130).

6. a kind of intervention operation robot according to claim 5 is from end device, it is characterised in that：The catheter controller Including main part (1), conduit clamp system (3) and seal wire auxiliary clamp mechanism (2), conduit clamp system (3) is for being clamped Conduit, seal wire auxiliary clamp mechanism (2) are used for clamp or release seal wire；The conduit clamp system (3) and seal wire additional lock Tight mechanism (2) is removably mounted in main part (1).

7. a kind of intervention operation robot according to claim 6 is from end device, it is characterised in that：The conduit clamps Mechanism (3) includes medical three-way valve (310) and clamp assemblies (320)；The medical three-way valve (310) is used for connecting conduit, It is fixed on by clamp assemblies (320) in main part (1)；The main part (1) includes shell A (110) and installation Upper cover (120) on shell A (110), clamp assemblies (320) are removably mounted in upper cover (120).

8. a kind of intervention operation robot according to claim 6 is from end device, it is characterised in that：Catheter controller also wraps Conduit torsion component (4) is included, conduit torsion component (4) is used to drive the screw-cap of medical three-way valve (310) to drive conduit rotation； The conduit torsion component (4) includes motor A (401), pinion gear A (402) and gear wheel A (403)；Motor A (401) peace In main part (1), it connects pinion gear A (402)；The gear wheel A (403) be mounted on medical three-way valve (310) Screw-cap on connecting utricle (324) cooperation, connecting utricle (324) be used for fixed catheter；The pinion gear A (402) and canine tooth Take turns A (403) engaged transmissions.

9. a kind of intervention operation robot according to claim 7 or 8 is from end device, it is characterised in that：Catheter controller It further include the conduit dynamometry component (5) of the push power for detecting conduit；The conduit dynamometry component (5) includes being arranged in main body Partly the partition board A (510) in (1), conduit connecting plate (540) and force snesor A (550)；The conduit connecting plate (540) is used for Connecting conduit clamp system (3), it is movably arranged by line slideway auxiliary A (520)；Described (550) one end force snesor A with Partition board A (510) connections, the other end are connect with conduit connecting plate (540).

10. a kind of intervention operation robot according to claim 9 is from end device, it is characterised in that：Described medical three Port valve (310) is gripped by two clamp assemblies (320) from both sides, and each clamp assemblies (320) include grip block (322) and the switch pedestal (321) that is fixed below grip block (322) it, is set between grip block (322) and switch pedestal (321) The switch A (323) that can be stirred is set, switch A (323) is for lockking or unlocking conduit connecting plate (540).

11. a kind of intervention operation robot according to claim 6 is from end device, it is characterised in that：The seal wire is auxiliary It includes support element (220), clamping element (230) and driving element to help clamp system (2)；The clamping element (230) passes through spring (240) support is arranged in support element (220), and there is compact heap (231), driving element can drive for the upper end of clamping element (230) Support element (220) lower movement in the vertical direction.

12. a kind of intervention operation robot according to claim 11 is from end device, it is characterised in that：The driving member Part is steering engine A (250), and steering engine A (250) connection line wheels (260) wind wired, one end connection clamping element of line in line wheel (260) (230)。

13. a kind of intervention operation robot according to claim 6 is from end device, it is characterised in that：The seal wire control Device processed includes body portion (6), the seal wire clamp system (7) being mounted on body portion (6) and clamps switching mechanism (8), is led Silk clamp system (7) clamps switching mechanism (8) for driving seal wire clamp system (7) to unclamp to seal wire for clamping seal wire It clamps.

14. a kind of intervention operation robot according to claim 13 is from end device, it is characterised in that：The seal wire clamps Mechanism (7) includes seal wire locking sleeve (710), seal wire locking rod (720) and seal wire lock device (730), seal wire locking rod (720) One end installation seal wire lock device (730) be packed into seal wire locking sleeve (710) afterwards；The seal wire locking sleeve (710) has Taper hole, seal wire lock device (730) have the matched male cone (strobilus masculinus) of taper hole with seal wire locking sleeve (710), seal wire lock device (730) at least two notch are circumferentially opened up on male cone (strobilus masculinus), seal wire lock device (730) is led by the clamping of stress radial contraction Silk；Switching spring (740) is cased on the seal wire locking rod (720), switching spring (740) is by being mounted on seal wire locking sleeve (710) the lock device end cap (760) of end is fitted in seal wire locking sleeve (710).

15. a kind of intervention operation robot according to claim 14 is from end device, it is characterised in that：The clamping switching Mechanism (8) includes (820) steering engine B, and steering engine B (820) installs turntable (830), and wired, the end company of line is wound on turntable (830) It is connected to the switch boards (840) being arranged by line slideway auxiliary C (850)；Lock device pulling plate is installed on the seal wire locking rod (720) (770), switch boards (840) are stuck between lock device end cap (760) and lock device pulling plate (770).

16. a kind of intervention operation robot according to claim 15 is from end device, it is characterised in that：The seal wire control Device further includes the seal wire torsion component (630) for driving seal wire locking sleeve (710) to rotate；The seal wire reverses component (630) include the motor B (631), motor B (631) connection pinion gear B (632) being arranged on body portion (6)；Described leads The gear wheel B (633) engaged with pinion gear B (632) is installed on silk locking sleeve (710)；The seal wire locking sleeve (710) it is arranged on body portion (6) by housing supports component (790) support；The housing supports component (790) includes fixed Position pedestal (791), seal wire locking sleeve (710) are mounted on by bearing (780) in positioning base (791).

17. a kind of intervention operation robot according to claim 16 is from end device, it is characterised in that：The seal wire control Device further includes the seal wire dynamometry component (9) that power is pushed for detecting seal wire；The seal wire dynamometry component (9) includes being arranged in base Partition board B (910), seal wire connector (940) in body portion (6) and force snesor B (950)；The seal wire connector (940) For branch sleeve support component (790), it is removably set on by line slideway auxiliary B (920) on partition board B (910)；It is described One end of force snesor B (950) is connect with partition board B (910), and the other end is connect with seal wire connector (940).

18. a kind of intervention operation robot according to claim 17 is from end device, it is characterised in that：The positioning base (791) bottom is provided with the locking switch that can be stirred (792) by connecting seat (793)；The seal wire connector (940) is set The plugboard B (941) with spliced eye B (942) is set, spliced eye can be inserted by locking switch (792) by stirring locking switch (792) In B (942), to lock seal wire connector (940).