CN107320181A - The folder that wire catheter is operated in blood vessel intervention operation transfers manipulator - Google Patents
The folder that wire catheter is operated in blood vessel intervention operation transfers manipulator Download PDFInfo
- Publication number
- CN107320181A CN107320181A CN201710414364.8A CN201710414364A CN107320181A CN 107320181 A CN107320181 A CN 107320181A CN 201710414364 A CN201710414364 A CN 201710414364A CN 107320181 A CN107320181 A CN 107320181A
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- wire catheter
- clamping
- silk
- folder
- blood vessel
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Pulmonology (AREA)
- Hematology (AREA)
- Biophysics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Anesthesiology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Manipulator (AREA)
Abstract
Manipulator is transferred the invention provides the folder that wire catheter in a kind of blood vessel intervention operation is operated, including：Clamping device：For realizing that automatic centering clamps wire catheter；Zhuan Si mechanisms：For driving clamping device to be rotated around the axis of wire catheter；Delivery device：Straight line push-and-pull for realizing wire catheter；The clamping device is anchored on the rotational support ring of the Zhuan Si mechanisms；The Zhuan Si mechanisms are arranged on the sliding block of the delivery device.The invention has the advantages that：Compact conformation of the present invention is stable, and centering is high, it is easy to dismounting sterilization；The present invention can realize the clamping, rotation and push pull maneuver of wire catheter simultaneously, realize the singlehanded operation to wire catheter of doctor；Eliminate hand-motion jitter when doctor performs an operation, release branch booster is uneven etc. thinks influence of the factor to surgical quality；Avoid doctor by ray damage, protect the body of doctor.
Description
Technical field
The present invention relates to medical field, in particular it relates to which the folder that wire catheter is operated in a kind of blood vessel intervention operation transfers
Manipulator.
Background technology
Blood vessel intervention operation needs doctor to be completed under ray monitoring, and doctor is by accumulative ray damage, and its is healthy
Seriously threatened.In intervention operation, what the inherent shortcoming such as the hand-motion jitter of doctor, release branch booster are uneven can be different degrees of
Have influence on the effect of PCI.Research can carry out the dexterous servicing unit of wire catheter operation, make doctor away from ray
Under environment, the health of human body of protection intervention medical personnel, and improve Jie using the isolation flutter of mechanical device, accurate kinetic characteristic
Enter therapeutic effect, be the intervention necessity that precisely treatment and employment security develop.
Computer Motion companies of the U.S. have developed the endoscope hand that First is used to aid in Minimally Invasive Surgery in 1994
The Aesop's system of art system one, it has virtual joint, is operated though instruction can not be independently executed, it has stepped machine
A crucial step for device people's surgery operating technology；L998, the said firm develops second generation Zeus's Zeus systems, by 3 mechanical arms,
Doctor's operating desk and computer control composition, tentatively realize man-machine coordination and implement operation；It is 2000, famous in the world to reach
Fragrant strange (Da Vinci) robot is produced by Intuitive Surgical companies of the U.S., indicates surgical operation robot
Epoch arrive.Leonardo da Vinci's operating robot can not only clearly show surgical field of view, can also filter the vibration of patient's hand so that
Doctor can more be completed rapidly and accurately operation.Scalpel, operating forceps that above surgical operation robot is mostly operated etc.,
The blood vessel interventional instruments that long section, description are various can not be operated.The Magellan robots of Hansen companies of the U.S. can be
The lower 360 ° of steering nozzles of doctor's remote control, but the equipment carries out catheter manipulation using crawler belt to roller extruding, function is single, and cost is held high
Expensive, doctor does not have feel when operating.Domestic Beijing Institute of Aeronautics, Institute of Automation, CAS Deng Duojia mechanisms have also carried out external similar research
Follow, seal wire is operated using being clamped to rolling, is only capable of completing a link of blood vessel intervention operation, be strongly limit machine
The function of people.
From the point of view of various data, the wire catheter is operated to be current conventional use of method using to edging pressure.Its shortcoming
It is to be only capable of completing the feeding of wire catheter, rotate, it is impossible to realize increasingly complex surgical action, such as pipe silk coordinated,
Can not compatible existing most of specification wire catheter, or even need the wire catheter that customizes.Accordingly, it would be desirable to explore function more
The stronger new interventional procedure manipulator of horn of plenty, compatibility.
The content of the invention
For defect of the prior art, operated it is an object of the invention to provide wire catheter in a kind of blood vessel intervention operation
Folder transfer manipulator.
The folder that wire catheter is operated in a kind of blood vessel intervention operation provided according to the present invention transfers manipulator, including clamping
Mechanism, Zhuan Si mechanisms and delivery device, wherein：The clamping device be anchored on the Zhuan Si mechanisms rotational support ring or
Secondary turns on silk gear；The Zhuan Si mechanisms are arranged on the sliding block of the delivery device；Clamping device centering clamping seal wire is led
Pipe；Zhuan Si mechanisms driving clamping device is rotated around the axis of wire catheter；Delivery device carries out the straight line push-and-pull of wire catheter.
Preferably, the clamping device includes：Motor, clamp transmission mechanism, Y types finger and clamping part frame are clamped,
Wherein：
The clamping motor and clamp transmission mechanism are arranged in the clamping part frame；
The output end of the clamping motor connects the clamp transmission mechanism, and controls Y type hands by clamp transmission mechanism
Refer to clamping or unclamp wire catheter.
Preferably, the Zhuan Si mechanisms include turning silk motor, turning silk primary pinion, turn silk secondary gears, rotational support ring
And rotating part frame, wherein：
Described turn of silk motor is installed in the rotating part frame；
The rotational support ring is arranged in the annular chute of the rotating part frame, and the rotational support ring can be
Freely rotated in the annular chute of the rotating part frame；
The output shaft of described turn of silk motor, which is connected, turns silk primary pinion, and it is secondary to turn silk described in described turn of silk primary pinion engagement
Gear；
Described turn of silk secondary gears with the rotational support ring is concentric is fastenedly connected；
The rotational support ring is coaxially disposed with wire catheter.
Preferably, the delivery device includes push-and-pull motor, sliding block and guide rail, wherein：
The sliding block is arranged on guide rail, and the sliding block is used to support rotary frame；
Sliding block described in the push-and-pull motor control is moved on guide rail.
Preferably, the clamp transmission mechanism includes clamping primary pinion, clamping secondary gears, positive spin nut, derotation spiral shell
Female and positive and reverse return screw mandrel, wherein：
The output end of the clamping motor connects the clamping primary pinion；
Clamp primary pinion engagement clamping secondary gears；
The clamping secondary gears driving positive and reverse return screw mandrel is rotated；
The positive spin nut and derotation nut are combined on positive and reverse return screw mandrel, Y type fingers be separately mounted to positive spin nut with
On derotation nut；
The positive spin nut and derotation nut are opposite under the driving of positive and reverse return screw mandrel or move identical distance opposite to each other.
Preferably, the Clamping Center of the Y types fingerhold wire catheter formation is located at rotation when Zhuan Si mechanisms are rotated
Center.
Preferably, the Y types finger is used in pairs, and the Y types finger is distributed many on the axis direction along wire catheter
Individual broach, the Y types finger intersects clamping wire catheter, occlusion of staggering successively, it is to avoid yielding wire catheter using broach
Bending.
Preferably, the quantity of the Y types finger is multipair, and multipair Y types finger can be moved with rail.
Preferably, the clamping device, Zhuan Si mechanisms, delivery device separate can be moved, and realize wire catheter
Clamping, rotation and push.
Preferably, the sliding block drives steel wire rope to realize push-and-pull campaign by push-and-pull motor, and wire line thimble is around push-and-pull motor
With a pulley formation closed-loop path, sliding block both sides are provided with through hole, and the both sides circuit of closed-loop path is each passed through sliding block both sides
Through hole；The steel wire rope that one through hole is fastened in the steel wire rope, another through hole can be moved back and forth through the through hole.
Compared with prior art, the present invention has following beneficial effect：
1st, compact conformation of the present invention is stable, and centering is high, it is easy to dismounting sterilization；
2nd, while realizing the clamping of wire catheter, rotation and push pull maneuver, the singlehanded operation to wire catheter of doctor is realized；
3rd, eliminate that hand-motion jitter when doctor performs an operation, release branch booster are uneven etc. to think factor influence operation matter
Amount；
4th, avoid doctor by ray damage, protect the body of doctor.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the structural principle that a kind of folder of wire catheter operation in blood vessel intervention operation transfers the preference of manipulator
Figure；
Fig. 2 is the principle assumption diagram of Y type fingers；
Fig. 3 is the structural principle that a kind of folder of wire catheter operation in blood vessel intervention operation transfers the change case of manipulator
Figure；
Local structural graph when Fig. 4 is expansion manipulator
Shown in figure：
The clamping sliding block 12 of primary pinion 1 refers to broach groove 176 outside
The clamping steel wire rope 13 second of motor 2 refers to support broach 177 outside
The clamping push-and-pull motor 14 second of secondary gears 3 refers to interior broach 178 outside
Broach 179 in referring in the positive push-and-pull portion frame 15 of spin nut 4
Turn to refer to support broach 1710 in the rotational support ring 16 second of silk secondary gears 5
The positive and reverse return screw mandrel 18 of 6 Y types finger of wire catheter 17
Refer to the derotation nut 19 of broach groove 171 in rotating part frame 7
Turn the clamping part frame 20 of 8 mounting hole of silk motor 172
Refer to support broach 173 in pulley 9 first and increase sliding block 21 newly
Guide rail 10 first refers to interior broach 174 and increases steel wire rope 22 newly outside
Turn silk primary pinion 11 first refer to outside support broach 175 increase push-and-pull motor 23 newly
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that to the ordinary skill of this area
For personnel, without departing from the inventive concept of the premise, some changes and improvements can also be made.These belong to the present invention
Protection domain.
As shown in figure 1, the manipulator that a kind of wire catheter of the blood vessel intervention operation provided according to the present invention is operated, bag
Include：Clamping device, Zhuan Si mechanisms, delivery device, wherein：The clamping device is used to realize that automatic centering clamps wire catheter；
The Zhuan Si mechanisms are used to drive clamping device to rotate around the axis of wire catheter；The delivery device is used to realize that seal wire is led
The straight line push-and-pull of pipe；
Clamping device is made below and being illustrated, clamping device includes：Clamp primary pinion 1, clamping motor 2, clamping
Secondary gears 3, positive spin nut 4, Y types finger 17, positive and reverse return screw mandrel 18, derotation nut 19 and clamping part frame 20, wherein：Just
The two ends of derotation screw mandrel 18 are fixedly supported in clamping part frame 20；The fuselage of clamping motor 2 is fixed in clamping part frame 20, is pressed from both sides
Hold clamping primary pinion 1 fixed on the output shaft of motor 2 and clamping secondary gears 3 fixed on the end axis of positive and reverse return screw mandrel 18
Engagement, positive spin nut 4 and derotation nut 19 are screwed on positive and reverse return screw mandrel 18, Y types finger 17 be separately mounted to positive spin nut 4 with
On derotation nut 19, the clamping driving positive and reverse return of motor 2 screw mandrel 18, positive and reverse return screw mandrel 18 screws positive spin nut 4 and derotation nut 19
Y types finger 17 is driven to make move toward one another clamping wire catheter 6, make to move opposite to each other and unclamp wire catheter 6.
Further, positive spin nut 4, derotation nut 19 are always opposite under the driving of positive and reverse return screw mandrel 18 or move opposite to each other
Identical distance, can keep the center in axial direction of the held object along positive and reverse return screw mandrel 18 constant, on Y types finger 17
V-arrangement clamping face can adapt to conduit, seal wire, support release catheter handle of the different circular cross-section of specification etc. automatically, and keep
These devices are constant in the center of vertical direction, and the positive and reverse return screw mandrel 18 and V-type clamping face can keep different size
The Clamping Center of utensil is constant.
Next Zhuan Si mechanisms are specifically described, the Zhuan Si mechanisms include：Turn silk secondary gears 5, rotating part frame
7th, turn silk motor 8, turn silk primary pinion 11, rotational support ring 16 and clamping part frame 20.Wherein：Turn the fuselage of silk motor 8
It is fixed in rotating part frame 7, turns silk primary pinion 11 and be fixedly mounted on the output shaft for turning silk motor 8, rotational support ring 16
It can be rotated in annular chute in the annular chute of rotating part frame 7 and freely；Turn silk secondary gears 5 and rotation
Support ring 16 is fixedly mounted with one heart；Turn silk primary pinion 11 and engaged with turning silk secondary gears 5, clamping part frame 20 is fixedly mounted on
On rotational support ring 16, and ensure the Clamping Center and the center of rotational support ring 16 of the clamping formation of wire catheter 6 of Y types finger 17
Overlap, under above-mentioned installation relation, turn silk motor 8 by turn silk primary pinion 11 engagement turn silk secondary gears 5 rotate be fixed on
Rotational support ring 16 turns clamping device in silk secondary gears 5, and wire catheter 6 can turn along the central axis of itself
It is dynamic.
Delivery device is made below and being illustrated, the delivery device includes pulley 9, guide rail 10, sliding block 12, steel wire rope
13 and push-and-pull motor 14, wherein：Rotating part frame 7 is installed on sliding block 12；Sliding block 12 is supported on guide rail 10, in guide rail
Rear and front end is installed with pulley 9 and push-and-pull motor 14, and one end that steel wire rope 13 has two sections, one section is fixed on sliding block 12
On, (counterclockwise) is wound on the output shaft of push-and-pull motor 14 other end clockwise, and one section one end is also secured at sliding block 12 in addition
On, the other end bypass pulley 9 then pass through sliding block 12 through hole counterclockwise (clockwise) be wound on the output shaft of motor 14, work as electricity
When machine 14 is rotated, motor 14 drives steel wire rope 13 to pull sliding block 12 to move, and motor 14 changes rotation direction, then sliding block 12 changes fortune
Dynamic direction.
The push of the long range of manipulator can be realized by the driving sliding block 12 of steel wire rope 13, is easy in operation blood vessel intervention
Length section utensil.
As shown in Fig. 2 the method for clamping for the Y types finger 17 that the present embodiment is provided is a kind of contact of engaged formula, two
Individual Y types finger 17 constitutes a pairing：Interior finger and it is outer refer to, the He of positive spin nut 4 in Fig. 1 is installed by mounting hole 172 respectively
Refer on derotation nut 19, in the first interior finger support broach 173, interior finger on interior finger in broach 179, second and support 1710 points of broach
Three that outer finger Dui Ying be inserted into refer in broach groove 176 outside, and first referred to outside refers to interior broach 174, second and refer to interior comb outside outside
Tooth 178 is then inserted into the interior finger broach groove 171 of interior finger, V-type carding tooth surface inner clip of the wire catheter 6 in Fig. 1 in Y types finger 17
Tightly, automatic centering is realized, V-type broach can clamp compatible different size wire catheter 6.
The clamping face of two fingers linear contact lay at Junction on bend ahead when without wire catheter 6, leads for the seal wire of minor diameter
Pipe 6, Y types finger 17 has strength clamping action, because of wire catheter 6 and clamping face Full connected, so applying than larger folder
During holding force, will not occur the bending of tiny yielding wire catheter 6.For the wire catheter 6 being relatively large in diameter, then by adjacent hand
The extruding for referring to Y type clamping faces is clamped, and the gap between control broach prevents the bending of wire catheter 6.Therefore, broach intersects
Contact can ensure that clamped wire catheter 6 can obtain strong clamping when diameter is very small and very big.
Further, Y types finger 17 uses car coat type installation method on nut, easy to disassemble, can carry out disinfection, it is ensured that
Cleannes.
As shown in figure 3, a kind of folder for blood vessel intervention operation wire catheter operation that the present embodiment is provided transfers manipulator and existed
Adjusted in structure, clamping motor 2, clamping primary pinion 1 are installed in the lower section of positive and reverse return screw mandrel 18, Y types finger 17 is pacified
Mounted in the top of positive spin nut 4 and derotation nut 19, turning silk secondary gears 5 and can use semi-circular in Zhuan Si mechanisms, then Y types
Finger 17 can very easily insert wire catheter 6 when opening, and can clamp the wire catheter of bigger format diameter
6, the connection installation relation between remainder is constant.Should be noted when, the mounting means still need guarantee Y type fingers
17 Clamping Center is identical with the center of rotational support ring 16.
As shown in figure 4, a kind of folder transfer manipulator for blood vessel intervention operation wire catheter operation that the present embodiment is provided can
To enter number of lines extension, newly-increased push-and-pull motor 23 is installed in the end of guide rail 10, newly-increased sliding block 21 is installed on guide rail 10, increases newly and slides
The folder cyclone of clamping device and Zhuan Si mechanisms composition can be mounted directly on block 21, by newly-increased steel wire rope 22 according in Fig. 1
Method connection sliding block 21, pulley 9 and newly-increased push-and-pull motor 23, then can realize that the number of manipulator expands.It should be noted that
Expand again is needed according to the different staggered steel wire ropes 13 of height, such as on sliding block 12, the different height of newly-increased sliding block 21
Be fixedly mounted steel wire rope, on pulley 9 arrange different height assembly pulley so that steel wire rope 13 and newly-increased steel wire rope 22 are not produced
Interference, install same method manipulator can be expanded to 2 and more than, realize the same rail motion of more than 2 manipulators.
Expand after multiple manipulators, can by the cooperations of multiple manipulators, such as two hands are to turning round, the delivering of two hands, one
Hand, which is turned round to send on the other hand, realizes a variety of surgical actions, for example：Uninterrupted torsion wire catheter, continuously push wire catheter, seal wire are led
Pipe cooperation, support release etc..
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or change within the scope of the claims, this not shadow
Ring the substantive content of the present invention.In the case where not conflicting, feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. the folder that wire catheter is operated in a kind of blood vessel intervention operation transfers manipulator, it is characterised in that including clamping device, turn
Silk mechanism and delivery device, wherein：The rotational support ring or secondary that the clamping device is anchored on the Zhuan Si mechanisms turn
On silk gear；The Zhuan Si mechanisms are arranged on the sliding block of the delivery device；Clamping device centering clamps wire catheter；Turn silk
Mechanism driving clamping device is rotated around the axis of wire catheter；Delivery device carries out the straight line push-and-pull of wire catheter.
2. the folder that wire catheter is operated in blood vessel intervention operation according to claim 1 transfers manipulator, it is characterised in that
The clamping device includes：Motor, clamp transmission mechanism, Y types finger and clamping part frame are clamped, wherein：
The clamping motor and clamp transmission mechanism are arranged in the clamping part frame；
The output end of the clamping motor connects the clamp transmission mechanism, and controls Y type finger clamps by clamp transmission mechanism
Hold or unclamp wire catheter.
3. the folder that wire catheter is operated in blood vessel intervention operation according to claim 1 transfers manipulator, it is characterised in that
The Zhuan Si mechanisms include turning silk motor, turning silk primary pinion, turn silk secondary gears, rotational support ring and rotating part frame,
Wherein：
Described turn of silk motor is installed in the rotating part frame；
The rotational support ring is arranged in the annular chute of the rotating part frame, and the rotational support ring can be described
Freely rotated in the annular chute of rotating part frame；
The output shaft of described turn of silk motor, which is connected, turns silk primary pinion, turns the secondary tooth of silk described in described turn of silk primary pinion engagement
Wheel；
Described turn of silk secondary gears with the rotational support ring is concentric is fastenedly connected；
The rotational support ring is coaxially disposed with wire catheter.
4. the folder that wire catheter is operated in blood vessel intervention operation according to claim 1 transfers manipulator, it is characterised in that
The delivery device includes push-and-pull motor, sliding block and guide rail, wherein：
The sliding block is arranged on guide rail, and the sliding block is used to support rotary frame；
Sliding block described in the push-and-pull motor control is moved on guide rail.
5. the folder that wire catheter is operated in blood vessel intervention operation according to claim 2 transfers manipulator, it is characterised in that
The clamp transmission mechanism includes clamping primary pinion, clamping secondary gears, positive spin nut, derotation nut and positive and reverse return silk
Bar, wherein：
The output end of the clamping motor connects the clamping primary pinion；
Clamp primary pinion engagement clamping secondary gears；
The clamping secondary gears driving positive and reverse return screw mandrel is rotated；
The positive spin nut and derotation nut are combined on positive and reverse return screw mandrel, and Y type fingers are separately mounted to positive spin nut and derotation
On nut；
The positive spin nut and derotation nut are opposite under the driving of positive and reverse return screw mandrel or move identical distance opposite to each other.
6. the folder that wire catheter is operated in blood vessel intervention operation according to claim 2 transfers manipulator, it is characterised in that
The Clamping Center of the Y types fingerhold wire catheter formation is located at pivot when Zhuan Si mechanisms are rotated.
7. the folder that wire catheter is operated in blood vessel intervention operation according to claim 2 transfers manipulator, it is characterised in that
The Y types finger is used in pairs, and the Y types finger is distributed multiple broach, the Y types hand on the axis direction along wire catheter
Refer to and clamping wire catheter, occlusion of staggering successively, it is to avoid the bending of yielding wire catheter are intersected using broach.
8. the folder that wire catheter is operated in blood vessel intervention operation according to claim 2 transfers manipulator, it is characterised in that
The quantity of the Y types finger is multipair, and multipair Y types finger can be moved with rail.
9. the folder that wire catheter is operated in blood vessel intervention operation according to claim 1 transfers manipulator, it is characterised in that
The clamping device, Zhuan Si mechanisms, delivery device separate can be moved, and realized the clamping of wire catheter, rotated and push.
10. the folder that wire catheter is operated in blood vessel intervention operation according to claim 4 transfers manipulator, its feature exists
In the sliding block drives steel wire rope to realize push-and-pull campaign by push-and-pull motor, and wire line thimble is around push-and-pull motor and a pulley shape
Into closed-loop path, sliding block both sides are provided with through hole, and the both sides circuit of closed-loop path is each passed through the through hole of sliding block both sides；One leads to
The steel wire rope that hole is fastened in the steel wire rope, another through hole can be moved back and forth through the through hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710414364.8A CN107320181A (en) | 2017-06-05 | 2017-06-05 | The folder that wire catheter is operated in blood vessel intervention operation transfers manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710414364.8A CN107320181A (en) | 2017-06-05 | 2017-06-05 | The folder that wire catheter is operated in blood vessel intervention operation transfers manipulator |
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| CN107320181A true CN107320181A (en) | 2017-11-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710414364.8A Pending CN107320181A (en) | 2017-06-05 | 2017-06-05 | The folder that wire catheter is operated in blood vessel intervention operation transfers manipulator |
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Cited By (19)
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|---|---|---|---|---|
| CN107961077A (en) * | 2017-12-15 | 2018-04-27 | 南京航空航天大学 | The blood vessel intervention operation robot of conduit-seal wire is manipulated from hand |
| 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 |
| CN109199590A (en) * | 2018-10-11 | 2019-01-15 | 上海奥朋医疗科技有限公司 | Blood vessel intervention manipulator and the operating robot of variable conduit and cis-position |
| CN109303963A (en) * | 2018-10-08 | 2019-02-05 | 万海伟 | Adjustable type microtubular for cerebrovascular intervention |
| CN109939334A (en) * | 2019-04-10 | 2019-06-28 | 孟凡瑞 | A kind of Internal Medicine-Oncology clinical intervention treatment catheter anchoring system |
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| CN110269998A (en) * | 2019-07-10 | 2019-09-24 | 中国科学院深圳先进技术研究院 | Seal wire clamping-rotating device |
| CN110652357A (en) * | 2019-09-19 | 2020-01-07 | 中国科学院自动化研究所 | Double-guide-wire or balloon vascular interventional instrument control device |
| CN111202586A (en) * | 2020-03-17 | 2020-05-29 | 上海奥朋医疗科技有限公司 | Continuous clamping and rotating method and system of single manipulator for vascular intervention |
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| CN111329582A (en) * | 2020-03-17 | 2020-06-26 | 上海奥朋医疗科技有限公司 | Elastic gathering self-centering flat clamping mechanical finger for blood vessel intervention |
| CN112190335A (en) * | 2020-10-22 | 2021-01-08 | 北京唯迈医疗设备有限公司 | Intervene supplementary operation robot |
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| CN113476715A (en) * | 2021-07-02 | 2021-10-08 | 吉林大学 | Urethral catheterization device for pediatric surgery |
| CN113633382A (en) * | 2021-07-28 | 2021-11-12 | 上海卓昕医疗科技有限公司 | Guide wire/catheter conveying device of vascular intervention surgical robot and vascular intervention surgical robot |
| CN114522327A (en) * | 2022-02-24 | 2022-05-24 | 上海神玑医疗科技有限公司 | Motion control device for guide wire and surgical robot |
| CN114522326A (en) * | 2022-02-24 | 2022-05-24 | 上海神玑医疗科技有限公司 | Guide wire intervention device and blood vessel intervention operation robot |
| CN114587615A (en) * | 2022-02-23 | 2022-06-07 | 上海奥朋医疗科技有限公司 | Guide wire conveying clamping module and endoscope auxiliary part operation end system |
| WO2023016121A1 (en) * | 2021-08-10 | 2023-02-16 | 深圳市爱博医疗机器人有限公司 | Interventional surgical robot slave end driving device with protective isolation function |
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| CN110652357A (en) * | 2019-09-19 | 2020-01-07 | 中国科学院自动化研究所 | Double-guide-wire or balloon vascular interventional instrument control device |
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| CN111202586A (en) * | 2020-03-17 | 2020-05-29 | 上海奥朋医疗科技有限公司 | Continuous clamping and rotating method and system of single manipulator for vascular intervention |
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| WO2021184443A1 (en) * | 2020-03-17 | 2021-09-23 | 上海奥朋医疗科技有限公司 | Elastic gathered self-centering panel clamping mechanical finger for blood vessel intervention |
| EP4108199A4 (en) * | 2020-03-17 | 2023-07-26 | Shanghai Operation Robot Co., Ltd. | Elastic gathered self-centering panel clamping mechanical finger for blood vessel intervention |
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| CN112190335A (en) * | 2020-10-22 | 2021-01-08 | 北京唯迈医疗设备有限公司 | Intervene supplementary operation robot |
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| CN113367843A (en) * | 2021-04-27 | 2021-09-10 | 杭州启明医疗器械股份有限公司 | Interventional instrument delivery system |
| CN113367843B (en) * | 2021-04-27 | 2023-08-15 | 杭州启明医疗器械股份有限公司 | Delivery system for interventional instruments |
| CN113476715B (en) * | 2021-07-02 | 2022-08-02 | 吉林大学 | Urethral catheterization device for pediatric surgery |
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| CN113633382A (en) * | 2021-07-28 | 2021-11-12 | 上海卓昕医疗科技有限公司 | Guide wire/catheter conveying device of vascular intervention surgical robot and vascular intervention surgical robot |
| WO2023016121A1 (en) * | 2021-08-10 | 2023-02-16 | 深圳市爱博医疗机器人有限公司 | Interventional surgical robot slave end driving device with protective isolation function |
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