CN105596084A - Cardiovascular intervention operation robot - Google Patents
Cardiovascular intervention operation robot Download PDFInfo
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- CN105596084A CN105596084A CN201610074861.3A CN201610074861A CN105596084A CN 105596084 A CN105596084 A CN 105596084A CN 201610074861 A CN201610074861 A CN 201610074861A CN 105596084 A CN105596084 A CN 105596084A
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- seal wire
- conduit
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
The invention provides a cardiovascular intervention operation robot which comprises a guide wire/catheter push mechanism module, a guide wire/catheter rotation mechanism module, a force feedback module and a support mechanism, wherein the guide wire/catheter push mechanism module drives the guide wire/catheter rotation mechanism module and the force feedback module move back and forth to realize the advancing/retreating of the guide wire/catheter; the guide wire/catheter rotation mechanism module drives the force feedback module to rotate to realize the rotation of the guide wire/catheter; and the force feedback module measures the force and moment in the guide wire/catheter push process in real time so as to judge the state of the guide wire/catheter in a blood vessel. The rotor provided by the invention is easy to operate, has high degree of freedom and can realize remote control so as to protect the doctor from the radiation of X rays; and meanwhile, due to the addition of force feedback, the conditions of the guide wire/catheter inserted into the blood vessel can be reflected in real time so as to provide basis of further operation for the doctor, wherein the conditions include whether the guide wire/catheter collides with the blood vessel wall and whether relatively high resistance exists.
Description
Technical field
The present invention relates to a kind of device of technical field of medical instruments, particularly, relate to a kind of force feedback function that hasCardiovascular intervention operation robot.
Background technology
Now the serious harm mankind healthy day by day of cardiovascular and cerebrovascular disease, publishes according to the World Health OrganizationWithin 2014, global NCD status report shows: angiocardiopathy belongs to NCD, and angiocardiopathy is drawnThe death toll rising has surmounted the number of other any cause of the death, has become and has caused the No.1 of global human death to killHand. Meanwhile, the operation skill to doctor in traditional cardiovascular and cerebrovascular intervene operation process and experience require high, and doctor is notCan avoid suffering the radiation of X ray. Along with increasing of cardio-cerebral vascular disease patient, doctor and patient also have between surgical environmentsContradiction day by day serious. And cardiovascular and cerebrovascular operating robot can solve above problem well, more accurately simultaneouslyControl the motion of conduit/seal wire, therefore the research of cardiovascular and cerebrovascular intervention operation robot is significant.
Through the retrieval of prior art is found, No. CN102210610B, Chinese utility model, discloses a kind of Wicresoft bloodPipe intervention operation robot propulsive mechanism. This device comprises for the axial feed parts of propulsion bulb/seal wire with for changingThe parts that rotate in a circumferential direction of conduit/seal wire direction of rotation. This device clamps conduit/seal wire by clamp module, by axially enteringCarry out delivery catheter/seal wire to parts. Due to, constantly capture conduit/seal wire, can affect the clean and size of conduit/seal wireSize, brings the trouble of sterilization. Meanwhile, this device lacks the function of force feedback.
Application number is the Chinese patent of CN201310161780.3, discloses a kind of cardiovascular intervention virtual operation powerReponse system, but this system is a virtual operation emulator, can not address the above problem.
Therefore, those skilled in the art is devoted to develop a kind of cardiovascular intervention robot with force feedback function.
Summary of the invention
For defect of the prior art, the object of this invention is to provide the cardiovascular intervene operation machine of a kind of force feedbackPeople, this robot manipulation is simple, and the free degree is high, can realize remote control simultaneously, makes doctor avoid the spoke of X rayPenetrate. Meanwhile, force feedback add can be real-time reflection seal wire/conduit insert the situation in blood vessel: whether collide bloodWhether tube wall, there is larger resistance, and carrying out further operation technique to doctor provides foundation.
For realizing above object, the invention provides a kind of cardiovascular intervention operation robot, comprising: seal wire/conduit advancesMechanism module, seal wire/conduit rotating mechanism module, force feedback module and bracket institution, wherein:
Seal wire/conduit propulsive mechanism module is connected with seal wire/conduit rotating mechanism module, advances to realize seal wire/conduitMechanism module is connected with seal wire/conduit rotating mechanism module;
Force feedback module is arranged in seal wire/conduit rotating mechanism module, with realizable force feedback module and the rotation of seal wire/conduitThe connection of mechanism module;
Seal wire/conduit rotating mechanism module is connected with bracket institution, to realize seal wire/conduit rotating mechanism module and timbering machineThe connection of structure;
Described seal wire/conduit propulsive mechanism module drive seal wire/conduit rotating mechanism module and force feedback module move forward and backward,Realize the forward-reverse of seal wire/conduit; Described seal wire/conduit rotating mechanism modular belt power feedback module rotation, realization is ledThe rotation of silk/conduit; Described force feedback module is measured the force and moment being subject in seal wire/conduit progradation in real time, judgementThe state of seal wire/conduit in blood vessel.
Preferably, described force feedback module, comprises installed surface connector, chuck, measurement face connector and sensor,Wherein: chuck, measurement face connector, sensor, installed surface connector interconnect successively, and relatively static; Seal wire/ conduit is inserted in chuck and is clamped on measurement face connector installed surface connector and seal wire/conduit rotating mechanism moduleIn swivel plate be connected, thereby the rotation of swivel plate rotation drive feedback module, sensor is for measuring in real time seal wire/conduitThe force and moment being subject in progradation.
Preferably, described seal wire/conduit propulsive mechanism module, comprises mounting base, connecting plate, screw mandrel, mobile spiral shellCap, the first shaft coupling, the first servomotor and moving slide board pedestal, wherein: mounting base is for fixing seal wire/leadPipe propulsive mechanism module, seal wire/conduit rotating mechanism module, force feedback module and bracket institution; Screw mandrel is fixed onIn mounting seat; Screw mandrel is connected by the first shaft coupling with the first servomotor; Mobile nut is arranged on screw mandrel and at silkOn bar, move forward and backward; Moving slide board pedestal is connected together by connecting plate and mobile nut.
Preferably, described seal wire/conduit rotating mechanism module, comprises the second servomotor, motor support base, the second shaft couplingDevice, the first rotary support, the second rotary support, swivel plate, line slideway and slide block, wherein: the second servomotor is solidFix on motor support base, and be connected with swivel plate by the second shaft coupling; Motor support base is arranged on moving slide board pedestal;The two ends of swivel plate are arranged on respectively on the first rotary support, the second rotary support by bearing; The first rotary support,Two rotary supports are installed on moving slide board pedestal; Line slideway is arranged on the installation in seal wire/conduit propulsive mechanism moduleOn base plate; Slide block is arranged on line slideway and along line slideway direction and moves, and slide block and moving slide board pedestal are spirally connected and connectConnect.
Preferably, described bracket institution, comprises and pushes away lever, passage bar, hold-down support and support bar, wherein: twoHold-down support is one in front and one in back fixed on leads on mounting base; The both sides, upper end of former and later two hold-down supports are equipped with hole, push awayThe both sides of pin and N root support bar are also provided with hole, and two passage bars are through respectively the upper end two of former and later two hold-down supportsIn side opening, through the hole of push and block bar and N root support bar both sides, push and block bar and N root support bar are before and after passage bar simultaneouslySlide; Push and block bar is arranged on moving slide board pedestal, push and block bar moving slide board pedestal drive under along passage bar direction togetherMotion; Push and block bar moves after certain distance along passage bar, touches first support bar and promotes this support bar to move together,Next promote successively other remaining support bars and move along passage bar, until N root support bar touches consolidating of front endDetermine bearing.
More preferably, the center of the described hold-down support that pushes away lever, N root support bar and front end is equipped with hole, and operation is usedSeal wire/conduit passes the centre bore of the hold-down support of push and block bar, N root support bar and front end successively.
More preferably, in the hole of the both sides, hold-down support top described in former and later two, linear bearing is all installed, two logicalRoad bar inserts respectively the described linear bearing on former and later two hold-down supports.
Compared with prior art, the present invention has following beneficial effect:
The robot free degree in the present invention is high, simple to operate, only clamps seal wire/conduit once, can not pollute seal wire/leadPipe, sterilization is convenient. There is the function of force feedback, the power and the power that in real-time measurement seal wire/conduit progradation, are subject to simultaneouslySquare, is transferred in the computer of operating room, the force-bearing situation of doctor in can Real Time Observation seal wire/conduit progradation, therebyJudge the state of seal wire/conduit in blood vessel: whether collide vascular wall, whether have larger resistance, make with thisCorresponding countermeasure, determines whether to need injection of contrast medium.
Brief description of the drawings
By reading the detailed description of non-limiting example being done with reference to the following drawings, other spy of the present inventionLevy, object and advantage will become more obvious:
Fig. 1 is the overall structure schematic diagram of one embodiment of the invention;
Fig. 2 is the structural representation of seal wire/conduit propulsive mechanism module of one embodiment of the invention;
Fig. 3 is the structural representation of seal wire/conduit rotating mechanism module of one embodiment of the invention;
Fig. 4 is the structural representation of the force feedback module of one embodiment of the invention;
Fig. 5 is the structural representation of the bracket institution of one embodiment of the invention;
In Fig. 1: seal wire/conduit propulsive mechanism module 1, seal wire/conduit rotating mechanism module 2, force feedback module 3,Frame mechanism 4;
In Fig. 2: bakelite plate 100, screw mandrel 101, mobile nut 102, shaft coupling 103, servomotor 104, mobileSlide plate pedestal 105, connecting plate 106;
In Fig. 3: servomotor 200, motor support base 201, shaft coupling 202, rotary support 203,205, swivel plate204, line slideway 207, slide block 208,209;
In Fig. 4: chuck 300, measurement face connector 301, sensor 302, installed surface connector 303;
In Fig. 5: push away lever 400, passage bar 401, hold-down support 402,404, support bar 403.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail. Following examples will contribute to the technology people of this areaMember further understands the present invention, but does not limit in any form the present invention. It should be pointed out that the common skill to this areaArt personnel, without departing from the inventive concept of the premise, can also make some distortion and improvement. These all belong toProtection scope of the present invention.
A cardiovascular intervention operation robot as shown in Figure 1, described robot comprises: seal wire/conduit propulsive mechanism mouldPiece 1, seal wire/conduit rotating mechanism module 2, force feedback module 3, bracket institution 4, wherein:
Seal wire/conduit propulsive mechanism module 1 is connected with seal wire/conduit rotating mechanism module 2, to realize seal wire/conduitPropulsive mechanism module 1 is connected with seal wire/conduit rotating mechanism module 2;
Force feedback module 3 is arranged in seal wire/conduit rotating mechanism module 2, with realizable force feedback module 3 and seal wire/The connection of conduit rotating mechanism module 4;
Seal wire/conduit rotating mechanism module 1 is connected with bracket institution 4, with realize seal wire/conduit rotating mechanism module 2 withThe connection of bracket institution 4;
Described seal wire/conduit propulsive mechanism module 1 drives seal wire/conduit rotating mechanism module 2 and force feedback module 3 front and backMove, realize the forward-reverse of seal wire/conduit; Described seal wire/conduit rotating mechanism module 2 drive feedback modules 3 revolveTurn, realize the rotation of seal wire/conduit; Described force feedback module 3 is measured the power being subject in seal wire/conduit progradation in real timeAnd moment, judge the state of seal wire/conduit in blood vessel.
As shown in Figure 2, in a preferred embodiment, described seal wire/conduit propulsive mechanism module 1, comprise bakelite plate 100,Screw mandrel 101, mobile nut 102, shaft coupling 103, servomotor 104, moving slide board pedestal 105 and connecting plate 106,Wherein: bakelite plate 100 is as the mounting base of whole robot mechanism, for fixing above-mentioned four great institutions modules; Screw mandrel101 are fixed on bakelite plate 100; Screw mandrel 101 is connected by shaft coupling 103 with servomotor 104; Mobile nut 102Be arranged on screw mandrel 101 and can on screw mandrel 101, move forward and backward; Connecting plate 106 is connected with mobile nut 102; MobileThe front end of slide plate pedestal 105 and connecting plate 106 are spirally connected.
In the present embodiment, adopt bakelite plate 100 as mounting base, also can adopt in other embodiments other forms.
As shown in Figure 3, in a preferred embodiment, described seal wire/conduit rotating mechanism module 2, comprises servomotor200, motor support base 201, shaft coupling 202, rotary support 203,205, swivel plate 204, line slideway 207, slidingPiece 208,209, wherein:
Servomotor 200 is fixed on motor support base 201, and is connected with swivel plate 204 by shaft coupling 202; RotationThe two ends of plate 204 are arranged on respectively on rotary support 203,205 by bearing, motor support base 201 and rotary support 203,205 are installed on moving slide board pedestal 105, and moving slide board pedestal 105 is arranged on slide block 208,209, slide block208,209 be arranged on line slideway 207 and can move along line slideway 207 directions;
As shown in Figure 4, in a preferred embodiment, described force feedback module 3, comprising: chuck 300, measurement faceConnector 301, sensor 302, installed surface connector 303, wherein: chuck 300, measurement face connector 301, biographySensor 302, installed surface connector 303 interconnect by screw successively, and relatively static; Seal wire/conduit is inserted in folderIn 300 and be clamped on measurement face connector 301, installed surface connector 303 is connected with swivel plate 204, sensor302 detect seal wire/catheter proximal end in real time by its inner foil gauge passes to chuck 300 and the face of measurement connector 301Power and turning moment.
As shown in Figure 5, described bracket institution 4, comprising: push away lever 400, passage bar 401, hold-down support 402,404, support bar 403, wherein: pushing away lever 400 has one, and hold-down support 402 has two, and passage bar 401 has twoRoot, support bar 403 has N root; Hold-down support 402,404 is tandem to be fixed on bakelite plate 100; FixingThe both sides, upper end of seat 402,404 are equipped with hole, and the both sides of push and block bar 400 and N root support bar 403 are also provided with hole, twoRoot passage bar 401 is through in the two side holes of hold-down support 402,404, simultaneously through 400 and 10 support bars of push and block bar403, push and block bar 400 and N root support bar 403 slide along passage bar 401 front and back; Push and block bar 400 is arranged on mobile slidingOn plate pedestal 105, thereby moving slide board pedestal 105 moves forward and backward drive push and block plate 400 along passage bar 401 directions togetherSeesaw; Push and block bar 400 moves after certain distance along passage bar 401, touches first support bar 403 and promotesThis support bar 403 moves together, and next promote successively other remaining support bars 403 and move along passage bar 401,Until N root support bar 403 touches hold-down support 402.
Moving slide board pedestal 105 rises simultaneously in seal wire/conduit rotating mechanism module 2, seal wire/conduit propulsive mechanism module 1Effect, described seal wire/conduit rotating mechanism module 2 is three layers of mechanism of upper, middle and lower, wherein: servomotor 200, motorBearing 201, shaft coupling 202, rotary support 203 and 205, swivel plate 204 form upper strata mechanism, moving slide board pedestal105 form middle level mechanism, and line slideway 207, slide block 208 and 209 form mechanism of lower floor, and middle level mechanism connects upper strataMechanism and mechanism of lower floor, upper strata mechanism is for the rotation of seal wire/conduit, and mechanism of lower floor is for seal wire/conduit rotating mechanism mouldThe movement of piece 2.
Described robot realizes forward-reverse, rotation and the force feedback of seal wire/conduit by following steps:
1. first seal wire/conduit is pushed away to lever 400 and N root support bar 403 and hold-down support 402 through bracket institution 4Centre bore, enter the chuck 300 of force feedback module 3, and be clamped on measurement face connector 301;
At operating room by the running of computer control servomotor 104,200, control seal wire/conduit propulsive mechanism module1 and seal wire/conduit rotating mechanism module 2:
The rotation of servomotor 104 drives leading screw 101 to rotate by shaft coupling 103, makes mobile nut 102 along screw mandrel101 move forward and backward; Mobile nut 102, connecting plate 106 and moving slide board pedestal 105 are connected successively and are relatively static,So moving forward and backward of mobile nut 102, drives connecting plate 106 and moving slide board pedestal 105 to move forward and backward together;Moving slide board pedestal 105 connects the upper and lower two-layer mechanism of seal wire/conduit rotating mechanism module 2, so moving slide board baseMoving forward and backward of seat 105, drives seal wire/conduit rotating mechanism module 2 to move forward and backward along the direction of line slideway 207; WithTime, the push and block bar 400 of bracket institution 4 is arranged on moving slide board pedestal 105, and moving slide board pedestal 105 moves forward and backwardTime drive push and block bar 400 to seesaw along passage bar 401; The installed surface connector 303 of force feedback module 3 with leadThe swivel plate 204 of silk/conduit rotating mechanism 2 is connected, force feedback module like this 3 and seal wire/conduit rotating mechanism module 2Forward-reverse simultaneously, seal wire/conduit propulsive mechanism module 1 is by seal wire/conduit rotating mechanism module 2 drivesFeedback module 3 moves forward and backward, thereby realizes advancing, retreating of seal wire/conduit;
Force feedback module 3 is connected with the swivel plate 204 of seal wire/conduit rotating mechanism 2 by installed surface connector 303,The rotation of servomotor 200, by the rotation of shaft coupling 202 driven rotary plates 204, the rotarily driving of swivel plate 204Installed surface connector 303 rotates, chuck 300, measurement face connector 301, sensor 302, installed surface connector 303Interconnect by screw successively and relatively static, seal wire/conduit is inserted in chuck 300 and is clamped in measurement face connectorOn 301, thereby realize rotatablely moving of seal wire/conduit;
3. the force and moment being subject in the real-time measurement seal wire/conduit progradation of the sensor 302 of force feedback module 3, passesBe passed in the computer of operating room, the force-bearing situation of doctor in can Real Time Observation seal wire/conduit progradation, thus judgement is ledThe state of silk/conduit in blood vessel: whether collide vascular wall, whether have larger resistance, make accordingly with thisCountermeasure, determines whether to need injection of contrast medium.
The robot of the present invention free degree is high, simple to operate, only clamps seal wire/conduit once, can not pollute seal wire/Conduit, sterilization is convenient; There is the function of force feedback simultaneously, the power being subject in real-time measurement seal wire/conduit progradation andMoment, is transferred in the computer of operating room, the force-bearing situation of doctor in can Real Time Observation seal wire/conduit progradation, fromAnd judge the state of seal wire/conduit in blood vessel: whether collide vascular wall, whether have larger resistance, do with thisGo out corresponding countermeasure, determine whether to need injection of contrast medium.
Above specific embodiments of the invention are described. It will be appreciated that, the present invention is not limited toState specific implementations, those skilled in the art can make various distortion or amendment within the scope of the claims,This does not affect flesh and blood of the present invention.
Claims (7)
1. a cardiovascular intervention operation robot, is characterized in that, comprising: seal wire/conduit propulsive mechanism module, leadSilk/conduit rotating mechanism module, force feedback module and bracket institution, wherein:
Seal wire/conduit propulsive mechanism module is connected with seal wire/conduit rotating mechanism module, advances to realize seal wire/conduitMechanism module is connected with seal wire/conduit rotating mechanism module;
Force feedback module is arranged in seal wire/conduit rotating mechanism module, with realizable force feedback module and the rotation of seal wire/conduitThe connection of mechanism module;
Seal wire/conduit rotating mechanism module is connected with bracket institution, to realize seal wire/conduit rotating mechanism module and timbering machineThe connection of structure;
Described seal wire/conduit propulsive mechanism module drive seal wire/conduit rotating mechanism module and force feedback module move forward and backward,Realize the forward-reverse of seal wire/conduit; Described seal wire/conduit rotating mechanism modular belt power feedback module rotation, realization is ledThe rotation of silk/conduit; Described force feedback module is measured the force and moment being subject in seal wire/conduit progradation in real time, judgementThe state of seal wire/conduit in blood vessel.
2. the cardiovascular intervention operation robot of one according to claim 1, is characterized in that, described power is anti-Feedback module, comprises installed surface connector, chuck, measurement face connector and sensor, wherein: chuck, measurement face connectPart, sensor, installed surface connector interconnect successively, and relatively static; Seal wire/conduit is inserted in chuck and clampingOn the face of measurement connector, installed surface connector is connected with the swivel plate in seal wire/conduit rotating mechanism module, and swivel plate revolvesThereby turn the rotation of drive feedback module, sensor is for measuring in real time power and the power that seal wire/conduit progradation is subject toSquare.
3. the cardiovascular intervention operation robot of one according to claim 1 and 2, is characterized in that, describedSeal wire/conduit propulsive mechanism module, comprises mounting base, connecting plate, screw mandrel, mobile nut, the first shaft coupling,One servomotor and moving slide board pedestal, wherein: mounting base is for fixing seal wire/conduit propulsive mechanism module, leadingSilk/conduit rotating mechanism module, force feedback module and bracket institution; Screw mandrel is fixed in mounting seat; Screw mandrel andOne servomotor is connected by the first shaft coupling; Mobile nut is arranged on screw mandrel and on screw mandrel and moves forward and backward; Mobile slidingPlate pedestal is connected together by connecting plate and mobile nut.
4. the cardiovascular intervention operation robot of one according to claim 3, is characterized in that, described seal wire/Conduit rotating mechanism module, comprises the second servomotor, motor support base, the second shaft coupling, the first rotary support, secondRotary support, swivel plate, line slideway and slide block, wherein: the second servomotor is fixed on motor support base, and passes throughThe second shaft coupling is connected with swivel plate; Motor support base is arranged on moving slide board pedestal; The two ends of swivel plate are divided by bearingBe not arranged on the first rotary support, the second rotary support; The first rotary support, the second rotary support are installed in movementOn slide plate pedestal; Line slideway is arranged on the mounting base in seal wire/conduit propulsive mechanism module; Slide block is arranged on straight lineOn guide rail and along line slideway direction, move, and slide block is spirally connected and is connected with moving slide board pedestal.
5. the cardiovascular intervention operation robot of one according to claim 3, is characterized in that, described supportMechanism, comprises and pushes away lever, passage bar, hold-down support and support bar, wherein: two hold-down supports are one in front and one in back fixed onLead on mounting base; The both sides, upper end of former and later two hold-down supports are equipped with hole, the both sides of push and block bar and N root support barAlso be provided with hole, two passage bars are through respectively in the upper end two side holes of former and later two hold-down supports, simultaneously through push and block barWith the hole of N root support bar both sides, push and block bar and N root support bar slide before and after passage bar; Push and block bar is arranged on movementOn slide plate pedestal, push and block bar moves together along passage bar direction under moving slide board pedestal drives; Push and block bar is transported along passage barAfter moving certain distance, touch first support bar and promote this support bar and move together, next promote successively other and remainRemaining support bar moves along passage bar, until N root support bar touches the hold-down support of front end.
6. the cardiovascular intervention operation robot of one according to claim 5, is characterized in that, the described shelves that push awayThe center of the hold-down support of bar, N root support bar and front end is equipped with hole, operation with seal wire/conduit successively through push and block bar,The centre bore of the hold-down support of N root support bar and front end.
7. the cardiovascular intervention operation robot of one according to claim 5, is characterized in that, former and later twoIn the hole of described both sides, hold-down support top, linear bearing is all installed, two passage bars insert respectively former and later two admittedlyDetermine the described linear bearing on bearing.
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| CN201610074861.3A CN105596084B (en) | 2016-02-02 | 2016-02-02 | Cardiovascular interventional operation robot |
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| CN201610074861.3A CN105596084B (en) | 2016-02-02 | 2016-02-02 | Cardiovascular interventional operation robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106580375A (en) * | 2016-12-15 | 2017-04-26 | 杭州启明医疗器械有限公司 | Guide wire regulator and delivery system control handle |
| CN109044533A (en) * | 2018-09-17 | 2018-12-21 | 上海交通大学医学院附属仁济医院 | The minimally invasive intervention operation robot of Urology Surgery |
| CN109106449A (en) * | 2018-07-10 | 2019-01-01 | 上海交通大学 | A kind of cardiovascular and cerebrovascular intervention operation robot and its wire catheter method for pushing |
| CN110200700A (en) * | 2019-05-17 | 2019-09-06 | 中国科学院深圳先进技术研究院 | A kind of blood vessel intervention operation robot and equipment |
| CN110507374A (en) * | 2019-08-22 | 2019-11-29 | 中国科学院自动化研究所 | Seal wire control handle |
| CN111202585A (en) * | 2020-01-20 | 2020-05-29 | 上海奥朋医疗科技有限公司 | Interventional operation robot guide wire clamping control method and system |
| WO2021147177A1 (en) * | 2020-01-20 | 2021-07-29 | 上海奥朋医疗科技有限公司 | Vascular intervention robot operating handle with guide wire catheter advancing resistance feedback |
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| CN114366312A (en) * | 2022-02-21 | 2022-04-19 | 厦门大学 | Liver tumor embolism intervention operation robot |
| CN116269780A (en) * | 2023-02-23 | 2023-06-23 | 之江实验室 | Feeding mechanism and surgical robot |
| WO2023160185A1 (en) * | 2022-02-23 | 2023-08-31 | 上海奥朋医疗科技有限公司 | Guidewire catheter delivering device |
| WO2024027358A1 (en) * | 2022-08-02 | 2024-02-08 | 上海卓昕医疗科技有限公司 | Vascular interventional surgery guidewire/catheter force feedback apparatus and vascular interventional surgery robot |
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| CN109106449A (en) * | 2018-07-10 | 2019-01-01 | 上海交通大学 | A kind of cardiovascular and cerebrovascular intervention operation robot and its wire catheter method for pushing |
| CN109044533A (en) * | 2018-09-17 | 2018-12-21 | 上海交通大学医学院附属仁济医院 | The minimally invasive intervention operation robot of Urology Surgery |
| CN110200700A (en) * | 2019-05-17 | 2019-09-06 | 中国科学院深圳先进技术研究院 | A kind of blood vessel intervention operation robot and equipment |
| CN110200700B (en) * | 2019-05-17 | 2021-06-04 | 中国科学院深圳先进技术研究院 | Robot and equipment for vascular intervention operation |
| CN110507374A (en) * | 2019-08-22 | 2019-11-29 | 中国科学院自动化研究所 | Seal wire control handle |
| WO2021147177A1 (en) * | 2020-01-20 | 2021-07-29 | 上海奥朋医疗科技有限公司 | Vascular intervention robot operating handle with guide wire catheter advancing resistance feedback |
| CN111202585A (en) * | 2020-01-20 | 2020-05-29 | 上海奥朋医疗科技有限公司 | Interventional operation robot guide wire clamping control method and system |
| CN113520604A (en) * | 2021-06-17 | 2021-10-22 | 清华大学 | Trachea cannula robot of simulation doctor operation |
| CN114366312A (en) * | 2022-02-21 | 2022-04-19 | 厦门大学 | Liver tumor embolism intervention operation robot |
| CN114366312B (en) * | 2022-02-21 | 2023-07-14 | 厦门大学 | Liver tumor embolism intervention operation robot |
| WO2023160185A1 (en) * | 2022-02-23 | 2023-08-31 | 上海奥朋医疗科技有限公司 | Guidewire catheter delivering device |
| WO2024027358A1 (en) * | 2022-08-02 | 2024-02-08 | 上海卓昕医疗科技有限公司 | Vascular interventional surgery guidewire/catheter force feedback apparatus and vascular interventional surgery robot |
| CN116269780A (en) * | 2023-02-23 | 2023-06-23 | 之江实验室 | Feeding mechanism and surgical robot |
| CN116269780B (en) * | 2023-02-23 | 2023-10-10 | 之江实验室 | Feeding mechanism and surgical robot |
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