CN104323859B - Blood vessel intervention operation robot guide wire resistive haptic reduction apparatus and control method thereof - Google Patents
Blood vessel intervention operation robot guide wire resistive haptic reduction apparatus and control method thereof Download PDFInfo
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- CN104323859B CN104323859B CN201410629036.6A CN201410629036A CN104323859B CN 104323859 B CN104323859 B CN 104323859B CN 201410629036 A CN201410629036 A CN 201410629036A CN 104323859 B CN104323859 B CN 104323859B
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Abstract
The invention provides a kind of blood vessel intervention operation robot guide wire resistive haptic reduction apparatus and control method thereof, described blood vessel intervention operation robot guide wire resistive haptic reduction apparatus is by handle, displacement measuring device, resistance is with mover, torsion spring, corner measuring apparatus, spring, the servo-actuated sub-composition of the moment of resistance, described handle is operated by operating personnel, institute's displacement measurement device and corner measuring apparatus are respectively used to measure displacement and the corner of handle, described resistance is connected with described spring with mover, the described moment of resistance is connected with described torsion spring with mover, displacement measuring device and corner measuring apparatus are positioned at the outside of handle, spring housing is on handle, torsion spring is positioned at one end of handle.Resistance between seal wire and blood vessel and the moment of resistance when present invention can obtain blood vessel intervention operation robotic surgery in real time, and make operating personnel's perception, add the safety and reliability of long-range blood vessel intervention operation.
Description
Technical field
The present invention relates to a kind of Medical Devices, in particular it relates to a kind of blood vessel intervention operation robot guide wire resistive haptic
Reduction apparatus and control method thereof.
Background technology
Along with the transformation of China's spectrum of disease, vascular diseases and tumour the most continuous more than ten years are sure to occupy China's fatal disease the first He
Second.And vascular interventional treatment has become treatment vascular diseases and the critical treatment means of kinds of tumors.At vascular treatment
Aspect, main treatment means include: Transluminal balloon shaping, intravascular stent, thromboembolism treatment, blood vessel embolism (wound
Wound, postpartum, postoperative, inflammation, arteriovenous fistula etc.), IVCF insert, transjugular intrahepatic portosystemic shunt
(TIPS), various angiographic diagnosis etc..And in terms of ND treatment, main treatment means include: swollen
Confession blood embolization and drug infusion (TACE), intra-arterial irradiation, the Arterial embolization tumor vessel etc. of knurl；Some tumour, as
Liver cancer, lung cancer, tumor of pelvis etc., vascular interventional treatment has become important treatment means so that do not possess operation in a large number
The tumor patient of indication effectively controls tumor growth, alleviates tumor load, extends life cycle, even more so that one
Divide inoperable tumour originally to reduce gross tumor volume and blood supply, regain surgical engine meeting.
Abroad in terms of interventional surgery robot, good achievement, the U.S., Japan, Germany etc. are achieved
Country has been developed that multiple operating robot product, is gradually forming a kind of new high-end technology medical apparatus industry.
In the end of the year 2002, Stereotaxis company of the U.S. combines be proposed digital flat panel magnetic navigation blood with Siemens company of Germany
Pipe angiography system, it can provide a new PCI standard for patient, improve conventional vascular PCI
Efficiency and usefulness, it is achieved that computer-controlled precision and the automation of operation so that invasive surgical instruments accurately facilitates
Ground enters lesion vessels position.
At home, robot assisted frameless cranial surgery stereotactic surgery system opens China's independent research operation
The beginning of robot, this system developed jointly by Tsing-Hua University, PLA's Navy General Hospital and BJ University of Aeronautics & Astronautics,
Additionally, they develop a series of robot for neurosurgery system in succession.2005, by means of the 5th generation god
Surgically robot, Beijing Navy General Hospital neurosurgeon passes through the Patients with Cerebral Hemorrhage that internet is successfully Yan'an
Performed the operation, achieved medicine equipment registration certificate.
In the world with the domestic operating robot having commercialization, it is mainly used in thoracic cavity, abdominal cavity, operation on pelvis, mainly solves
Determine is operation accuracy problem.Although the company manufacturing " Leonardo da Vinci robot " develops Endovascular the most further and controls
The operating robot treated, but it is still within the elementary step at present.The young bird of domestic Ye You robot secondary vessel interventional procedure
Shape, has carried out preliminary zoopery, it is obvious that apart from practical the most far with clinical expansion, have many keys to ask
Topic and technology wait to capture.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of blood vessel intervention operation robot guide wire resistance
Sense of touch reduction apparatus and control method thereof, its be mainly used in reducing the operation of blood vessel intervention operation robot time seal wire and blood vessel it
Between resistance and the moment of resistance, and by operating personnel's real-time perception.
According to an aspect of the present invention, it is provided that a kind of blood vessel intervention operation robot guide wire resistive haptic reduction apparatus,
It is characterized in that, described blood vessel intervention operation robot guide wire resistive haptic reduction apparatus by handle, displacement measuring device,
Resistance is with mover, torsion spring, corner measuring apparatus, spring, the servo-actuated sub-composition of the moment of resistance, and described handle is entered by operating personnel
Row operation, institute's displacement measurement device and corner measuring apparatus are respectively used to measure displacement and corner, the described resistance of handle
Being connected with described spring with mover, the described moment of resistance is connected with described torsion spring with mover, displacement measuring device and corner
Measurement apparatus is positioned at the outside of handle, and spring housing is on handle, and torsion spring is positioned at one end of handle.
Preferably, institute's displacement measurement device is for the shift length of measurement handle in real time, and is shown by display device,
To instruct operating personnel to adjust handle displacement in real time.
Preferably, described corner measuring apparatus measures the angle that handle is turned in real time, and is shown by display device
Show.
Preferably, described resistance with mover in real time reduction blood vessel intervention operation robot operation time seal wire and blood vessel it
Between resistance, the described moment of resistance with mover in real time reduction blood vessel intervention operation robot operation time seal wire and blood vessel between
The moment of resistance.
Preferably, described blood vessel intervention operation robot guide wire resistive haptic reduction apparatus needs and blood vessel intervention operation machine
Device people be used in combination.
The present invention also provides for the control method of a kind of blood vessel intervention operation robot guide wire resistive haptic reduction apparatus, and it is special
Levying and be, it comprises the following steps:
Step one, described resistance is used for seal wire during blood vessel intervention operation and blood vessel with mover with the moment of resistance with mover
The resistance produced and the moment of resistance are implemented to feed back on described spring and torsion spring；
Step 2, according to the resistance on handle, the moment of resistance respectively with the resistance being connected on spring with mover speed and torsion spring
The moment of resistance of upper connection rotates the kinetics equation relation between speed with mover, and precise restoration amplifies and becomes handle opponent's
Reaction force；
Step 3, operating personnel carry out corresponding operation according to the power of institute's perception with moment；
Step 4, the displacement information of handle and rotation information record with corner measuring apparatus by institute's displacement measurement device respectively,
And feed back to blood vessel intervention operation robot, thus realize the long-range operation of operation.
Compared with prior art, the present invention has following beneficial effect: according to process and the feature of manpower intervention operation,
Blood vessel intervention operation robot guide wire resistive haptic reduction apparatus of the present invention can reduce in blood vessel interventional procedure in real time
The power produced between seal wire and blood vessel and moment, can preferably realize long-range blood vessel intervention operation.Operating personnel can be straight
Connected and control this device and carry out sufferer operation, such that it is able to depart from the radiation of X-ray, improve the safety of medical personnel
Property.The displacement measuring device installed on this device and corner measuring apparatus, the movement that can pass handle in real time back is believed with rotating
Breath, so that operating personnel can adjust the displacement of handle and the rotational angle of handle the most in real time.Simultaneously
This apparatus structure is simple, with low cost, and security is high, it is easy to accomplish, it is suitable for Wicresoft and gets involved the Clinical practice of operation.This
Invention is mainly used in the resistance between seal wire and blood vessel and the moment of resistance during reduction blood vessel intervention operation robot operation, and by grasping
Make personnel's real-time perception.
Accompanying drawing explanation
By the detailed description non-limiting example made with reference to the following drawings of reading, the further feature of the present invention,
Purpose and advantage will become more apparent upon:
Fig. 1 is the structural representation of blood vessel intervention operation robot guide wire resistive haptic reduction apparatus of the present invention.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in those skilled in the art
Member is further appreciated by the present invention, but limits the present invention the most in any form.It should be pointed out that, the common skill to this area
For art personnel, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement.These broadly fall into
Protection scope of the present invention.
As it is shown in figure 1, blood vessel intervention operation robot guide wire resistive haptic reduction apparatus of the present invention is surveyed by handle 1, displacement
Amount device 2, resistance form with mover 7 with mover 3, torsion spring 4, corner measuring apparatus 5, spring 6, the moment of resistance, institute
Stating handle 1 to be operated by operating personnel, institute's displacement measurement device 2 and corner measuring apparatus 5 are respectively used to measure hand
The displacement of handle 1 and corner, described resistance is connected with described spring 6 with mover 3, and the described moment of resistance is with mover 7 and institute
Stating torsion spring 4 to be connected, displacement measuring device 2 and corner measuring apparatus 5 are positioned at the outside of handle 1, and spring 6 is enclosed within hand
On handle 1, torsion spring 4 is positioned at one end of handle 1.Displacement measuring device 2 can be displacement transducer or velocity sensor etc..
Corner measuring apparatus is angular transducer.
Wherein, displacement measuring device is for the shift length of measurement handle in real time, and is shown by display device, to instruct
Operating personnel adjust handle displacement in real time.Corner measuring apparatus measures the angle that handle is turned in real time, and by aobvious
Show that equipment shows, adjust, for operating personnel, the reference that handle angle provides certain.Described resistance reduces in real time with mover
Resistance between seal wire and blood vessel during blood vessel intervention operation robotic surgery, the described moment of resistance with mover for real-time reduced blood
Pipe intervention operation robot operation time seal wire and blood vessel between the moment of resistance.Divided by the resistance on described handle, the moment of resistance
Not with the described resistance being connected on described spring with mover speed and the described moment of resistance being connected on described torsion spring with mover around
Kinetics equation relation between rotary speed, precise restoration amplifies the reaction force becoming handle opponent.The present invention need with
The robot combined use of blood vessel intervention operation, it is mainly used in long-range blood vessel intervention operation, operating personnel's remote operation is
Operate.
The control method of blood vessel intervention operation robot guide wire resistive haptic reduction apparatus of the present invention comprises the following steps:
Step one, described resistance is used for seal wire during blood vessel intervention operation and blood vessel with mover with the moment of resistance with mover
The resistance produced and the moment of resistance are implemented to feed back on described spring and torsion spring；
Step 2, according to the resistance on handle, the moment of resistance respectively with the resistance being connected on spring with mover speed and torsion spring
The moment of resistance of upper connection rotates the kinetics equation relation between speed with mover, and precise restoration amplifies and becomes handle opponent's
Reaction force；
Step 3, operating personnel carry out corresponding operation according to the power of institute's perception with moment, such as movable handle, left and right
Turning handle etc.；
Step 4, the displacement information of handle and rotation information record with corner measuring apparatus by institute's displacement measurement device respectively,
And feed back to blood vessel intervention operation robot, thus realize the long-range operation of operation.
Compared with prior art, when the present invention can obtain blood vessel intervention operation robotic surgery in real time between seal wire and blood vessel
Resistance and the moment of resistance, and make operating personnel's perception, add the safety and reliability of long-range blood vessel intervention operation.With
Time this device also there is the advantages such as simple, with low cost, easy to use.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in
Stating particular implementation, those skilled in the art can make various deformation or amendment within the scope of the claims,
This has no effect on the flesh and blood of the present invention.
Claims (5)
1. a blood vessel intervention operation robot guide wire resistive haptic reduction apparatus, it is characterised in that described blood vessel is got involved
Operating robot seal wire resistive haptic reduction apparatus is surveyed with mover, torsion spring, corner by handle, displacement measuring device, resistance
Amount device, spring, the servo-actuated sub-composition of the moment of resistance, described handle is operated by operating personnel, institute's displacement measurement device
Being respectively used to measure displacement and the corner of handle with corner measuring apparatus, described resistance is connected with described spring with mover,
The described moment of resistance is connected with described torsion spring with mover, and displacement measuring device and corner measuring apparatus are positioned at the outside of handle,
Spring housing is on handle, and torsion spring is positioned at one end of handle.
Blood vessel intervention operation robot guide wire resistive haptic reduction apparatus the most according to claim 1, its feature exists
In, institute's displacement measurement device is for the shift length of measurement handle in real time, and is shown by display device, to instruct behaviour
Make personnel and adjust handle displacement in real time.
Blood vessel intervention operation robot guide wire resistive haptic reduction apparatus the most according to claim 1, its feature exists
In, described corner measuring apparatus measures the angle that handle is turned in real time, and is shown by display device.
Blood vessel intervention operation robot guide wire resistive haptic reduction apparatus the most according to claim 1, its feature exists
In, described resistance with mover for reduction blood vessel intervention operation robot operation in real time time seal wire and blood vessel between resistance,
The described moment of resistance with mover in real time reduction blood vessel intervention operation robot operation time seal wire and blood vessel between the moment of resistance.
Blood vessel intervention operation robot guide wire resistive haptic reduction apparatus the most according to claim 1, its feature exists
In, described blood vessel intervention operation robot guide wire resistive haptic reduction apparatus needs make robot combined with blood vessel intervention operation
With.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110141365A (en) * | 2019-05-06 | 2019-08-20 | 清华大学 | Simulate the blood vessel intervention operation auxiliary device remote control system of surgical operation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107184274B (en) * | 2017-06-05 | 2020-03-31 | 上海速介机器人科技有限公司 | Vascular intervention operation robot operating handle with hand feeling and control method thereof |
| CN107657989B (en) * | 2017-09-11 | 2021-05-28 | 山东第一医科大学(山东省医学科学院) | Multimodal medical image platform based on sparse learning and mutual information |
| CN111067624B (en) * | 2019-12-25 | 2021-08-17 | 四川安雅仕健康管理有限公司 | Medium-and-long-range remote control operation intervention robot device |
| CN117934231B (en) * | 2024-03-21 | 2024-06-04 | 中山市人民医院 | VR-based ECMO guide wire expansion operation method |
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| KR100222628B1 (en) * | 1994-07-19 | 1999-10-01 | 야마모토 카즈모토 | Virtual reality system |
| US7143888B2 (en) * | 2005-01-26 | 2006-12-05 | Hamilton Sundstrand Corporation | Combined no-back and torque limiter |
| US8202244B2 (en) * | 2005-07-11 | 2012-06-19 | Catheter Robotics, Inc. | Remotely controlled catheter insertion system |
| US9242044B2 (en) * | 2007-07-06 | 2016-01-26 | Novo Nordisk A/S | Automatic injection device |
| WO2009092059A2 (en) * | 2008-01-16 | 2009-07-23 | Catheter Robotics, Inc. | Remotely controlled catheter insertion system |
| CN102152314B (en) * | 2010-12-13 | 2012-08-29 | 天津工业大学 | Clucking power feedback system in touching device |
| CN102499757B (en) * | 2011-10-17 | 2014-06-11 | 上海交通大学 | Nine-degree-of-freedom minimally invasive surgical robot main manipulator with force feedback |
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| CN110141365A (en) * | 2019-05-06 | 2019-08-20 | 清华大学 | Simulate the blood vessel intervention operation auxiliary device remote control system of surgical operation |
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Inventor after: Xu Xiaogang Inventor after: Lu Maowei Inventor after: Wang Kundong Inventor after: Lu Qingsheng Inventor before: Xu Xiaogang Inventor before: Lu Maowei |
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Free format text: CORRECT: INVENTOR; FROM: XU XIAOGANG LU MAOWEI TO: XU XIAOGANG LU MAOWEI WANG KUNDONG LU QINGSHENG |
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Effective date of registration: 20200318 Address after: 201321 2 / F, No. 3, Lane 215, Amber Road, Pudong New Area, Shanghai Patentee after: SHANGHAI AOPENG MEDICAL TECHNOLOGY Co.,Ltd. Address before: 201109 Shanghai city Minhang District Fanghe Road No. 1088 building tenth room 3017 Patentee before: SHANGHAI SUJIE ROBOT TECHNOLOGY Co.,Ltd. |