CN114391952B - Be suitable for clinical vascular intervention surgical robot dibit drive and feedback device - Google Patents
Be suitable for clinical vascular intervention surgical robot dibit drive and feedback device Download PDFInfo
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- CN114391952B CN114391952B CN202210015990.0A CN202210015990A CN114391952B CN 114391952 B CN114391952 B CN 114391952B CN 202210015990 A CN202210015990 A CN 202210015990A CN 114391952 B CN114391952 B CN 114391952B
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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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
- A61B34/35—Surgical robots for telesurgery
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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Abstract
The invention relates to a double-position driving and feedback device of a vascular intervention surgical robot suitable for clinic, belonging to the technical field of medical instruments. Comprises a shell and a double-position driving mechanism arranged in the shell; the double-position driving mechanism comprises a bottom plate assembly, a synchronous belt assembly, a far-end driving platform assembly and a near-end driving platform assembly; the synchronous belt assembly, the far-end driving platform assembly and the near-end driving platform assembly are all arranged on the bottom plate assembly; the number of the synchronous belt assemblies is at least two, one synchronous belt assembly is connected with the far-end driving platform assembly, and the other synchronous belt assembly is connected with the near-end driving platform assembly; the device also comprises a far-end position feedback mechanism and a near-end position feedback mechanism which are respectively connected with the far-end driving platform assembly and the near-end driving platform assembly. The invention is in the vessel intervention operation under the robot assistance state, the operator can remotely control the end shape of the matched catheter or guide wire by controlling the double-position driving mechanism and the position feedback mechanism of the catheter and the guide wire at the side of the operating table.
Description
Technical Field
The invention relates to a clinical robot dibit driving and feedback device for vascular intervention surgery, and belongs to the technical field of minimally invasive vascular intervention surgery.
Background
The existing double-position driving and feedback device of the vascular intervention surgical robot mostly controls the operation of parts such as a guide wire, a balloon and a bracket, the feeding of a guide catheter needs to be completed manually by a doctor, and the long-distance feeding of the guide catheter in vitro has the defects of more structural redundancy, complex structure, large volume and heaviness, and cannot be well popularized and used in clinical application.
Disclosure of Invention
Technical problem to be solved
In order to solve the above problems in the prior art, the present invention provides a dual-position driving and feedback device for a vascular interventional surgical robot, which is suitable for clinical use, that is, a dual-position driving mechanism and a position feedback mechanism for controlling a catheter and a guide wire on the side of an operating bed in a minimally invasive vascular interventional surgery under a robot-assisted state.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
the invention provides a double-position driving and feedback device of a vascular intervention surgical robot, which is suitable for clinic and comprises a shell and a double-position driving mechanism arranged in the shell; the double-position driving mechanism comprises a bottom plate assembly, a synchronous belt assembly, a far-end driving platform assembly and a near-end driving platform assembly; the synchronization belt assembly, the distal drive platform assembly and the proximal drive platform assembly are all disposed on the base plate assembly; the number of the synchronous belt assemblies is at least two, wherein one synchronous belt assembly is connected with the far-end driving platform assembly, and the other synchronous belt assembly is connected with the near-end driving platform assembly; the device also comprises a far-end position feedback mechanism and a near-end position feedback mechanism which are respectively connected with the far-end driving platform assembly and the near-end driving platform assembly.
Further, the floor assembly comprises a robot floor, a guide rail and a tensioning mounting plate; the robot bottom plate is installed inside the shell, be provided with the guide rail along length direction on the robot bottom plate, the one end upper portion of robot bottom plate is provided with the tensioning mounting panel, the tensioning mounting panel is used for connecting the hold-in range subassembly.
Further, the floor assembly further comprises a low handrail and a high handrail arranged at one side of the robot floor; the low handrail is connected with one end of the small handrail, and the other end of the small handrail is connected with the handrail sleeve; the high handrail is connected with one end of the large handrail, and the other end of the large handrail is connected with the handrail sleeve.
Further, the synchronous belt assembly comprises a driven synchronous belt pulley, a synchronous belt body and a driving synchronous belt pulley, the synchronous belt body is arranged between the driven synchronous belt pulley and the driving synchronous belt pulley, and the end parts of the synchronous belt body are connected through a connecting piece; the driven synchronous belt pulley is connected with the bottom plate assembly through a bearing seat, and the driving synchronous belt pulley is connected with the bottom plate assembly through a bearing seat; the driving synchronous belt wheel is connected with the driver so as to drive the synchronous belt body to rotate.
Further, the distal driving platform assembly comprises a distal bracket connecting frame, a distal extension arm and a distal clamping groove; the far-end bracket connecting frame is connected with the bottom plate assembly in a sliding manner, and is fixedly connected with the synchronous belt assembly; the far-end support connecting frame is connected with one end of the far-end extension arm, and the other end of the far-end extension arm is provided with a far-end clamping groove used for being connected with a catheter controller.
Further, the proximal end driving platform assembly comprises a proximal end bracket connecting frame, a proximal end extension arm and a proximal end clamping groove; the near-end bracket connecting frame is connected with the bottom plate assembly in a sliding manner, and is fixedly connected with the synchronous belt assembly; the near-end support connecting frame is connected with one end of the near-end extension arm, and a near-end clamping groove used for being connected with a guide wire controller is formed in the other end of the near-end extension arm.
Further, the far-end position feedback mechanism comprises a far-end tank chain pulling sheet, a far-end tank chain pressing sheet, a far-end encoder pulling sheet and a far-end stay wire encoder, wherein the far-end tank chain pulling sheet is arranged on the bottom plate assembly on one side of the far-end support connecting frame, and the far-end tank chain pressing sheet is arranged at the upper end of the far-end tank chain pulling sheet; the far-end encoder pull piece is arranged on the bottom plate assembly on the other side of the far-end support connecting frame, and the far-end encoder pull piece is connected with the far-end stay wire encoder through a stay wire.
Further, the near-end position feedback mechanism comprises a near-end tank chain pulling piece, a near-end tank chain pressing piece, a near-end encoder pulling piece and a near-end stay wire encoder, wherein the near-end tank chain pulling piece is arranged on the bottom plate assembly on one side of the near-end support connecting frame, and the near-end tank chain pressing piece is arranged at the upper end of the near-end tank chain pulling piece; the near-end encoder pull piece is arranged on the bottom plate assembly on one side of the near-end support connecting frame, and the near-end encoder pull piece is connected with the near-end stay wire encoder through a stay wire.
Furthermore, the shell comprises a shell body, an outer side plate, a decorative base, a decorative cover, a front end cover and an upper cover plate, wherein two sides and the rear end of the shell body are respectively connected with the outer side plate, the front end cover and the upper cover plate are detachably arranged at the top of the shell body, the decorative base is arranged at the rear end of the top of the upper cover plate, and the decorative cover is arranged at the rear end of the top of the decorative base.
Furthermore, the device also comprises limiting mechanisms which are respectively arranged at two ends of the bottom plate component so as to limit the moving range of the far-end driving platform component and the near-end driving platform component.
(III) advantageous effects
The invention has the beneficial effects that: the double-position driving and feedback device of the vascular interventional surgical robot, which is suitable for clinical use, realizes the long-distance feeding of a guide catheter and the long-distance feeding of a matched guide wire. Meanwhile, the device is used as a double-position long-distance conveying execution platform, the operation function of the tube wire can be further extended by replacing controllers on the far-end driving platform assembly and the near-end driving platform assembly, and the long-distance conveying and the conveying execution function of the operation bed side in the remote control of other vessel intervention operation universal instruments such as a saccule, a bracket, a micro catheter and a micro guide wire can also be realized. The device provided by the invention solves the problem of long-distance delivery of the catheter and the guide wire and delivery execution of the catheter and the guide wire at the side of the operation bed in remote control in the minimally invasive vascular interventional operation under the robot assistance state, an operator can remotely adjust the tail end form of the matched catheter or guide wire, quickly and accurately pass through a complex anatomical structure and reach a diseased part, the equipment usage amount is reduced, the operation time is shortened, the ray exposure time of a patient and the contrast agent usage amount are correspondingly reduced, and the operator can remotely control the operation by adopting a sitting position. Because the operator adopts the seat to carry out remote control operation on the operation, the physical energy consumption is reduced, the complex operation is favorably completed, and no ray radiation exists basically.
Drawings
FIG. 1 is a schematic structural diagram of a two-position driving and feedback device of a vascular interventional surgical robot suitable for clinical use according to the present invention;
FIG. 2 is a schematic view of the interior of the housing of the present invention;
FIG. 3 is a schematic structural view of the synchronization belt assembly of the present invention;
FIG. 4 is a schematic view of the distal drive platform assembly and distal position feedback mechanism of the present invention;
FIG. 5 is a schematic view of the proximal drive platform assembly and proximal position feedback mechanism of the present invention;
fig. 6 is a schematic structural view of the housing of the present invention.
[ description of reference ]
1. A base plate assembly; 101. a robot base plate; 102. a guide rail; 103. tensioning the mounting plate; 104. a low armrest; 105. a high armrest; 106. a large armrest; 107. a handrail sleeve; 108. a small armrest;
2. a timing belt assembly; 201. a first bearing housing; 202. a first clamp spring; 203. a first bearing; 204. a first rotating shaft; 205. a driven synchronous pulley; 206. a synchronous belt body; 207. a driving synchronous pulley; 208. a second bearing housing; 209. a second clamp spring; 210. a second bearing; 211 a second rotating shaft; 212. a motor; 213. pressing the upper synchronous belt; 214. pressing the lower synchronous belt;
3. a distal drive platform assembly; 301. a distal stent connecting scaffold; 302. a distal extension arm; 303. a distal end card slot;
4. a proximal drive platform assembly; 401. a proximal stent connecting scaffold; 402. a proximal extension arm; 403. a proximal end card slot;
5. a remote position feedback mechanism; 501. a remote tank chain pull tab; 502: pressing a remote tank chain; 503. a distal encoder pull tab; 504. a distal pull wire encoder;
6. a proximal end position feedback mechanism; 601. a proximal tank chain pull tab; 602: pressing a near-end tank chain; 603. a proximal encoder pull tab; 604. a proximal pull encoder;
7. a housing; 701. a housing; 702. an outer panel; 703. decorating the base; 704. a decorative cover; 705. a front end cover; 706. an upper cover plate;
8. a photoelectric sensor.
Detailed Description
The principle of the invention is that a motor and a synchronous belt component are utilized to drive a far-end driving platform component and a near-end driving platform component on a guide rail to do linear reciprocating motion, position feedback is controlled by a stay wire encoder and a limit sensor, and the scheme effectively solves the remote control and adjustment of the tail end shapes of a catheter and a guide wire. The invention starts from clinical practical requirements, summarizes the standard operation of the vascular intervention operation and the practical operation process of doctors, modularizes and processes the delivery principle of the catheter and the guide wire, and well solves the technical problems of more structural redundancy, complex structure, large volume and heaviness through the design of the single-rail double-module mechanism. Through the design of the shell of the scheme, the problem of sterility isolation in clinical application is further solved, so that the scheme can meet clinical practice, and a foundation is laid for clinical popularization and application.
For a better understanding of the present invention, reference will now be made in detail to the present embodiments of the invention, which are illustrated in the accompanying drawings.
Example 1
As shown in fig. 1 and 2, the present invention provides a clinical two-position driving and feedback device for a vascular interventional surgical robot. The device comprises a housing 7 and a dual position drive mechanism disposed within the housing 7. Wherein, dibit actuating mechanism includes bottom plate subassembly 1, hold-in range subassembly 2, distal end drive platform subassembly 3 and near-end drive platform subassembly 4. Synchronous belt subassembly 2, distal end drive platform subassembly 3 and near-end drive platform subassembly 4 all set up on bottom plate subassembly 1. The number of the synchronous belt assemblies 2 is two, one synchronous belt assembly 2 is connected with the far-end driving platform assembly 3 and is used for driving the catheter controller arranged on the far-end driving platform assembly 3 to move along the length direction of the bottom plate assembly 1; the other synchronous belt component 2 is connected with the near-end driving platform component 4 and used for driving the guide wire controller arranged on the near-end driving platform component 4 to move along the length direction of the bottom plate component 1. The invention also comprises a far-end position feedback mechanism and a near-end position feedback mechanism 6 which are respectively connected with the far-end driving platform component 3 and the near-end driving platform component 4; respectively used for recording and feeding back the position information of the guide wire controller on the far-end driving platform component 3 and the guide wire controller on the near-end driving platform component 4. The dual-position driving mechanism of the embodiment is a driving device which is responsible for long-distance delivery of the catheter and the guide wire in the minimally invasive vascular interventional surgery in the robot-assisted state.
Therein, referring to fig. 2, the floor assembly 1 comprises a robot floor 101, a guide rail 102 and a tensioning mounting plate 103. The robot base plate 101 is fixedly mounted inside the housing 701 of the housing 7, and a guide rail 102 is provided above the robot base plate 101 in the longitudinal direction. The upper part of one end of the robot bottom plate 101 is provided with a tensioning mounting plate 103, and the tensioning mounting plate 103 is used for tensioning and connecting the synchronous belt assembly 2. Specifically, the guide rail 102 is installed at the center of the robot base plate 101; the tension mounting plate 103 is mounted at the front end of the robot base plate 101 and is fixedly connected to the robot base plate 101 by M5 × 15 hexagon socket head cap screws.
The floor assembly 1 further comprises a low handrail 104 and a high handrail 105 arranged at one side of the robot floor 101. The lower handrail 104 is connected with one end of a small handrail 108, and the other end of the small handrail 108 is connected with a handrail sleeve 107. The high handrail 105 is connected to one end of the large handrail 106, and the other end of the large handrail 106 is connected to the handrail cover 107. Specifically, the low handrail 104 and the high handrail 105 are respectively installed in installation holes on the left side of the robot base plate 101 and fixed by bolts. One end of the large handrail 106 is passed through a through hole provided in the high handrail 105 and is screwed with a nut, and the other end is inserted into the handrail sleeve 107. One end of the small handrail 108 is passed through a through hole provided in the low handrail 104 and is screwed with a nut, and the other end is inserted into the handrail sleeve 107. The structure forms a tightly connected whole body, and is used as a handle for controlling the posture of the robot by a doctor in the process of operation.
Referring to fig. 3, the timing belt assembly 2 includes a driven timing pulley 205, a timing belt body 206, and a driving timing pulley 207. A synchronous belt body 206 is arranged between the driven synchronous pulley 205 and the driving synchronous pulley 207, and the end part of the synchronous belt body 206 is connected through a connecting piece. The driven synchronous pulley 205 is connected with the base plate assembly 1 through a bearing seat, and the driving synchronous pulley 207 is connected with the base plate assembly 1 through a bearing seat. The driving synchronous pulley 207 is connected to a driver to drive the synchronous belt body 206 to rotate. Specifically, the driver of the present embodiment is the motor 212. Side of the driven wheel: the first rotating shaft 204 penetrates through the center hole of the driven synchronous pulley 205, two first bearings 203 are respectively sleeved on the first rotating shaft 204 at two sides of the driven synchronous pulley 205, and the two first bearings 203 are respectively installed in the center holes of the two first bearing seats 201. The first clamp spring 202 is clamped in an inner clamping groove of the first bearing seat 201 to limit the position of the first bearing 203. The side of the driving wheel: the second rotating shaft 211 penetrates through the central hole of the driving synchronous pulley 207, two second bearings 210 are respectively sleeved on the second rotating shaft 211 at two sides of the driving synchronous pulley 207, and the two second bearings 210 are installed in the central holes of the two second bearing seats 208. The second latch spring 209 is engaged with an inner slot of the second bearing housing 208 to limit the position of the second bearing 210. An output shaft of the motor 212 is connected to the second rotating shaft 211, and drives the second rotating shaft 211 to rotate, so as to drive the driving synchronous pulley 207 connected thereto to rotate. The driven timing pulley 205 and the driving timing pulley 207 are connected by a timing belt body 206. After the length of the timing belt body 206 is adjusted, the timing belt body 206 is cut out, and both ends of the timing belt body 206 are connected by a connecting member. The connecting member of this embodiment includes an upper timing belt pressing piece 213 and a lower timing belt pressing piece 214, and the end opening of the timing belt body 206 is pressed by the upper timing belt pressing piece 213 and the lower timing belt pressing piece 214 to surround the timing belt body 206 between the driven timing pulley 205 and the driving timing pulley 207. Meanwhile, a connecting hole is reserved on the combination of the upper synchronous belt pressing sheet 213 and the lower synchronous belt pressing sheet 214 for connecting the far-end driving platform assembly 3 and the near-end driving platform assembly 4, so as to provide power for a catheter controller on the far-end driving platform assembly 3 and a guide wire controller on the near-end driving platform assembly 4.
Referring to fig. 4, the distal driving platform assembly 3 includes a distal bracket connecting frame 301, a distal extension arm 302 and a distal engaging groove 303. The far-end bracket connecting frame 301 is connected with the bottom plate component 1 in a sliding mode, and the far-end bracket connecting frame 301 is fixedly connected with the synchronous belt component 2. The distal support connecting frame 301 is connected with one end of the distal extension arm 302, and the other end of the distal extension arm 302 is provided with a distal clamping groove 303 for connecting a catheter controller. In particular, the distal bracket attachment frame 301 is a mounting plate with sliding blocks that provide structural support for the other attachment elements of the distal drive platform assembly 3. The distal extension arm 302 is mounted above the distal cradle attachment frame 301. The distal end slot 303 is fixed at the center of one end of the distal end extension arm 302 by an M2 × 20 countersunk head screw, for realizing rapid installation and disassembly of the catheter controller.
Wherein, the far-end position feedback mechanism 5 comprises a far-end tank chain pull tab 501, a far-end tank chain pull tab 502, a far-end encoder pull tab 503 and a far-end stay wire encoder 504. A far-end tank chain pull tab 501 is arranged on the bottom plate assembly 1 on one side of the far-end support connecting frame 301, and a far-end tank chain press tab 502 is arranged at the upper end of the far-end tank chain pull tab 501. A distal encoder pull-tab 503 is provided on the base plate assembly 1 on the other side of the distal bracket attachment frame 301, the distal encoder pull-tab 503 being connected to the distal pull-wire encoder 504 by a pull-wire. The far-end stay wire encoder 504 is fixed on the bottom plate assembly 1, connected with the far-end driving platform assembly 3, and used for detecting the displacement information of the far-end driving platform assembly 3 and feeding back the displacement information to the main-end control device. The far-end stay wire encoder 504 is fixedly connected with the rear end of the robot base plate 101 of the base plate assembly 1 through a mounting plate. Specifically, a remote tank chain pull tab 501 is mounted on the floor assembly 1 on the right side of the remote cradle attachment frame 301, and a remote tank chain pull tab 502 is mounted on the upper end of the remote tank chain pull tab 501, directed outward. A remote tank chain impressor 502 is used to guide the tank chain. The distal encoder pull-tab 503 is mounted on the base plate assembly 1 on the left side of the distal bracket attachment frame 301, the pull wire of the distal pull wire encoder 504 is mounted on the threaded post at the upper end of the distal encoder pull-tab 503, and the pull wire and the distal encoder pull-tab 503 move synchronously.
Referring to fig. 5, the proximal drive platform assembly 4 includes a proximal frame attachment 401, a proximal extension arm 402, and a proximal catch 403. The proximal bracket attachment 401 is slidably connected to the base plate assembly 1 and the proximal bracket attachment 401 is fixedly connected to the synchronization belt assembly 2. The proximal stent connecting frame 401 is connected with one end of the proximal extension arm 402, and the other end of the proximal extension arm 402 is provided with a proximal clamping groove 403 for connecting a guide wire controller. In particular, proximal bracket attachment bracket 401 is a mounting plate with slides that provide structural support for other attachment members of proximal drive platform assembly 4. A proximal extension arm 402 is mounted above the proximal stent attachment frame 401. The proximal slot 403 is fixed in the center of one end of the proximal extension arm 402 by M2 × 20 countersunk head screws for quick mounting and dismounting of the guide wire controller.
The near-end position feedback mechanism 6 includes a near-end tank chain pull tab 601, a near-end tank chain pull tab 602, a near-end encoder pull tab 603, and a near-end pull wire encoder 604. A near-end tank chain pull tab 601 is provided on the bottom plate assembly 1 on the side of the near-end cradle attachment 401, and a near-end tank chain push tab 602 is provided on the upper end of the near-end tank chain pull tab 601. A proximal encoder pull tab 603 is provided on the chassis assembly 1 on one side of the proximal stent attachment frame 401, the proximal encoder pull tab 603 being connected to a proximal pull wire encoder 604 by a pull wire. The near-end stay wire encoder 604 is fixed on the bottom plate component 1, connected with the near-end driving platform component 4, and used for detecting the displacement information of the near-end driving platform component 4 and feeding back the displacement information to the main-end control device. The proximal stay wire encoder 604 is fixedly connected with the rear end of the robot base plate 101 of the base plate assembly 1 through a mounting plate. Specifically, a near-end tank chain pull tab 601 is mounted on the floor assembly 1 on the right side of the near-end bracket attachment 401, and a near-end tank chain pull tab 602 is mounted on the upper end of the near-end tank chain pull tab 601, directed outward. A proximal encoder pull tab 603 is mounted on the chassis assembly 1 on the right side of the proximal bracket attachment frame 401. The pull wire of the proximal pull wire encoder 604 is mounted on a threaded post at the upper end of the proximal encoder pull tab 603, which moves synchronously with the proximal encoder pull tab 603.
Referring to fig. 6, the housing 7 includes a housing 701, an outer panel 702, a decorative base 703, a decorative cover 704, a front cover 705, and an upper cover 706. Two sides and the rear end of the shell 701 are respectively connected with the outer side plate 702, the front end cover 705 and the upper cover plate 706 are detachably mounted on the top of the shell 701, the decorative base 703 is mounted on the rear end of the top of the upper cover plate 706, and the decorative cover 704 is mounted on the rear end of the top of the decorative base 703. The middle of the upper cover plate 706 is provided with a long hole for installing the catheter controller and the guide wire controller. Specifically, the housing 701 serves as a main framework of the housing 7, the robot base plate 101 of the two-position driving mechanism is mounted in an inner mounting groove of the housing 701, and other components of the two-position driving mechanism are mounted on the robot base plate 101. The outer plates 702 are wound around the left and right sides of the housing 701, and are screwed and fixed. The decorative base 703, the decorative cover 704, the front cover 705 and the upper cover 706 are respectively clamped in a frame formed by the housing 701 and the outer side plate 702 through detachable clamping grooves to form an upper sealing surface. The housing 7 formed by the above structures together forms a sealing surface around the dual-position driving mechanism, and plays roles of protection, support and sterile isolation.
The invention also comprises limiting mechanisms which are respectively arranged at two ends of the bottom plate component 1 so as to limit the moving range of the far-end driving platform component 3 and the near-end driving platform component 4. The limiting mechanism of the embodiment is a photoelectric sensor 8.
The working principle of the invention is as follows:
the proximal drive platform assembly 4 and the distal drive platform assembly 3 are each mounted on a rail 102 of the base plate assembly 1. Two synchronous belt components 2 are uniformly distributed on two sides of the guide rail 102 of the bottom plate component 1, and connecting holes are reserved on the combined body of the upper synchronous belt pressing sheet 213 and the lower synchronous belt pressing sheet 214 of the synchronous belt components 2 and are respectively used for being connected with reserved holes of the near-end driving platform component 4 and the far-end driving platform component 3 to form a unified whole. The reciprocating movement of the proximal drive platform assembly 4 and the distal drive platform assembly 3 on the guide rail 102 may be achieved by the driving of a motor. The near-end stay wire encoder 604 and the far-end stay wire encoder 504 connected with the near-end drive platform assembly 4 and the far-end drive platform assembly 3 respectively realize real-time position recording and feedback of the running positions of the near-end drive platform assembly 4 and the far-end drive platform assembly 3 through extension and retraction of stay wires. The remote delivery and control of the catheter and the guide wire in the interventional operation process are realized by controlling and feeding back the proximal driving platform assembly 4 and the distal driving platform assembly 3, further controlling a catheter controller (not shown here, see the patent number: 202123012593.8 for details), a guide wire controller (not shown here, see the patent number: 202123013449.6 for details) on the platform assemblies and further controlling the driving position recording and feeding back of the catheter and the guide wire.
Example 2
The two-position driving mechanism can also replace different driving devices on the near-end driving platform assembly and the far-end driving platform assembly, so that the slave-end driving of the related treatment assemblies such as a microcatheter, a saccule, a bracket and the like for long-distance delivery can be realized.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope of the technical solution of the present invention.
Claims (10)
1. The utility model provides a be suitable for clinical vascular intervention surgical robot dibit drive and feedback device which characterized in that: comprises a shell and a double-position driving mechanism arranged in the shell;
the double-position driving mechanism comprises a bottom plate assembly, a synchronous belt assembly, a far-end driving platform assembly and a near-end driving platform assembly;
the synchronization belt assembly, the distal drive platform assembly and the proximal drive platform assembly are all disposed on the base plate assembly;
the number of the synchronous belt assemblies is at least two, one synchronous belt assembly is connected with the far-end driving platform assembly and is used for driving the catheter controller arranged on the far-end driving platform assembly to move along the length direction of the bottom plate assembly; the other synchronous belt component is connected with the near-end driving platform component and is used for driving a guide wire controller arranged on the near-end driving platform component to move along the length direction of the bottom plate component;
the device also comprises a far-end position feedback mechanism and a near-end position feedback mechanism which are respectively connected with the far-end driving platform assembly and the near-end driving platform assembly.
2. The dual-position driving and feedback device of a clinical vascular interventional surgical robot as set forth in claim 1, wherein: the bottom plate assembly comprises a robot bottom plate, a guide rail and a tensioning mounting plate; the robot bottom plate is installed inside the shell, be provided with the guide rail along length direction on the robot bottom plate, the one end upper portion of robot bottom plate is provided with the tensioning mounting panel, the tensioning mounting panel is used for connecting the hold-in range subassembly.
3. The dual-position driving and feedback device for the clinical vascular interventional surgical robot as set forth in claim 2, wherein: the bottom plate assembly further comprises a low handrail and a high handrail arranged on one side of the robot bottom plate; the low handrail is connected with one end of the small handrail, and the other end of the small handrail is connected with the handrail sleeve; the high handrail is connected with one end of the large handrail, and the other end of the large handrail is connected with the handrail sleeve.
4. The dual-position driving and feedback device for the clinical vascular interventional surgical robot as set forth in claim 1, wherein: the synchronous belt assembly comprises a driven synchronous belt pulley, a synchronous belt body and a driving synchronous belt pulley, wherein the synchronous belt body is arranged between the driven synchronous belt pulley and the driving synchronous belt pulley, and the end parts of the synchronous belt body are connected through a connecting piece; the driven synchronous belt pulley is connected with the bottom plate assembly through a bearing seat, and the driving synchronous belt pulley is connected with the bottom plate assembly through a bearing seat; the driving synchronous belt wheel is connected with the driver so as to drive the synchronous belt body to rotate.
5. The dual-position driving and feedback device of a clinical vascular interventional surgical robot as set forth in claim 1, wherein: the far-end driving platform assembly comprises a far-end bracket connecting frame, a far-end extension arm and a far-end clamping groove; the far-end bracket connecting frame is connected with the bottom plate assembly in a sliding manner, and is fixedly connected with the synchronous belt assembly; the far-end support connecting frame is connected with one end of the far-end extension arm, and the other end of the far-end extension arm is provided with a far-end clamping groove used for being connected with a catheter controller.
6. The dual-position driving and feedback device of a clinical vascular interventional surgical robot as set forth in claim 1, wherein: the near-end driving platform assembly comprises a near-end bracket connecting frame, a near-end extension arm and a near-end clamping groove; the near-end bracket connecting frame is connected with the bottom plate assembly in a sliding manner, and the near-end bracket connecting frame is fixedly connected with the synchronous belt assembly; the near-end support connecting frame is connected with one end of the near-end extension arm, and a near-end clamping groove used for being connected with a guide wire controller is formed in the other end of the near-end extension arm.
7. The dual-position driving and feedback device of the clinical vascular interventional surgical robot as set forth in claim 5, wherein: the far-end position feedback mechanism comprises a far-end tank chain pulling piece, a far-end tank chain pressing piece, a far-end encoder pulling piece and a far-end stay wire encoder, wherein the far-end tank chain pulling piece is arranged on the bottom plate assembly on one side of the far-end support connecting frame, and the far-end tank chain pressing piece is arranged at the upper end of the far-end tank chain pulling piece; the far-end encoder pull piece is arranged on the bottom plate component on the other side of the far-end support connecting frame, and the far-end encoder pull piece is connected with the far-end stay wire encoder through a stay wire.
8. The dual-position driving and feedback device of a clinical vascular interventional surgical robot as set forth in claim 6, wherein: the near-end position feedback mechanism comprises a near-end tank chain pulling piece, a near-end tank chain pressing piece, a near-end encoder pulling piece and a near-end stay wire encoder, wherein the near-end tank chain pulling piece is arranged on the bottom plate assembly on one side of the near-end support connecting frame, and the near-end tank chain pressing piece is arranged at the upper end of the near-end tank chain pulling piece; the near-end encoder pull piece is arranged on the bottom plate assembly on one side of the near-end support connecting frame, and the near-end encoder pull piece is connected with the near-end pull wire encoder through a pull wire.
9. The dual-position driving and feedback device of a clinical vascular interventional surgical robot as set forth in claim 1, wherein: the shell comprises a shell body, an outer side plate, a decorative base, a decorative cover, a front end cover and an upper cover plate, wherein the two sides and the rear end of the shell body are respectively connected with the outer side plate, the front end cover and the upper cover plate are detachably mounted at the top of the shell body, the decorative base is mounted at the rear end of the top of the upper cover plate, and the decorative cover is mounted at the rear end of the top of the decorative base.
10. The dual-position driving and feedback device of a clinical vascular interventional surgical robot as set forth in claim 1, wherein: the limiting mechanisms are respectively arranged at two ends of the bottom plate assembly to limit the moving range of the far-end driving platform assembly and the near-end driving platform assembly.
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| CN113133833A (en) * | 2020-01-20 | 2021-07-20 | 上海奥朋医疗科技有限公司 | Blood vessel intervention robot operating handle with guide wire catheter propulsion resistance feedback |
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| CN107744406A (en) * | 2017-08-30 | 2018-03-02 | 首都医科大学附属北京天坛医院 | A kind of robot manipulation's platform and its operating method |
| 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 |
| CN112353495B (en) * | 2020-10-29 | 2021-08-10 | 北京唯迈医疗设备有限公司 | Intervene surgical robot arm system |
| CN113827343B (en) * | 2021-10-12 | 2023-10-03 | 复旦大学 | Minimally invasive vascular interventional operation robot operating device |
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