CN107374737A - A kind of intervention operation robot catheter guide wire cooperating system and its control method - Google Patents

Abstract

The invention discloses an interventional operation robot catheter guide wire cooperative operating system and a control method thereof, belonging to the technical field of minimally invasive vascular interventional surgery. The system includes an operating platform, and a catheter controller and a guide wire controller arranged on the operating platform; the operating platform can control the relative movement between the catheter controller and the guide wire controller; the catheter controller includes a main body and a clamp The catheter clamping mechanism for holding the catheter; the guide wire controller includes a clamping mechanism, which includes a sleeve, a brake piece and a clamping piece. After the clamping piece with the clamping end is loaded into the brake piece, the brake piece It is threadedly connected with the sleeve, and the clamping end can be driven to clamp the guide wire through relative rotation of the brake member and the sleeve. The system of the present invention installs a catheter controller and a guidewire controller on the mobile platform to control the catheter and guidewire respectively, and cooperates with the control of the operating platform to complete the coordinated operation of the catheter guidewire.

Description

An interventional surgery robot catheter guide wire cooperative operating system and its control method

technical field

The invention belongs to the technical field of minimally invasive vascular interventional surgery, and relates to a control technology for a catheter guide wire of a robot slave end in an interventional operation, and more specifically relates to an interventional surgery robot catheter guide wire cooperative operating system and a control method 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, the existing technology uses a motor to drive a slide rail composed of a nut screw pair to complete the linear motion, which has the following problems: (1) The volume and weight are large: since two sets of slide rails are required to manipulate the catheter and the 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 invention provides an interventional surgery robot catheter guide wire cooperative operating system and its control method. The guide wire controller controls the catheter and the guide wire respectively, and cooperates with the control of the operating platform to complete the coordinated operation of the catheter guide wire; this method can control the catheter controller and the guide wire controller to complete the control of the catheter and guide wire collaborative operation control.

2. Technical solution

In order to solve the above problems, the present invention adopts the following technical solutions.

An interventional surgery robot catheter guide wire cooperative operating system, including an operating platform, a catheter controller for controlling the action of the catheter, and a guide wire controller for controlling the action of the guide wire; the catheter controller and the guide wire controller are arranged on On the operating platform, the operating platform can control the relative movement between the catheter controller and the guide wire controller;

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 assist in clamping or loosening the guide wire; The catheter clamping mechanism and guide wire auxiliary clamping mechanism can be detachably installed on the main part;

The guide wire controller includes a clamping mechanism; the clamping mechanism includes a sleeve, a brake piece and a clamping piece, and after the clamping piece with a clamping end is loaded into the brake piece, the brake piece and the clamping piece The sleeve is threadedly connected, and the clamping end can be driven to clamp the guide wire by relative rotation of the brake member and the sleeve.

As a further improvement, the operating platform includes a supporting platform, on which at least two platform connecting blocks are arranged through a linear guide rail pair B; each of the platform connecting blocks is driven by a driving mechanism, and the two platform connecting blocks are respectively Install the catheter controller and guidewire controller.

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; the tension of the rope Between the two tensioning mechanisms, it is connected with the platform connecting block; the driving motor is connected with a sheave, and the sheave is used to drive the rope to drive the platform connecting 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 ; A screw rod is installed in the adjusting screw sleeve, 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.

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 The housing A and the upper cover A installed on the housing A, the clamping assembly is detachably installed on the upper cover A.

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 and a gear; the motor A is installed in the main body, and it is connected with the pinion; the large gear cooperates with the connection sheath installed on the screw cap of the medical three-way valve, and the connection sheath is used to fix the catheter; the small gear and the large gear are meshed for 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 catheter connecting plate and a force sensor arranged in the main body; the catheter The connecting plate is arranged on the partition through the linear guide rail pair A, and the conduit connecting plate is used to connect the conduit clamping mechanism; one end of the force sensor is connected to the partition, 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 switch that can be toggled is arranged between the switch bases, and the switch 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, the steering gear is connected to a wire wheel, a wire is wound on the wire wheel, and one end of the wire is connected to the clamping member.

As a further improvement, one end of the sleeve has a threaded hole, and the tail end of the threaded hole is a tapered hole; the brake piece has a threaded section that matches the threaded hole of the sleeve; the clamping piece is installed in the sleeve The rear clamping end is exposed, and the clamping end has an outer tapered surface matched with the taper hole in the sleeve. The clamping end is provided with at least two cutouts along the circumference of the outer tapered surface.

As a further improvement, the guide wire controller also includes a brake brake assembly for clamping or releasing the brake piece; the brake brake assembly includes a brake shoe and a driving element connected to the brake shoe; the brake piece A brake disc is provided, and the driving element of the brake assembly can drive the brake shoe to compress or loosen the brake disc.

As a further improvement, the drive element is a push-pull electromagnet.

As a further improvement, the guide wire controller also includes a sleeve driving assembly for driving the rotation of the sleeve; the sleeve driving assembly includes a large herringbone gear connected to the sleeve, a small herringbone gear meshed with the large herringbone gear and Motor B for driving the small herringbone gear.

As a further improvement, the motor B is connected to a coupling, and the coupling is connected to the small herringbone gear through a ball spline pair.

As a further improvement, the clamping mechanism is supported and arranged on a support plate installed in the housing through a guide rail slider assembly.

As a further improvement, the housing is detachably mounted with an upper cover B, and ear plates are provided on opposite sides of the upper cover B, and the upper cover B is detachably connected to the housing shell through the ear plates.

As a further improvement, the guide rail slider assembly has two groups, which respectively support the two ends of the sleeve, and each group of guide rail slider assemblies includes two pairs of sliding guide rails respectively installed on the support plate and the upper cover B, which are respectively connected There are lower supporting plate and upper supporting plate, the lower supporting plate is installed with the lower half bearing seat, the upper supporting plate is equipped with the upper half bearing seat, the upper half bearing seat and the lower half bearing seat are combined to form a complete bearing seat for the bearing installed on the sleeve support.

As a further improvement, the brake assembly is located on the lower supporting plate, and a force measuring instrument is arranged between the supporting plate and the lower supporting plate.

A control method for a catheter guide wire cooperative operating system of an interventional surgery robot, which completes the coordinated operation of the catheter and the guide wire. Coordinated pushing operation with the guide wire; wherein, the catheter controller is used to control the action of the catheter, and the guide 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 present invention are:

(1) The catheter guide wire cooperative operating system of the interventional surgery robot of the present invention sets the catheter controller and the guide wire controller on the operating platform, and controls the relative movement of the catheter controller and the guide wire controller through the operating platform, and cooperates with the catheter controller For the control of the catheter, and the control of the guide wire controller for the guide wire, it can meet the cooperative operation of the catheter guide wire in interventional surgery and meet the complex operation requirements of the operation. This method simulates the doctor's hand movements, which can be more in line with the doctor's operation Habit;

(2) The interventional surgery robot catheter guide wire cooperative operating system of the present invention, the axial movement of the catheter and the guide wire is controlled in a single track arrangement in the operating platform, that is, the form of multiple platform connecting blocks on one track is adopted, and the platform connecting blocks are used for fixing Catheter controller or guide wire controller, because multiple sliders are used to run 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, Able to complete the coordinated push of the catheter and guide wire, which meets the needs of actual surgical operations;

(2) The catheter guide wire cooperative operating system of the interventional surgery robot of the present invention, the operation platform 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 each linear motion in the prior art The control requires a set of rails and a set of sliders, resulting in large volume and heavy weight. The present invention adopts the form of multiple sliders sharing rails, which reduces the volume of the device, reduces the weight of the device, and reduces the cost. Enables better application in clinical operations;

(3) The interventional surgery robot catheter guide wire cooperative operating system of the present invention, the operating platform can expand the function according to the needs, when the catheter and the guide wire need to be assisted during the operation, the axial linear movement of the auxiliary operation is the same as that of the catheter, When the movement of the guide wire is not synchronous, it can be completed by increasing the number of platform connection blocks, and the increased platform connection blocks are used to carry the auxiliary operation device to realize the auxiliary effect on the catheter and guide wire, which can be expanded according to specific needs , with good scalability and relatively simple operation;

(4) In the present invention, the catheter guide wire of the interventional surgery robot cooperates with the operating system. The operating platform is driven by a rope to complete the control of linear movement, and the tension mechanism is used to play the role of tension and guidance at the same time. Because the rope is driven by the rope to replace the traditional The rigid structure makes 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 controlled by a motor alone. For the platform connection block The respective movements can be controlled linearly, and at the same time, because they are guided by pulleys, the axial friction is small, and the tensioning mechanism can be used for tensioning, which makes installation and adjustment easy;

(6) The interventional surgery robot catheter guide wire cooperative operating system of the present invention, in the catheter controller, the catheter clamping mechanism and the guide wire auxiliary clamping mechanism are detachably installed on the main part, and the simple combination mode is convenient for disassembly and assembly. And the catheter clamping mechanism can clamp the catheter, and the guide wire auxiliary clamping mechanism can clamp or loosen the guide wire, so as to cooperate with the guide wire controller, the catheter guide wire can be pushed separately or simultaneously, and work together;

(7) The catheter guide wire of the interventional surgery robot of the present invention cooperates with the operating system. The catheter clamping mechanism in the catheter controller adopts the structural form of the clamping component to clamp the medical three-way valve, which is simple to disassemble and assemble, and greatly simplifies the clamping structure. The three-way valve can not only be connected to the catheter simply and quickly, which is convenient for 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. The relative position of the catheter guide wire and the blood vessel can be observed, which 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, and it can be used for one time and can be discarded after use, unlike The existing clamping mechanism also needs to be disassembled and sterilized repeatedly;

(8) The catheter guide wire of the interventional surgery robot of the present invention cooperates with the operating system. The catheter torsion component in the catheter controller can realize the torsion operation of the catheter, so as to meet the angle control of the catheter head during the operation and ensure that the catheter can be smoothly placed in the blood vessel. Advance to the predetermined position; the catheter torsion assembly 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 torsion drive of the catheter, and easily and conveniently install the catheter on the medical three-way valve; similarly, the guide wire torsion assembly also has the same effect;

(9) The interventional surgery robot catheter guide wire cooperative operating system of the present invention, the catheter controller or the guide wire controller can detect the pushing force of the catheter or guide wire during the pushing process through the force-measuring element, so as to achieve precise control of the catheter or guide wire , to improve the safety of surgery; the sensor is used for real-time dynamic force feedback to control the pushing force for the doctor; the force measuring component in the catheter controller is installed inside the main part, with a compact structure and a relatively closed structure, which can well protect the force sensor , and the force measurement form of the force sensor is simple and convenient, with relatively few intermediate connectors and high force measurement accuracy;

(10) In the present invention, the catheter guide wire of the interventional surgery robot cooperates with the operating system, and 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 switch in the clamping assembly It can quickly complete the disassembly and assembly of the conduit holder and the conduit connecting plate in the force-measuring component, and the structural design is ingenious;

(11) In the present invention, the catheter guide wire cooperative operating system of the interventional surgery robot, the guide wire auxiliary clamping mechanism in the catheter controller innovatively adopts the structural form in which the steering gear drives the wire wheel to drive the wire to pull the clamping part to assist in clamping the guide wire , the reverse force of the spring can make the clamping part loosen the guide wire, the operation is simple and convenient, and it is easy to control, and can cooperate with the catheter clamping mechanism to complete the coordinated operation of the catheter guide wire;

(12) The catheter guide wire cooperative operating system of the interventional surgery robot of the present invention, the clamping mechanism of the guide wire is innovatively designed in the guide wire controller, and the threaded connection of the sleeve and the brake part is used to drive the clip of the clamp part. The holding end shrinks or expands through the conical surface and squeezes, thereby clamping or loosening the guide wire, and controlling the opening size of the clamping end of the clamping part according to the screwing depth of the thread, and controlling the clamping force to meet the requirements for the guide wire. The stepless adjustment of different clamping forces of wires is easy to realize non-destructive clamping; and the use of the tapered surface to cooperate with the clamping method has a large contact surface, uniform and reliable clamping force, and no slipping phenomenon; this method can integrate clamping and twisting , pushing and other operations are integrated, compared with the existing guide wire clamping structure, it is greatly simplified, and can clamp the catheter guide wire efficiently, accurately and reliably;

(13) In the present invention, the catheter guide wire of the interventional surgery robot cooperates with the operating system. In the clamping mechanism of the guide wire controller, the sleeve and the brake are all provided with a central hole, which can be passed through by the catheter or guide wire, and the sleeve has a screw thread. The tail end of the threaded hole is a tapered hole. The brake part has a threaded section that matches the threaded hole of the sleeve. After the clamping part is installed in the sleeve, the clamping end is exposed, and the clamping end has a cut. When the barrel and the brake part are screwed together, the clamping end of the clamping part can be pushed to contact and squeeze the tapered hole of the sleeve, because of the existence of the cutout, the clamping end shrinks radially and the opening becomes smaller , so that the guide wire can be clamped;

(14) In the present invention, the interventional surgery robot guide wire cooperative operating system, the clamping mechanism of the guide wire controller clamps the guide wire through the cooperation of the sleeve drive assembly and the brake brake assembly. The parts are threaded, so there must be relative rotation. The brake component clamps the brake part, and the sleeve drive component drives the sleeve to rotate, so as to realize the structural requirements of the threaded connection between the sleeve and the brake part; The brake assembly uses the driving element to drive the brake block to press or loosen the structure of the brake disc on the brake part, which is very simple and easy to control;

(15) In the present invention, the interventional surgery robot catheter guide wire cooperative operating system, the clamping mechanism of the guide wire controller adopts the method of threading the sleeve and the brake member, and they must have axial movement while they are relatively rotating. Linear motion, which requires the sleeve drive assembly and brake assembly to adapt to this special transmission mode, and the brake is locked by the brake assembly, so the sleeve needs to move axially; in order to meet this demand, the sleeve The drive assembly adopts the meshing transmission of large and small herringbone gears, which can withstand axial force; more importantly, the motor and the small herringbone gear are connected by ball spline pairs, and the small herringbone gear can rotate almost without resistance. The axial movement can be carried out to meet the action requirements of the sleeve and reduce the subsequent impact on the detection accuracy of the guide wire push resistance;

(16) In the present invention, the catheter guide wire cooperative operating system of the interventional surgery robot, the clamping mechanism, the sleeve drive assembly and the brake brake assembly in the guide wire controller are all arranged in the housing, and are covered by the upper cover, so that the whole is relatively closed, The protection of the device is good, which is conducive to ensuring the accuracy of the device, and the clamping mechanism can be taken out by removing the upper cover, which is convenient and quick, and is convenient for the disassembly and assembly of catheters and guide wires;

(17) In the present invention, the catheter guide wire cooperative operating system of the interventional surgery robot, in order to meet the special clamping mode of the clamping mechanism in the guide wire controller, the guide rail slider assembly is used to support the clamping mechanism, which can not only support stably, but also It meets the requirement of axial movement of the sleeve, and the fixed bearing is supported by two sets of upper and lower guide rail slider assemblies, the support is stable and reliable, and it is easy to disassemble and assemble, and it is easy to remove the clamping mechanism;

(18) In the present invention, the interventional surgery robot catheter guide wire cooperative operating system, a dynamometer is arranged between the support plate and the lower supporting plate in the guide wire controller, and cooperates with the structural form of the guide rail slider assembly, so that the pushing resistance of the guide wire can be adjusted. Real-time high-precision detection, so as to feel the change of pushing force during the operation and improve the safety of operation;

Description of drawings

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

Fig. 2 is the perspective 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 exploded structure of the tensioning mechanism in the operating platform of the present invention;

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

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 guide wire controller in the present invention;

Fig. 17 is a schematic diagram of explosion of partial components in the guide wire controller;

Fig. 18 is a sectional structure diagram and a partial enlarged diagram of the clamping mechanism in the wire guide controller.

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

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

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

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

5. Catheter force measuring component; 510, partition; 520, linear guide rail pair A; 530, support plate; 540, conduit connecting plate; 541, plug-in board; 542, socket hole; 550, force sensor; Sensor fixing plate;

6. Clamping mechanism; 610, sleeve; 620, brake piece; 621, threaded section; 622, brake disc; 630, clamping piece; 631, clamping end;

7. Sleeve drive assembly; 710, large herringbone gear; 720, small herringbone gear; 730, motor B; 740, ball spline pair; 750, coupling; 760, support plate;

8. Brake brake assembly; 810, magnet bracket; 820, brake block; 821, guide post; 830, push-pull electromagnet; 840, dynamometer;

9. Shell part; 910, shell; 920, upper cover B; 921, lug plate; 930, guide rail slider assembly; 931, sliding guide rail; 932, upper supporting plate; 933, upper half bearing seat; 934, lower supporting Plate; 935, lower half bearing housing;

1110, supporting platform; 1120, linear guide rail pair B; 1130, platform connecting 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 description

The present invention will be further described below in conjunction with specific embodiments and accompanying drawings.

Example 1

This embodiment provides an interventional surgery robot catheter guide wire cooperative operating system, which mainly completes the cooperative operation control of the catheter guide wire. Guide wire controller; wherein, the catheter controller and the guide wire controller are arranged on the operation platform, and the operation platform can control the relative movement between the catheter controller and the guide wire controller. The relative movement of the catheter controller and the guide wire controller is controlled by the operating platform, and the control of the catheter by the catheter controller and the control of the guide wire by the guide wire controller can meet the cooperative operation of the catheter and guide wire in interventional surgery. For the complex operation requirements of surgery, this method simulates the doctor's hand movements, which can be more in line with the doctor's operating habits. The structure of each part will be described in detail below.

Figure 1 and Figure 2 show the overall structure of the operating platform, the operating platform includes a support platform 1110, a platform connecting block 1130 and a drive mechanism 1140; wherein, there are at least two platform connecting blocks 1130 (three are shown in the accompanying drawings), It is set on the support platform 1110 through the linear guide rail pair B1120. In this embodiment, two platform connection blocks 1130 are used. Each platform connection block 1130 is driven independently by a driving mechanism 1140. The platform connection block 1130 is used to install the catheter controller, Guidewire controller or other supporting aids. Of course, the catheter controller and the guide wire controller have corresponding structures in the prior art, and the catheter controller or the guide wire controller can complete functions such as clamping, twisting, and pushing force measurement of the catheter or guide wire. Adopt existing structural forms, such as the structural forms in the patents that the applicant has applied for before.

In this embodiment, each driving mechanism 1140 includes a driving motor 1142, a rope 1141 and a tensioning mechanism 1150; wherein, the driving 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 drives the platform connection block 1130 to move; the tensioning mechanism 1150 has two, which are respectively arranged at both ends of the supporting platform 1110, for supporting the rope 1141 and tensioning the rope 1141, and the rope pulley 1143 is wound around the two tensioning On the mechanism 1150 , 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 an interventional surgery robot catheter guide wire cooperative operating system. On the basis of Embodiment 1, the structure of the catheter controller is optimized and designed as follows.

As shown in Figure 1, the catheter controller mainly includes five parts, namely the main 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 A120. In this embodiment, the casing A110 is a shell-like structure with an open top and rear end, and the upper cover A120 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 A120, 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 operation. 1130 is provided with a quick connection hole, the plugboard 111 is inserted into the fast connection hole, a pin hole is set on the plugboard 111, and the pin passes through the platform connection block 1130 and inserted into the pin hole, so that the plugboard 111 is reliably connected with the platform connection block 1130, and Easy to disassemble.

Still referring to Fig. 6 to Fig. 9, the conduit force measuring assembly 5 is installed in the housing A110, which mainly includes a partition 510, a conduit connecting plate 540 and a force sensor 550; wherein, the partition 510 is fixed in the middle of the casing A110 , the inner space of the housing A110 is mainly divided into upper and lower parts, the opposite sides of the partition 510 are folded up 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 plate 510, which is also the premise of subsequent pushing force detection 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 510 . The slider is connected to the conduit connecting plate 540 through the support plate 530 . The conduit connecting plate 540 is used to connect the conduit clamping mechanism 3 . An L-shaped sensor fixing plate 560 is also installed on the partition 510. One end of the force sensor 550 is connected to the conduit connecting plate 540, and the other end is connected to the sensor fixing plate 560. Like this, 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 510, and will be sensed by the conversion element of the force sensor 550, such as a strain gauge, and 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 550 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 550, and the force measuring form of the force sensor 550 is simple and convenient, and there are relatively few intermediate connectors. 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 541 with insertion holes 542 are arranged on the conduit connection plate 540, and the socket plates 541 are connected from the casing A110 passes through the upper cover A120, so that the insertion hole 542 is higher than the surface of the upper cover A120, 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, there is an open slot on the lower side of the clamping block 322, and the switch base 321 is fitted in the opening slot, and between the clamping block 322 and the switch base 321 A toggle switch 323 is provided, and the switch 323 is used to lock or unlock the conduit connecting plate 540 . Switch 323 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, for toggle. When the conduit clamping mechanism 3 is installed above the upper cover A120, the socket plate 541 is inserted into the vertical socket formed between the clamping block 322 and the switch base 321, and the clamping plate can be inserted through the toggle switch 323. The insertion hole 542 of the insertion plate 541 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 requiring repeated disassembly and disinfection like the existing structural form.

5 to 9, the catheter torsion assembly 4 includes a motor A401, a small gear 402 and a large gear 403; 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 402 and the large gear 403 are connected to the connecting sheath 324 of the fixed catheter, and the small gear 402 and the large gear 403 are meshed for transmission; in use, the motor A401 drives the small gear 402 to rotate, and the small gear 402 and the large gear 403 are meshed for transmission, and the large gear 403 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 bull gear 403 is provided with a hole matching the shape of the connecting sheath 324 , and the connecting sheath 324 can be inserted into the hole to connect the connecting sheath 324 and the bull gear 403 .

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 403 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 piece 230 to move up and down, but the driving element in this embodiment uses the steering gear 250, the steering gear 250 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 piece 230 The small hole is connected to the clamping member 230. When in use, the steering gear 250 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, which 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.

The above-mentioned catheter controller is used to control the catheter and guide wire, mainly to complete the clamping, pushing, twisting and force measurement of the catheter, as well as the auxiliary clamping and loosening of the guide wire, and the cooperative control of the catheter guide wire to meet the needs of interventional surgery. Operational requirements, the following describes in detail the use of the catheter controller to complete the corresponding operations.

Firstly, install the main body 1 into the quick connection hole of the platform connecting block 1130 through the plug-in plate 111 and fix it with a pin.

Then, the catheter clamping mechanism 3 clamps and installs the catheter, specifically: firstly connect and install the tail end of the catheter on the connecting sheath 324, and at the same time install the large gear 403 and the connecting sheath 324 in this step, which is the subsequent catheter twisting assembly 4. Prepare for transmission; 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 A120, and the toggle switch 323 is inserted into the insertion hole 542 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 402 and the bull gear 403 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, so as to install the guide wire 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 loosens the guide wire, that is, the steering gear 250 is powered off, and the clamping member 230 is under the force of the spring 240, and its pressing block 231 is far away from the surface of the supporting member 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 250 is energized to drive the wire wheel 260 to rotate, 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, and through the meshing transmission of the small gear 402 and the large gear 403, 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. .

(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 510, the force sensor 550 and the conduit connecting plate 540. During the pushing process, the force sensor 550 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.

Example 3

This embodiment provides an interventional surgery robot catheter guide wire cooperative operating system. On the basis of Embodiment 2, the structure of the guide wire controller is further optimized and designed as follows.

As shown in Figure 16, the guide wire controller mainly includes a housing part 9, a clamping mechanism 6, a sleeve driving assembly 7 and a brake braking assembly 8; wherein, the clamping mechanism 6, the sleeve driving assembly 7 and the brake braking assembly 8 are arranged in the housing part 9.

Still as shown in FIG. 1, the shell part 9 includes a housing 910, which is a U-shaped structure with front and rear side walls. In FIG. 16, the front wall of the housing 910 has been removed in order to clearly see the internal structure of the device; The top opening of the housing 910 can be detachably mounted with the upper cover B920. Specifically, an ear plate 921 is installed on the front and rear opposite sides of the upper cover B920, and the ear plate 921 and the housing 910 are connected by screws. The casing 910 is covered with the upper cover B920 to form a relatively closed space to protect its internal components, and the entire guide wire controller is installed on the platform connection block 1130 through the casing 910 .

As shown in FIG. 17 and FIG. 18 , the clamping mechanism 6 includes a sleeve 610 , a stopper 620 and a clamping member 630 , all of which have a central hole through which a catheter or guide wire can pass; wherein, the sleeve 610 There is a threaded hole at one end of the threaded hole, and a tapered hole at the tail end of the threaded hole. The opening size of the tapered hole is 90°. Of course, this is only a preferred method; Paragraph 621. One end of the clamping piece 630 is relatively large, forming a clamping end 631. Both ends of the clamping end 631 have tapered surfaces. Four slits, of course the number of slits is determined according to needs, preferably four, the slits extend to the middle of the length direction of the clamping member 630, so that the clamping end 631 can be squeezed, and the opening shrinks; the non-clamping of the clamping member 630 The end of the holding end 631 is inserted into the central hole of one end of the threaded section 621 of the brake piece 620, the holding end 631 is exposed outside the brake piece 620, and the end of the brake piece 620 has a connection with the rear end of the holding end 631. The inner tapered hole matched with the outer tapered surface; then the threaded section 621 of the brake piece 620 is screwed with the threaded hole of the sleeve 610 to form one body, and the front tapered surface of the clamping end 631 can be connected with the inner tapered surface of the sleeve 610 contact fit.

Compared with the existing way of clamping the guide wire, including the way designed by the inventor before, this embodiment has carried out an innovative design on the clamping mechanism 6, which adopts the screw threaded drive clamp of the sleeve 610 and the brake part 620 The clamping end 631 of the holding member 630 shrinks or expands through the extrusion of the tapered surface, thereby clamping or loosening the guide wire, and the opening size of the clamping end 631 of the holding member 630 is controlled according to the screw thread depth. The clamping force is controlled to meet the stepless adjustment of different clamping forces for the guide wire, and it is easy to realize non-destructive clamping; and the use of the tapered surface to cooperate with the clamping method has a large contact surface, uniform and reliable clamping force, and no slippage; The method can integrate clamping, twisting, pushing and other operations into one. Compared with the existing guide wire clamping structure, it is greatly simplified, and can clamp the catheter guide wire efficiently, accurately and reliably.

The clamping of the guide wire by the clamping mechanism 6 is completed through the cooperation of the sleeve drive assembly 7 and the brake assembly 8. The sleeve 610 and the brake member 620 are threaded, so there must be relative rotation. The drive assembly 7 is used to drive the sleeve 610 to rotate, and the brake assembly 8 is used to clamp or loosen the brake member 620 , so as to realize the structural requirements of the threaded connection between the sleeve 610 and the brake member 620 .

Specifically in this embodiment, the brake assembly 8 includes a brake block 820 and a drive element connected to the brake block 820, the drive element adopts a push-pull electromagnet 830, of course, other power elements in the prior art can also be used, as long as it can be realized. The driving of the brake block 820 is enough, the push-pull electromagnet 830 is fixed on the magnet bracket 810, and the push rod of the brake block 820 and the push-pull electromagnet 830 is connected by bolts. In order to brake the brake assembly 8 effectively and conveniently brake the brake piece 620, the end of the brake piece 620 away from the threaded section 621 is provided with a brake disc 622, and the driving element of the brake assembly 8 can drive the brake block 820 to compress Or loosen the brake disc 622; there is a pillar on the front side of the brake block 820, the brake piece 620 is rotatably supported by the bearing, and the pillar is provided with a guide hole, and the front end of the corresponding brake block 820 is provided with a guide post 821, and the guide post 821 extends into the guide hole to guide the forward and backward movement of the brake block 820 and is also a support for the brake block 820 . The brake assembly 8 adopts a structure in which the driving element drives the brake block 820 to compress or loosen the brake disc 622 on the brake member 620, which is very simple and easy to control.

Further, the clamping mechanism 6 adopts the threaded engagement of the sleeve 610 and the braking member 620, and they must have a linear motion along the axial direction while they rotate relative to each other, which requires the sleeve drive assembly 7 and the brake The moving assembly 8 is suitable for this special transmission mode, and it can be seen from the structure of the above-mentioned brake assembly 8 that the brake member 620 is locked by the brake assembly 8, so the sleeve 610 needs to move axially, which drives the sleeve 610. The structure of component 7 presents the requirements. In this embodiment, the sleeve drive assembly 7 includes a large herringbone gear 710, a small herringbone gear 720, a motor B730 and a motor bracket; wherein, the motor bracket is fixed on the bottom plate of the housing 910, and the motor B730 is fixed on the motor bracket; The large herringbone gear 710 and the small herringbone gear 720 are relatively speaking, the small herringbone gear 720 is only smaller in diameter than the large herringbone gear 710, the large herringbone gear 710 is installed on the sleeve 610 through a key, and the small herringbone gear 720 Connected with motor B730, large herringbone gear 710 and small herringbone gear 720 are meshed for transmission. In order to meet the action requirements of the rotation and axial movement of the sleeve 610, the sleeve drive assembly 7 adopts meshing transmission of large and small herringbone gears, which can withstand axial force, and they also perform lateral movement during the meshing transmission process. However, the motor B730 is fixed on the motor bracket and cannot move. It is necessary to ensure that the motor B730 drives the small herringbone gear 720 to rotate, and at the same time it can adapt to the axial movement of the small herringbone gear 720. Therefore, the motor B730 of this embodiment is connected to the coupling 750. The shaft device 750 is connected with the small herringbone gear 720 through the ball spline pair 740, which can realize the axial movement of the small herringbone gear 720 with almost no resistance, and can also greatly reduce the subsequent impact on the detection accuracy of the guide wire pushing resistance.

It should be noted that the clamping mechanism 6 needs to be supported during work and cannot be suspended in the air. However, in view of the particularity of the clamping method, the clamping mechanism 6 in this embodiment is supported on the support plate 760 by the guide rail slider assembly 930 , both sides of the support plate 760 are fixed on the front and rear side walls of the casing 910, and its bottom surface is connected with the motor bracket. The guide rail slider assembly 930 has two groups, respectively supporting the two ends of the sleeve 610, and each group of guide rail slider assembly 930 includes two pairs of sliding guide rails 931 installed on the support plate 760 and the upper cover B920 respectively, and they are respectively connected with The lower supporting plate 934 and the upper supporting plate 932, the lower supporting plate 934 is installed with the lower half bearing seat 935, the upper supporting plate 932 is installed with the upper half bearing seat 933, and the upper half bearing seat 933 and the lower half bearing seat 935 are combined into a complete pair of bearing seats Bearings mounted on sleeve 610 provide support. The clamping mechanism 6 is supported by the guide rail slider assembly 930, which can not only support stably, but also meet the requirements of the axial movement of the sleeve 610, and the fixed bearing is supported by the upper and lower sets of guide rail slider assemblies 930, and the support is stable and reliable. Moreover, it is convenient to assemble and disassemble, and it is convenient to take off the clamping mechanism 6 . Simultaneously, the braking assembly 8 is also installed on the lower supporting plate 934 .

In addition, in order to be able to detect the pushing force of the guide wire during the pushing process, in this embodiment, a dynamometer 840 is provided between the support plate 760 and the lower supporting plate 934 on which the brake assembly 8 is installed, for detecting the pushing force of the guide wire .

The operations of clamping, pushing, twisting, and pushing force detection of the guide wire by using the guide wire controller will be described in detail below.

①Guide wire clamping operation

First, the guide wire passes through the brake part 620, the clamp part 630 and the sleeve 610 of the clamping mechanism 6, of course, after passing through, the guide wire head end can be inserted into the catheter through the medical three-way valve 310 in the catheter controller; then , the brake assembly 8 works to brake the brake part 620, specifically, the push-pull electromagnet 830 is energized, the brake block 820 is pulled close to the brake disc 622 of the brake part 620, and the brake disc 622 is contacted and pressed, The brake part 620 brakes; then, the sleeve drive assembly 7 drives the sleeve 610 of the clamping mechanism 6 to rotate, specifically, the motor B730 is powered to drive the small herringbone gear 720 to rotate, and the small herringbone gear 720 and the large herringbone gear 710 is meshed and driven, and the large herringbone gear 710 drives the sleeve 610 to rotate; the length of the brake part 620 and the sleeve 610 are increased, and the sleeve 610 moves towards the direction of the brake part 620 under the support of the guide rail slider assembly 930, and the extrusion The opening of the clamping member 630 and the clamping end 631 gradually decreases until the guide wire is clamped. The reverse rotation of the motor B730 controls the reverse rotation of the sleeve 610 to loosen the clamping of the guide wire.

②Axial push-pull operation of guide wire

In the clamped state of the guide wire, the driving mechanism 1140 in the operating platform drives the platform connection block 1130 to drive the guide wire controller to move, and the guide wire is clamped by the clamping mechanism 6 to move together to realize the push-pull operation of the guide wire.

③Twisting operation of guide wire

In the state where the guide wire is clamped, the brake assembly 8 releases the brake piece 620 of the clamping mechanism 6, the sleeve drive assembly 7 drives the sleeve 610 of the clamping mechanism 6 to rotate, and the brake piece 620 and the clamping piece With the rotation of 630, the clamping part 630 drives the guide wire to twist.

④The push force detection operation of the guide wire

In the clamped state of the guide wire, the brake assembly 8 loosens the brake part 620 of the clamping mechanism 6, and the guide wire controller is in the process of moving, because the clamping mechanism 6 clamps the guide wire and follows it along the pushing direction. Moving, the guide rail slider assembly 930 slides along, and transmits the push resistance to the dynamometer 840 through the lower supporting plate 934, and the dynamometer 840 receives the resistance signal, converts the resistance signal into an electrical signal, and transmits it to the external control system to realize the push resistance Real-time detection.

For the whole machine, the above-mentioned method for controlling the cooperative operation of the catheter guide wire by the catheter guide wire cooperative operating system of the interventional surgery robot is to control the relative position of the catheter controller and the guide wire controller in the moving direction through the operating platform, and coordinate Catheter controller and guide wire controller control the catheter and guide wire in an orderly manner; they can simultaneously control the clamping, loosening, pushing, twisting or force measurement of the catheter and guide wire to complete complex surgical actions; In particular, when the guidewire controller pushes the guidewire close to the catheter controller, it is necessary to move the guidewire controller backward, and the catheter controller clamps the guidewire through the guidewire auxiliary clamping mechanism 2, and the guidewire After the controller releases the guide wire and pushes it back to the required 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 during the guide wire pushing process. Action, this form ensures that the position of the guide wire will not change during the switching process.

The examples described in the present invention are only to describe the preferred implementation of the present invention, and are not intended to limit the concept and scope of the present invention. Variations and improvements should fall within the protection scope of the present invention.

Claims (20)

1. a kind of intervention operation robot catheter guide wire cooperating system, including operating platform, for controlling rod action Catheter controller and the guidewire controller for controlling seal wire to act, it is characterised in that：Catheter controller and the seal wire control Device is set on the operational platform, the controllable relative motion between catheter controller and guidewire controller of operating platform；

The catheter controller includes main part (1), conduit clamp system (3) and seal wire auxiliary clamp mechanism (2), vessel clamp Tight mechanism (3) is used to clamp conduit, and seal wire auxiliary clamp mechanism (2) is used for auxiliary clamp or unclamps seal wire；Described vessel clamp Tight mechanism (3) and seal wire auxiliary clamp mechanism (2) are removably mounted in main part (1)；

The guidewire controller includes clamping device (6)；Described clamping device (6) includes sleeve (610), brake component (620) With holder (630), after the holder (630) with clamping termination (631) loads brake component (620), brake component (620) and set Cylinder (610) threaded connection, being relatively rotated by brake component (620) with sleeve (610) can drive clamping termination (631) clamping to lead Silk.

A kind of 2. intervention operation robot catheter guide wire cooperating system according to claim 1, it is characterised in that：Institute Stating operating platform includes support platform (1110), is connected thereon by line slideway auxiliary B (1120) at least provided with two platforms Block (1130)；Each platform contiguous block (1130) is driven by a drive mechanism (1140), and two of which platform connects Connect and catheter controller and guidewire controller are installed respectively on block (1130).

3. described a kind of intervention operation robot catheter guide wire cooperating system according to claim 2, its feature It is：Described each drive mechanism (1140) includes motor (1142), the rope being fixed in support platform (1110) And strainer (1150) (1141)；The strainer (1150) has two, is separately positioned on support platform (1110) Both ends；The rope (1141) is stretched between two strainers (1150), its connecting platform contiguous block (1130)；The drive Dynamic motor (1142) connection rope sheave (1143), rope sheave (1143) are used to drive rope (1141) band moving platform contiguous block (1130) to move It is dynamic.

4. described a kind of intervention operation robot catheter guide wire cooperating system according to claim 3, its feature It is：The strainer (1150) includes being oriented to fixed cover (1151) and Adjusting bolt Adjusting screw (1152), is oriented to fixed cover (1151) Middle installation guide rod (1153), one end connection tensioning support (1154) of guide rod (1153), the both ends of tensioning support (1154) It is respectively provided with the directive wheel (1155) of a support cable (1141)；Installation screw rod (1156), spiral shell in the Adjusting bolt Adjusting screw (1152) Bar (1156) can adjust position of the guide rod (1153) in guiding fixed cover (1151), make directive wheel (1155) tensioning rope (1141)。

5. a kind of intervention operation robot catheter guide wire cooperating system according to claim 1 or 2, its feature exist In：Described conduit clamp system (3) includes medical three-way valve (310) and clamp assemblies (320)；Described medical three-way valve (310) it is used for connecting conduit, it is fixed in main part (1) by clamp assemblies (320)；Described main part (1) bag Housing A (110) and the upper lid A (120) on housing A (110) are included, clamp assemblies (320) are removably mounted at lid A (120) on.

6. a kind of intervention operation robot catheter guide wire cooperating system according to claim 1 or 2, its feature exist In：The catheter controller also includes conduit and reverses component (4), and conduit reverses component (4) and is used to drive medical three-way valve (310) Screw-cap drive conduit rotation；The conduit, which reverses component (4), includes motor A (401), little gear (402) and gear wheel (403)；The motor A (401) is arranged in main part (1), and it connects little gear (402)；The gear wheel (403) and peace Connecting utricle (324) on the screw-cap of medical three-way valve (310) coordinates, and connecting utricle (324) is used for A/C；Described Little gear (402) and gear wheel (403) engaged transmission.

A kind of 7. intervention operation robot catheter guide wire cooperating system according to claim 6, it is characterised in that：Institute State the conduit dynamometry component (5) that catheter controller also includes being used to detect the push power of conduit；Conduit dynamometry component (5) bag Include the dividing plate (510) being arranged in main part (1), conduit connecting plate (540) and force snesor (550)；The conduit connection Plate (540) is arranged on dividing plate (510) by line slideway auxiliary A (520), and conduit connecting plate (540) clamps for connecting conduit Mechanism (3)；Described force snesor (550) one end is connected with dividing plate (510), and the other end is connected with conduit connecting plate (540).

A kind of 8. intervention operation robot catheter guide wire cooperating system according to claim 7, it is characterised in that：Institute The medical three-way valve (310) stated is gripped by two clamp assemblies (320) from both sides, each clamp assemblies (320) Including grip block (322) and the switch pedestal (321) being fixed on below grip block (322), grip block (322) and switch pedestal (321) switch (323) that can be stirred is set between, and switch (323) is used to pinning or unlocking conduit connecting plate (540).

A kind of 9. intervention operation robot catheter guide wire cooperating system according to claim 1, it is characterised in that：Institute The seal wire auxiliary clamp mechanism (2) stated includes support member (220), clamping element (230) and driving element；The clamping element (230) It is arranged on by spring (240) support in support member (220), the upper end of clamping element (230) has compact heap (231), driving member Part can move under driving support member (220) in the vertical direction.

A kind of 10. intervention operation robot catheter guide wire cooperating system according to claim 9, it is characterised in that： Described driving element is steering wheel (250), and steering wheel (250) connects line wheel (260), wired, one end of line is wound in line wheel (260) Connect clamping element (230).

11. a kind of intervention operation robot catheter guide wire cooperating system according to claim 1 or 2, its feature exist In：One end of the sleeve (610) has screwed hole, and the tail end of screwed hole is taper hole；Described brake component (620) has and set The thread segment (621) that the screwed hole of cylinder (610) coordinates；The holder (630) loads sleeve (610) and clamps termination (631) afterwards It is exposed, clamping termination (631) have with the male cone (strobilus masculinus) that taper hole is engaged in sleeve (610), clamping termination (631) is along male cone (strobilus masculinus) Circumferentially offer at least two otch.

A kind of 12. intervention operation robot catheter guide wire cooperating system according to claim 11, it is characterised in that： The guidewire controller also includes the skidding component (8) for clamping or take-off the brake part (620)；The skidding group Part (8) includes brake shoes (820) and connects the driving element of brake shoes (820)；The brake component (620) is provided with brake disc (622), the driving element of skidding component (8) can driving brake block (820) compression or releasing of brake disk (622).

A kind of 13. intervention operation robot catheter guide wire cooperating system according to claim 12, it is characterised in that： Described driving element is push-pull electromagnet (830).

A kind of 14. intervention operation robot catheter guide wire cooperating system according to claim 12, it is characterised in that： The guidewire controller also includes being used for the sleeve drive component (7) that drive sleeve (610) rotates；The sleeve drive component (7) the big herringbone bear (710) including branch sleeve (610), the small herringbone gear (720) engaged with big herringbone bear (710) With the motor B (730) for driving small herringbone gear (720).

A kind of 15. intervention operation robot catheter guide wire cooperating system according to claim 14, it is characterised in that： Described motor B (730) connection shaft couplings (750), shaft coupling (750) pass through ball spline pair (740) and small herringbone gear (720) connect.

A kind of 16. intervention operation robot catheter guide wire cooperating system according to claim 15, it is characterised in that： Described clamping device (6) is arranged at the supporting plate in housing (910) by guide rail slide block component (930) support (760) on.

A kind of 17. intervention operation robot catheter guide wire cooperating system according to claim 16, it is characterised in that： The housing (910) is detachably provided with lid B (920), and the relative both sides of upper lid B (920) are equipped with otic placode (921), upper lid B (920) it is detachably connected by otic placode (921) and housing (910) housing (910).

A kind of 18. intervention operation robot catheter guide wire cooperating system according to claim 17, it is characterised in that： The guide rail slide block component (930) has two groups, the both ends of sleeve (610) is supported respectively, every group of guide rail slide block component (930) two pairs of rail plates (931) being separately mounted in supporting plate (760) and upper lid B (920) are included, they are connected respectively There are bottom plate (934) and mounting plate (932), bottom plate (934) installation bottom half-bearing seat (935), mounting plate (932) installs half Bearing block (933), upper half bearing block (933) and bottom half-bearing seat (935) are combined into complete bearing block to installed in sleeve (610) bearing on is supported.

A kind of 19. intervention operation robot catheter guide wire cooperating system according to claim 18, it is characterised in that： Described skidding component (8) is located on bottom plate (934), and dynamometer is set between supporting plate (760) and bottom plate (934) (840)。

20. a kind of control method of intervention operation robot catheter guide wire cooperating system, completes the association to conduit and seal wire Biconditional operation, it is characterised in that：The relative position of operating platform control catheter controller and guidewire controller in the direction of movement, it is complete Into the collaboration push operation of conduit and seal wire；Wherein, catheter controller is used for the action for controlling conduit, and guidewire controller is used to control The action of seal wire processed.