CN107961077A - The blood vessel intervention operation robot of conduit-seal wire is manipulated from hand - Google Patents
The blood vessel intervention operation robot of conduit-seal wire is manipulated from hand Download PDFInfo
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- CN107961077A CN107961077A CN201711347815.7A CN201711347815A CN107961077A CN 107961077 A CN107961077 A CN 107961077A CN 201711347815 A CN201711347815 A CN 201711347815A CN 107961077 A CN107961077 A CN 107961077A
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- 210000004204 blood vessel Anatomy 0.000 title claims abstract description 22
- 238000002604 ultrasonography Methods 0.000 claims abstract description 75
- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 230000033001 locomotion Effects 0.000 claims description 20
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 4
- 238000007665 sagging Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 3
- 239000000919 ceramic Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000002792 vascular Effects 0.000 description 2
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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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
- A61B34/37—Master-slave robots
-
- 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
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
It is a kind of manipulate catheter guide wire blood vessel intervention operation robot from, it is characterized in that it includes two hollow ultrasound electric machines, two linear ultrasonic motors, two common electric machines, linear ultrasonic motor drives hollow ultrasound electric machine to be moved along guide rail so as to drive seal wire or conduit to move along a straight line, and two common electric machines are respectively used to two retaining mechanism clamping seal wires of driving and conduit；Rotor of two retaining mechanisms respectively with corresponding hollow ultrasound electric machine connects firmly, seal wire and conduit are respectively positioned in respective retaining mechanism and coaxial with the pivot of hollow ultrasound electric machine, and the hollow ultrasound electric machine is passed through, rotated with the rotation of hollow ultrasound electric machine.The configuration of the present invention is simple, good operability is easy to use, is conducive to improve procedure efficiency.
Description
Technical field
The present invention relates to a kind of medical instrument, especially a kind of interventional therapy conduit seal wire conveying technology, specifically
A kind of blood vessel intervention operation robot of manipulation conduit-seal wire based on hollow motor and techniques of linear motor is from hand.
Background technology
At present, interventional surgery is because its wound is small, safe, patient suffering is light, post-operative recovery is fast, complication
The features such as few, become the important means for the treatment of cardiovascular disease that medical field generally acknowledges and tumour.By robot technology and minimally-invasive vascular
Intervention operation is combined, and is completed seal wire and conduit etc. by the surgical robot system auxiliary intervention doctor of design specialized and is intervened
The delivering of apparatus is one of important channel for improving interventional therapeutic effect.
The seal wire for needing to complement one another before blood vessel intervention operation penetrates conduit, and seal wire is longer than conduit, the head end and tail of seal wire
End is exposed at outside conduit.After vascular puncture success, after the head end of seal wire is injected blood vessel by puncture needle needle stand, in drawing for seal wire
Lead down, conduit is also fed into intravascular.Under the guidance of image, first, a hand handle handles conduit, prevents its movement；It is another
The manipulation of hand（Or twisting）The tail end of seal wire, twisting seal wire certain angle or push（Recession）Seal wire certain displacement；Then, both hands
Change manipulation object, a hand handle holds seal wire, prevents its movement, the manipulation of another hand（Push or recession or twisting）The tail of conduit
End, makes conduit produce corresponding movement in the guiding of seal wire.Seal wire and conduit are so alternately manipulated, seal wire is all the time before conduit
Face, guides conduit advance, until conduit reaches target vessel position.
Blood vessel intervention operation robot system mainly includes main hand and from hand, and during operation, doctor knows according to real-time imaging
The straight line shifting that seal wire/conduit further moves forward in the blood vessel or drops back required is made at position, main hand end to seal wire/conduit in the blood vessel
Dynamic or rotary motion, main hand pass to the signal that these movements produce from hand, reappear doctor from hand end by the driving of motor
Operation at main hand end, completes the rectilinear movement or rotary motion of seal wire/conduit, which not only improves the accuracy of operation,
The stability of surgical procedure is improved, more crucially avoids doctor from being exposed to for a long time under X-ray.
Existing blood vessel intervention operation robot system can only generally manipulate single conduit or seal wire, with doctor
It is larger actually almost difference to be manipulated at the same time to conduit and seal wire, it is virtually impossible to meet most of need of doctor's clinical manipulation
Ask.
Ultrasound electric machine breaches the concept of conventional motors, and without magnet steel and winding, energy is transmitted not against electromagnetic induction.It
It is the inverse piezoelectric effect using piezoelectric ceramics, by the conversion of the extension vibration mode of piezoelectric ceramics with coupling and special construction
Design, the microdeformation of material is amplified and friction coupling is converted into the macroscopic motion of rotor by resonating.Ultrasonic electric equipment
There is the characteristics of low-speed big, load can be directly driven, carry out reduction of speed without gear-box to improve output torque, structure design spirit
It is living, it is convenient to be designed to hollow form and form of straight lines.Hollow type ultrasound electric machine can allow conducting wire and light to pass through, straight line
Type ultrasound electric machine can both be fixed with body, and fricting strip moves linearly, can also fricting strip fix, body moves along a straight line.This
It is a little to provide many facilities from the structure design of hand for blood vessel intervention robot.
The content of the invention
The purpose of the present invention is can not realize asking to the Synchronization Control of conduit and seal wire at the same time for existing manipulator
Topic, design it is a kind of by the use of hollow ultrasound electric machine as driving main body, can make conduit and seal wire alternate rotation advance manipulation lead
The blood vessel intervention operation robot of pipe-seal wire is from hand.
The technical scheme is that：
It is a kind of manipulate conduit-seal wire blood vessel intervention operation robot from hand, it is characterized in that it include two hollow ultrasound electric machines,
Two linear ultrasonic motors, two common electric machines, linear ultrasonic motor drive hollow ultrasound electric machine to be moved along guide rail so as to drive
Seal wire or conduit move along a straight line, and two common electric machines are respectively used to two retaining mechanism clamping seal wires of driving and conduit；Two
Rotor of a retaining mechanism respectively with corresponding hollow ultrasound electric machine connects firmly, and seal wire and conduit are respectively positioned at respective locking machine
It is in structure and coaxial with the pivot of hollow ultrasound electric machine, and the hollow ultrasound electric machine is passed through, with hollow ultrasound electric machine
Rotation and rotate.The conduit for being cased with seal wire is passed through from the middle part of a hollow ultrasound electric machine, and by with this hollow ultrasonic electric
The retaining mechanism clamping that machine rotor connects firmly, the seal wire being exposed at outside tail end of conduit are passed through from the middle part of another hollow ultrasound electric machine,
And the retaining mechanism clamping connected firmly with this hollow ultrasound electric machine rotor；Using conduit/seal wire as axis, the two hollow ultrasounds
Motor serial arrangement；Two hollow ultrasound electric machines do straight line shifting under the drive with the linear ultrasonic motor body each connected firmly
It is dynamic；Conduit or seal wire can realize full decoupled straight line at the same time under the driving of hollow ultrasound electric machine and linear ultrasonic motor
Displacement and axial rotation.
The retaining mechanism includes screw rod and retaining mechanism body, and screw rod left and right ends are respectively left-hand screw and right-hand screw
Screw rod, and screwed respectively with left-handed nut and right-handed nut, it is allowed to rotate by the way that screw is spacing between left-and-right spiral screw rod
And it cannot move axially；Left-handed nut, right-handed nut link together and by left hinge axis with left clamping jaw and right clamping jaw respectively
It is connected with right hinge axis with retaining mechanism body；When screw rod rotates, due to its left and right ends hand of spiral on the contrary, and by screw
Limitation, can only rotate and immovable, and drive left-handed nut and right-handed nut to move left and right, left-handed nut and right-handed nut's
It is mobile again to rotate clamping jaw around hinge axis, so that clamped seal wire or conduit to be clamped or unclamp.
The retaining mechanism is equipped with V-type holding tank, is posted on the clamping face of the V-type holding tank of the retaining mechanism imitative
The flexible material of finger skin, and built-in thrust pickup, to perceive the thrust of push seal wire or conduit.
Built in pressure sensor on the clamping jaw of the retaining mechanism, to perceive clamping seal wire or conduit chucking power.
The linear ultrasonic motor driving is connected firmly with fricting strip and bottom panel side, linear ultrasonic motor body with bottom plate
Move linearly under the guiding of the linear ultrasonic motor mobile guide guide rail connected firmly, linear ultrasonic motor body and hollow ultrasonic electric
Machine connects firmly, and hollow ultrasound electric machine is under the guiding of the hollow ultrasound electric machine mobile guide guide rail connected firmly with bottom plate and line ultrasonic is electric
Machine synchronously moves linearly.
The hollow ultrasound electric machine is furnished with coaxial hollow rotating encoder, to perceive the rotation angle of conduit/seal wire；
Linear ultrasonic motor is furnished with linear grating sensor, to perceive the straight-line displacement of conduit/seal wire.
The seal wire or conduit not being partially supported on cavernous body in retaining mechanism and hollow ultrasound electric machine inner cavity
Or simple supporting role is risen to conduit/seal wire, prevents that conduit/seal wire is seriously sagging through Sponge, sponge physical efficiency；Cavernous body
With compressibility and restoration, resistance will not be produced to the driving of motor, and remain that the support to conduit/seal wire is made
With.
Beneficial effects of the present invention：
Due to using the special type of drive of the hollow structure type of ultrasound electric machine and linear ultrasonic motor so that blood vessel intervenes hand
Art robot is simple in structure from hand, and control mode is similar with clinical practice.The use of ultrasound electric machine not only avoid electromagnetic machine
There are the problem of gear clearance in transmission system, while accuracy when improving seal wire/conduit feeding.If to associated components
Material convert, can be applicable to MR-guided interventional operation.
Brief description of the drawings
Fig. 1 is the structural representation left view of the present invention.
Fig. 2 is the structural representation top view of the present invention.
Fig. 3 is the structural representation front view of the present invention.
In figure：1st, bottom plate, 2, fricting strip, 3, linear ultrasonic motor mobile guide guide rail, 4, the movement of hollow ultrasound electric machine leads
Direction guiding rail, 5, baffle, 6, retaining mechanism body, 7, screw rod, 8, left-handed nut, 9, left hinge axis, 10, left clamping jaw, 11, hollow electricity
Machine rotor, 12, seal wire, 13, pressure sensor, 14, thrust pickup, 15, right clamping jaw, 16, right hinge axis, 17, right-handed nut,
18th, common electric machine, 19, electric machine support, 20, screw, 32, linear grating ruler, 33, linear displacement transducer read head, 21, conduit,
22nd, the hollow ultrasound electric machine of No.1,23, No. two hollow ultrasound electric machines, 24, No.1 linear ultrasonic motor, 25, No. two line ultrasonic electricity
Machine, 26, No.1 cavernous body, 27, No.1 retaining mechanism, 28, No. two cavernous bodies, 29, No. two retaining mechanisms, 30, the hollow rotation of No.1
Turn encoder, 31, No. two hollow rotating encoders.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
As shown in Figs. 1-3,
From hand, it includes two hollow ultrasound electric machines 22,23, two for a kind of blood vessel intervention operation robot for manipulating conduit-seal wire
A linear ultrasonic motor 24,25, two common electric machines 18, linear ultrasonic motor drive hollow ultrasound electric machine along guide rail move so as to
Driving seal wire or conduit move along a straight line, and two common electric machines are respectively used to two retaining mechanisms 27,29 of driving and clamp seal wire
12 and conduit 21；Rotor of two retaining mechanisms respectively with corresponding hollow ultrasound electric machine connects firmly, and seal wire and conduit position respectively
It is in respective retaining mechanism and coaxial with the pivot of hollow ultrasound electric machine, and the hollow ultrasound electric machine is passed through, with
The rotation of hollow ultrasound electric machine and rotate.Such as Fig. 2, shown in 3, the conduit of seal wire is cased with from the middle part of a hollow ultrasound electric machine
Pass through, and the retaining mechanism clamping connected firmly with this hollow ultrasound electric machine rotor, be exposed at seal wire outside tail end of conduit from another
The middle part of a hollow ultrasound electric machine passes through, and the retaining mechanism clamping connected firmly with this hollow ultrasound electric machine rotor；With conduit/
Seal wire is axis, the two hollow ultrasound electric machine serial arrangements；Two hollow ultrasound electric machines are in the line ultrasonic with each connecting firmly
Move linearly under the drive of motor body；Conduit or seal wire, can under the driving of hollow ultrasound electric machine and linear ultrasonic motor
To realize full decoupled straight-line displacement and axial rotation at the same time.
The retaining mechanism includes screw rod and retaining mechanism body, as shown in Figure 1, screw rod left and right ends are respectively left spiral shell
Rotation and right-hand screw screw rod, and screwed respectively with left-handed nut and right-handed nut, make between left-and-right spiral screw rod by the way that screw is spacing
Can only rotate and cannot move axially；Left-handed nut, right-handed nut link together and lead to left clamping jaw and right clamping jaw respectively
Cross left hinge axis and right hinge axis is connected with retaining mechanism body；When screw rod rotates, due to its left and right ends hand of spiral phase
Instead, and by screw limit, can only rotate and immovable, and drive left-handed nut and right-handed nut to move left and right, left-handed nut
Movement with right-handed nut again rotates clamping jaw around hinge axis, so that clamped seal wire or conduit to be clamped or unclamp.
The retaining mechanism is equipped with V-type holding tank, and imitation human finger skin is posted on the clamping face of the V-type holding tank of the retaining mechanism
The flexible material of skin, and built-in thrust pickup, to perceive the thrust of push seal wire or conduit.The clamping jaw of the retaining mechanism
Upper built in pressure sensor, to perceive clamping seal wire or conduit chucking power.The linear ultrasonic motor driving fricting strip with
Bottom panel side connects firmly, and linear ultrasonic motor body is done under the guiding of the linear ultrasonic motor mobile guide guide rail connected firmly with bottom plate
Rectilinear movement, linear ultrasonic motor body connects firmly with hollow ultrasound electric machine, and hollow ultrasound electric machine hollow surpasses with what bottom plate connected firmly
Synchronously move linearly with linear ultrasonic motor under the guiding of acoustic-electric machine mobile guide guide rail.The hollow ultrasound electric machine is furnished with
Coaxial hollow rotating encoder, to perceive the rotation angle of conduit/seal wire；Linear ultrasonic motor is sensed equipped with linear grating
Device, to perceive the straight-line displacement of conduit/seal wire.The seal wire or conduit be not in retaining mechanism and hollow ultrasound electric machine inner cavity
Be partially supported on Sponge or through Sponge, sponge physical efficiency plays simple supporting role to conduit/seal wire, prevents from leading
Pipe/seal wire is seriously sagging；Cavernous body has compressibility and restoration, will not produce resistance to the driving of motor, and protect all the time
Hold the supporting role to conduit/seal wire.
Details are as follows：
Linear ultrasonic motor is installed on linear ultrasonic motor mobile guide guide rail 3, hollow ultrasound electric machine is installed on hollow ultrasound
On motor mobile guide guide rail 4, linear ultrasonic motor mobile guide guide rail 3, hollow ultrasound electric machine mobile guide guide rail 4 are pacified respectively
Put on the bottom surface of L-shaped bottom plate 1, fricting strip 2 is attached on the vertical facade of L-shaped bottom plate 1.Fricting strip 2 and No.1 line ultrasonic electricity
The driving of machine 24 and No. two linear ultrasonic motors 25 contacts all the time enough, when linear ultrasonic motor, which is powered, to be driven, due to fricting strip 2
Fixed, the body of linear ultrasonic motor moves linearly under the guiding of linear ultrasonic motor mobile guide guide rail 3.No.1
The body of linear ultrasonic motor 24 and No. two linear ultrasonic motors 25 respectively ultrasound electric machine 22 hollow with No.1 and No. two it is hollow super
Acoustic-electric machine 23 connects firmly, and such No.1 linear ultrasonic motor 24 can drive the hollow ultrasound electric machine 22 of No.1 to be moved in hollow ultrasound electric machine
Move linearly under the guiding of action-oriented guide rail 4, similarly, No. two linear ultrasonic motors 25 can drive No. two hollow ultrasound electric machines
23 move linearly under the guiding of hollow ultrasound electric machine mobile guide guide rail 4.
No.1 retaining mechanism 27 is as the structure type of No. two retaining mechanisms 29.7 left and right ends of screw rod are respectively left spiral shell
Rotation and right-hand screw screw rod, and screwed respectively with left-handed nut 8 and right-handed nut 17.Left-handed nut 8, right-handed nut 17 respectively with a left side
Clamping jaw 10 and right clamping jaw 15 link together and are connected by left hinge axis 9 and right hinge axis 16 with retaining mechanism body 6.Work as spiral shell
When bar 7 rotates, due to its left and right ends hand of spiral on the contrary, and limited by screw 20, can only rotate and immovable, and drive
Left-handed nut 8 and right-handed nut 17 move left and right, and the movement of nut again rotates clamping jaw around hinge axis, so as to by seal wire 12
Or conduit 21 is clamped or unclamped.Right 15 built in pressure sensor 13 of clamping jaw, for perceiving the compression of clamping seal wire 12 or conduit 21
Power.The common electric machine 18 connected firmly with screw rod 7 can drive clamping jaw clamping seal wire 12 or conduit 21, when reaching certain pressure value,
Control ordinary ultrasonic motor 18 stops operating, in order to avoid damage by pressure or excessively compress seal wire 12 or conduit 21, thus can this from
The seal wire and conduit of different-diameter are manipulated on hand.Clamping seal wire 12 or conduit 21 is coordinated to be on retaining mechanism body 6 with clamping jaw
V-type locating slot, it can position the seal wire and conduit of different-diameter, and the positioning surface of V-type locating slot posts similar finger skin
Flexible material and built-in thrust pickup 14, finger can be simulated and perceive the thrust of seal wire or conduit in push.
No.1 retaining mechanism 27 is used to clamp conduit 21, and No. two retaining mechanisms 29 are used to clamp seal wire 12.No.1 locks machine
The rotor of the retaining mechanism body ultrasound electric machine 22 hollow with No.1 of structure 27 connects firmly, the retaining mechanism body of No. two retaining mechanisms 29
Connected firmly with the rotor of No. two hollow ultrasound electric machines 23.Seal wire 12 or conduit 21 are in the V-type locating slot positioning of retaining mechanism body
Axis overlapped with the rotor centre of gyration line of hollow ultrasound electric machine.After seal wire 12 or conduit 21 are locked mechanism clamping, in
When empty ultrasound electric machine rotates, twisting action of the finger to seal wire or conduit can be imitated.
No.1 cavernous body 26 and No. two cavernous bodies 28 can play simple supporting role to conduit/seal wire, prevent conduit/lead
Silk is serious sagging.No.1 cavernous body 26 and No. two cavernous bodies 28 have good compressibility, hardly to the driving of motor
Resistance is produced, No.1 cavernous body 26 and No. two cavernous bodies 28 have good restoration again, remain the branch to conduit/seal wire
Support acts on.
No.1 hollow rotating encoder 30 and No. two hollow rotating encoders 31 respectively ultrasound electric machine 22 hollow with No.1 and
No. two hollow ultrasound electric machines 23 connect firmly, and perceive the rotation angle of seal wire or conduit.Linear grating ruler 32 is attached on bottom plate 1, and straight
The linear displacement transducer read head 33 that line ultrasound electric machine body connects firmly can perceive seal wire or conduit straight-line displacement.
The present invention operation principle be：
No.1 retaining mechanism 27 clamps tail end of conduit, and No. two retaining mechanisms 29 clamp seal wire tail end.When needing to push seal wire 12,
The rectilinear movement of the body of No. two linear ultrasonic motors 25, can drive seal wire 12 to move linearly, No. two hollow ultrasound electric machines 23
Rotation can drive 12 rotary motion of seal wire, the movement of the two frees degree is full decoupled, can also be driven at the same time, from
And seal wire 12 is driven both to rotate rectilinear movement；When need push conduit 21 when, the body of No.1 linear ultrasonic motor 24 it is straight
Line moves, and conduit 21 can be driven to move linearly, and the rotation of the hollow ultrasound electric machine 22 of No.1 can drive 21 rotary motion of conduit,
The movement of the two frees degree is full decoupled, can also be driven at the same time, so as to drive conduit 21 not only to rotate but also moved linearly.
Part that the present invention does not relate to is same as the prior art or can be realized using the prior art.
Claims (7)
1. a kind of blood vessel intervention operation robot for manipulating conduit-seal wire is from hand, it is characterized in that it includes two hollow ultrasonic electrics
Machine, two linear ultrasonic motors, two common electric machines, linear ultrasonic motor drive hollow ultrasound electric machine to be moved along guide rail so as to drive
Dynamic seal wire or conduit move along a straight line, and two common electric machines are respectively used to two retaining mechanism clamping seal wires of driving and conduit；
Rotor of two retaining mechanisms respectively with corresponding hollow ultrasound electric machine connects firmly, and seal wire and conduit are respectively positioned at respective locking
It is in mechanism and coaxial with the pivot of hollow ultrasound electric machine, and the hollow ultrasound electric machine is passed through, with hollow ultrasonic electric
The rotation of machine and rotate.
2. the blood vessel intervention operation robot of manipulation conduit-seal wire according to claim 1 is from hand, it is characterised in that：Institute
The retaining mechanism stated includes screw rod and retaining mechanism body, and screw rod left and right ends are respectively left-hand screw and right-hand screw screw rod, and are divided
Do not screw with left-handed nut and right-handed nut, be allowed to rotate and cannot be axial between left-and-right spiral screw rod by the way that screw is spacing
It is mobile；Left-handed nut, right-handed nut link together and by left hinge axis and right hinge axis with left clamping jaw and right clamping jaw respectively
It is connected with retaining mechanism body；When screw rod rotates, due to its in left and right ends hand of spiral on the contrary, and limited by screw, only
Can rotation and it is immovable, and drive left-handed nut and right-handed nut to move left and right, the movement of left-handed nut and right-handed nut are again
Rotate clamping jaw around hinge axis, so that clamped seal wire or conduit to be clamped or unclamp.
3. the blood vessel intervention operation robot of manipulation conduit-seal wire according to claim 2 is from hand, it is characterised in that：Institute
The retaining mechanism stated is equipped with V-type holding tank, and imitation human finger skin is posted on the clamping face of the V-type holding tank of the retaining mechanism
Flexible material, and built-in thrust pickup, to perceive the thrust of push seal wire or conduit.
4. the blood vessel intervention operation robot of manipulation conduit-seal wire according to claim 1 or 2 is from hand, it is characterised in that：
Built in pressure sensor on the clamping jaw of the retaining mechanism, to perceive clamping seal wire or conduit chucking power.
5. the blood vessel intervention operation robot of manipulation conduit-seal wire according to claim 1 is from hand, it is characterised in that：Institute
The linear ultrasonic motor driving stated is connected firmly with fricting strip and bottom panel side, and linear ultrasonic motor body is in the straight line connected firmly with bottom plate
Moving linearly under the guiding of ultrasound electric machine mobile guide guide rail, linear ultrasonic motor body is connected firmly with hollow ultrasound electric machine, in
Empty ultrasound electric machine is synchronously done under the guiding of the hollow ultrasound electric machine mobile guide guide rail connected firmly with bottom plate with linear ultrasonic motor
Rectilinear movement.
6. the blood vessel intervention operation robot of manipulation conduit-seal wire according to claim 1 is from hand, it is characterised in that：Institute
The hollow ultrasound electric machine stated is furnished with coaxial hollow rotating encoder, to perceive the rotation angle of conduit/seal wire；Line ultrasonic electricity
Machine is furnished with linear grating sensor, to perceive the straight-line displacement of conduit/seal wire.
7. the blood vessel intervention operation robot of manipulation conduit-seal wire according to claim 1 is from hand, it is characterised in that：Institute
The seal wire or conduit stated not being partially supported on cavernous body in retaining mechanism and hollow ultrasound electric machine inner cavity or through sponge
Body, sponge physical efficiency play simple supporting role to conduit/seal wire, prevent that conduit/seal wire is seriously sagging；Cavernous body has compressible
Property and restoration, resistance will not be produced to the driving of motor, and remains the supporting role to conduit/seal wire.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711347815.7A CN107961077A (en) | 2017-12-15 | 2017-12-15 | The blood vessel intervention operation robot of conduit-seal wire is manipulated from hand |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711347815.7A CN107961077A (en) | 2017-12-15 | 2017-12-15 | The blood vessel intervention operation robot of conduit-seal wire is manipulated from hand |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109157287A (en) * | 2018-07-09 | 2019-01-08 | 南京航空航天大学 | A kind of conduit or seal wire running resistance and the robot of clamping force of capable of perceiving is from hand |
| CN109939332A (en) * | 2019-03-11 | 2019-06-28 | 南京航空航天大学 | A kind of twisting device of the blood vessel intervention operation with three-dimensional force-sensing ability |
| 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 |
| CN110897719A (en) * | 2019-12-16 | 2020-03-24 | 杨锐 | Medical treatment operation robot control system |
| CN113749781A (en) * | 2021-08-10 | 2021-12-07 | 深圳市爱博医疗机器人有限公司 | Intervene operation robot from end seal wire pipe drive arrangement with power detects function |
| CN114795411A (en) * | 2022-04-15 | 2022-07-29 | 哈尔滨理工大学 | Flexible needle puncture mechanism with slotting support |
| CN115253028A (en) * | 2022-08-22 | 2022-11-01 | 东南大学 | A aseptic transmission of quick change clamping jaw external member for robot is intervene to blood vessel |
| WO2023016119A1 (en) * | 2021-08-10 | 2023-02-16 | 深圳市爱博医疗机器人有限公司 | Interventional surgical robot driving device with catheter and guide wire diameter identification function |
| CN117814921A (en) * | 2024-03-05 | 2024-04-05 | 北京中科鸿泰医疗科技有限公司 | Interventional operation robot control end handle and vascular interventional operation robot |
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| CN115253028A (en) * | 2022-08-22 | 2022-11-01 | 东南大学 | A aseptic transmission of quick change clamping jaw external member for robot is intervene to blood vessel |
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| CN117814921A (en) * | 2024-03-05 | 2024-04-05 | 北京中科鸿泰医疗科技有限公司 | Interventional operation robot control end handle and vascular interventional operation robot |
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