CN213758538U

CN213758538U - Interventional surgical robot guide wire friction force feedback device

Info

Publication number: CN213758538U
Application number: CN202022450724.XU
Authority: CN
Inventors: 黄韬
Original assignee: Beijing Wemed Medical Equipment Co Ltd
Current assignee: Beijing Wemed Medical Equipment Co Ltd
Priority date: 2020-10-29
Filing date: 2020-10-29
Publication date: 2021-07-23
Anticipated expiration: 2030-10-29

Abstract

The utility model relates to an intervene operation robot seal wire friction feedback device, friction feedback device includes: two groups of driving end parts, driven end parts and clamping parts are symmetrically arranged along the guide wire; the structure is relatively simple and compact, and the stability is good; when clamping part received the power of seal wire clamping direction, its atress passes through U type groove connection spare, first slider, on first miniature linear guide transmitted the right angle connecting plate, high accuracy weighing sensor only measured seal wire along axial power, the frictional force that the seal wire received promptly to judge the atress situation of change of seal wire axial frictional force, can in time give doctor's operation warning, protection patient safety, the utility model discloses a mode of indirect dynamometry has solved the inconvenient installation of seal wire and measuring force device, and current intervention operation robot does not have to seal wire axial frictional force atress measuring not enough, and atress detection device is difficult to the installation and can not satisfy clinical needs scheduling problem.

Description

Interventional surgical robot guide wire friction force feedback device

Technical Field

The utility model relates to a minimally invasive blood vessel technical field, more specifically say so and relate to an intervene operation robot seal wire frictional force feedback device.

Background

The minimally invasive interventional therapy of the cardiovascular and cerebrovascular diseases is a main treatment means aiming at the cardiovascular and cerebrovascular diseases. Compared with the traditional surgical operation, has the obvious advantages of small incision, short postoperative recovery time and the like. The cardiovascular and cerebrovascular interventional operation is a process in which a doctor manually sends a catheter, a guide wire, a stent and other instruments into a patient to finish treatment.

The interventional operation has the following problems that in the operation process, because DSA can emit X-rays, the physical strength of a doctor is reduced quickly, the attention and the stability are also reduced, the operation precision is reduced, accidents such as endangium injury, perforation and rupture of blood vessels and the like caused by improper pushing force are easy to happen, and the life risk of a patient is caused. Second, the cumulative damage of long-term ionizing radiation can greatly increase the probability of doctors suffering from leukemia, cancer and acute cataract. The phenomenon that doctors accumulate rays continuously because of interventional operation becomes a problem that the occupational lives of the doctors are damaged and the development of the interventional operation is restricted to be neglected.

The problem can be effectively solved by means of the robot technology, the precision and the stability of the operation can be greatly improved, meanwhile, the injury of the radioactive rays to the interventional doctor can be effectively reduced, and the occurrence probability of accidents in the operation is reduced. Therefore, the assisted robot for cardiovascular and cerebrovascular interventional surgery is more and more concerned by people and gradually becomes a key research and development object in the field of medical robots in all the science and technology strong countries at present. However, as is well known, the robot has no sense, and how to ensure safety in the operation is a constant concern of people, and how to make the robot feel like a doctor, and when a danger occurs, the robot can sense the danger in time, which is a problem that needs to be considered in a key way.

The guide wire force feedback detection of the interventional surgical robot in China has the following problems: (1) the structure is relatively overstaffed and complex, and the force feedback detection device of the guide wire can cause the guide wire to be inconvenient to install and replace on the robot; (2) the stress change of the guide wire is directly measured by a sensor, so that the sterile environment cannot be effectively guaranteed; (3) a good stress method for indirectly measuring the axial friction force of the guide wire does not exist; (4) the clamping force of the guide wire greatly interferes with the measurement of the friction force of the guide wire, so that the friction force is difficult to measure.

Therefore, how to provide a guiding wire friction force feedback device for an interventional surgical robot is a problem to be solved urgently by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the above-mentioned technical problem among the prior art to a certain extent at least.

Therefore, an object of the present invention is to provide a guide wire friction feedback device for an interventional surgical robot, which solves the problem of the prior art that the structure is relatively bulky and complex, and the force feedback detection device for the guide wire can lead to inconvenient installation and replacement of the guide wire on the robot, and provides an indirect measurement device.

The utility model provides a pair of intervene surgical robot seal wire frictional force feedback device, include: two groups of driving end parts, driven end parts and clamping parts are symmetrically arranged along the guide wire;

each set of active end components includes: the device comprises a U-shaped groove connecting piece, a high-precision weighing sensor, a first sliding block, a first miniature linear guide rail, a right-angle connecting plate and a main end connecting piece; the top of the main end connecting piece slides in the length direction of a rectangular bottom plate at the main end of the propelling mechanism along the direction parallel to the guide wire, the bottom of a right-angle connecting plate slides in the top of the main end connecting piece in the direction vertical to the guide wire, the outer side of a vertical plate connected to one end of the right-angle connecting plate is abutted to the cam shaft, the top of the other end of the right-angle connecting plate is fixed with a first miniature linear guide rail in the direction parallel to the guide wire direction, a first sliding block slides on the first miniature linear guide rail, a U-shaped groove connecting piece is fixed at the top of the first sliding block and used for offsetting the clamping force of the guide wire, a high-precision weighing sensor is arranged in a way vertical to the guide wire, one end of the high-precision weighing sensor is fixed on the inner side of the vertical plate, the other end of the high-precision weighing sensor is inserted into a groove opening of the U-shaped groove connecting piece, the width of the groove connecting piece is larger than the width of the high-precision weighing sensor and used for measuring the friction force borne by the guide wire, and the U-shaped groove connecting piece is fixed with one end of a first clamping part;

each group of driven end parts comprises a second clamping part corresponding to the first clamping part, and a driven end connecting part corresponding to the main end connecting part and used for clamping and pushing the guide wire.

According to the technical scheme, compared with the prior art, the utility model discloses a guide wire friction force feedback device of an interventional operation robot, which has relatively simple and compact structure and good stability; when clamping part received the power of seal wire clamping direction, its atress passes through U type groove connecting piece, first slider, on first miniature linear guide transmitted the right angle connecting plate, high accuracy weighing sensor only measured seal wire along axial power, the push-and-pull power that high accuracy weighing sensor experienced promptly (also the frictional force that the seal wire received promptly) to judge the atress situation of change of seal wire axial frictional force, can in time give doctor's operation warning, protect patient's safety, the utility model discloses a mode of indirect dynamometry has solved the problem of the inconvenient installation of seal wire and dynamometry device.

Furthermore, each group of active end parts also comprises a second sliding block and a second miniature linear guide rail; and a second sliding block is fixed at the bottom of the right-angle connecting plate along the direction vertical to the wire guide direction, and a second miniature linear guide rail which slides with the second sliding block is arranged at the top of the main end connecting piece.

Further, each group of driving end parts further comprises a spring and a polytetrafluoroethylene patch, wherein two ends of the spring are respectively connected and fixed between the outer side of the vertical plate and the polytetrafluoroethylene patch in an articulated manner, and the polytetrafluoroethylene patch is always abutted against the camshaft.

Further, each set of driven end members further comprises: the third sliding block, the slave end connecting plate and the third miniature linear guide rail; the auxiliary end connecting plate is arranged opposite to the right-angle connecting plate, and an auxiliary end connecting piece is fixed on the auxiliary end connecting plate close to the guide wire side; a third miniature linear guide rail is fixed on the top of the third slide block in a direction parallel to the guide wire, and a second clamping part is fixed on the top of the third slide block and can slide on the third miniature linear guide rail.

Furthermore, each group of first clamping parts comprises a first cylindrical electromagnet and an active movable block, one end of the axis of the first cylindrical electromagnet, which is perpendicular to the wire guiding direction, is fixed on the U-shaped groove connecting piece, and the other end of the axis of the first cylindrical electromagnet is magnetically connected with the active movable block.

Furthermore, each group of second clamping components comprises a second cylindrical electromagnet and a passive movable block; the second cylindrical electromagnet is vertically fixed at the top of the third sliding block, the plane of the axis of the second cylindrical electromagnet is parallel to the plane of the guide wire, and the top of the second cylindrical electromagnet is magnetically connected with a driven movable block which is used for thread rolling with the driving movable block.

The utility model discloses in provide a intervene frictional force feedback method that robot received to the seal wire in the operation, adopt foretell intervene in the operation the frictional force feedback device cooperation that robot received to the seal wire and intervene the reciprocating motion device use of operation robot, in the seal wire carries out reciprocating motion, two sets of clamping part press from both sides tight seal wire in turn and remove, the frictional force in the seal wire motion is measured to the atress change signal that sends through detecting high accuracy weighing sensor, thereby the condition of indirect reflection seal wire end atress, then give the timely feedback of doctor to data transmission to robot propulsion mechanism main control end. From this, the utility model discloses a mode of indirect dynamometry has solved the problem of the inconvenient installation of seal wire and measuring force device.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a perspective view of a guide wire friction feedback device of an interventional surgical robot provided by the present invention;

fig. 2 is a perspective view of the active end part of the guide wire friction feedback device of the interventional surgical robot provided by the present invention;

FIG. 3 is a partial schematic view of FIG. 2;

fig. 4 is an exploded view of a guide wire friction feedback device of an interventional surgical robot provided by the present invention;

in the figure: 101-guide wire, 102-cam group, 103-first cylindrical electromagnet, 1031-second cylindrical electromagnet, 104-slave end connecting piece, 105-passive movable block, 106-active movable block, 107-third slide block, 108-slave end connecting plate, 109-third miniature linear guide rail, 201-U-shaped groove connecting piece, 202-high-precision weighing sensor, 203-first slide block, 204-first miniature linear guide rail, 205-right-angle connecting plate, 206-second slide block, 207-second miniature linear guide rail, 208-polytetrafluoroethylene patch, 209-left main end connecting piece, 300-gear transmission group and D-rectangular bottom plate.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1, the utility model provides a pair of intervene surgical robot seal wire frictional force feedback device, include: two groups of driving end parts, driven end parts and clamping parts are symmetrically arranged along the guide wire 101 from left to right;

each set of active end components includes: the device comprises a U-shaped groove connecting piece 201, a high-precision weighing sensor 202, a first sliding block 203, a first miniature linear guide rail 204, a right-angle connecting plate 205 and a main end connecting piece 209; the top of the main end connecting piece 209 slides in the length direction of the rectangular bottom plate D at the main end of the propelling mechanism along the direction parallel to the guide wire 101, the bottom of the right-angle connecting plate 205 slides in the top of the main end connecting piece 209 along the direction vertical to the guide wire 101, the outer side of a vertical plate connected with one end of the guide wire is abutted against the cam shaft 102, the top of the other end of the guide wire is fixed with a first micro linear guide rail 204 parallel to the direction of the guide wire 101, a first sliding block 203 slides on the first micro linear guide rail 204, a U-shaped groove connecting piece 201 is fixed at the top of the first sliding block 203, for counteracting the clamping force of the guide wire 101, a high-precision load cell 202 is arranged perpendicular to the guide wire 101, one end of the U-shaped groove is fixed on the inner side of the vertical plate, the other end of the U-shaped groove is inserted into the groove opening of the U-shaped groove connecting piece 201, the width of the groove opening is larger than the width value of the high-precision weighing sensor 202, the U-shaped groove connecting piece 201 is used for measuring the friction force borne by the guide wire 101, and the side, far away from the groove opening, of the U-shaped groove connecting piece 201 is fixed with one end of the first clamping part;

each set of the driven end parts comprises a second clamping part corresponding to the first clamping part, and a driven end connecting part 104 corresponding to the main end connecting part 209 for clamping and pushing the guide wire 101.

The utility model discloses a guide wire friction force feedback device of an interventional operation robot, which has relatively simple and compact structure and good stability; when clamping part received the power of seal wire clamping direction, its atress passes through U type groove connecting piece, first slider, on first miniature linear guide transmitted the right angle connecting plate, high accuracy weighing sensor only measured seal wire along axial power, the push-and-pull power that high accuracy weighing sensor experienced promptly (also the frictional force that the seal wire received promptly) to judge the atress situation of change of seal wire axial frictional force, can in time give doctor's operation warning, protect patient's safety, the utility model discloses a mode of indirect dynamometry has solved the problem of the inconvenient installation of seal wire and dynamometry device.

Referring to fig. 2 and 3, each set of active end components further includes a second slider 206 and a second micro linear guide 207; a second slide block 206 is fixed at the bottom of the right-angle connecting plate 205 along the direction vertical to the guide wire 101, and a second micro linear guide 207 sliding with the second slide block 206 is arranged at the top of the main end connecting piece 209.

Advantageously, each set of active end components further comprises a spring and a teflon patch 208, wherein two ends of the spring are respectively fixed between the outer side of the vertical plate and the teflon patch 208 in a hanging manner, and the teflon patch 208 is always abutted with the cam shaft 102.

Referring to fig. 4, each set of driven end members further includes: a third slider 107, a slave end connection plate 108, and a third micro linear guide 109; the slave end connecting plate 108 is arranged opposite to the right-angle connecting plate 205, and a slave end connecting piece 104 is fixed on the side, close to the guide wire 101, of the slave end connecting plate; a third micro linear guide 109 is fixed on the top of the third slider 107 in a direction parallel to the guide wire 101, and a second clamping member is fixed on the top of the third slider and can slide on the third micro linear guide 109.

Referring to fig. 1 and 2, each group of first clamping components includes a first cylindrical electromagnet 103 and an active movable block 106, one end of the axis of the first cylindrical electromagnet 103, which is perpendicular to the direction of the guide wire 101, is fixed on the U-shaped groove connecting piece 201, and the other end of the first cylindrical electromagnet is magnetically connected with the active movable block 106.

Referring to fig. 4, each set of second clamping members includes a second cylindrical electromagnet 1031 and a passive movable block 105; the second cylindrical electromagnet 1031 is vertically fixed on the top of the third slide block 107, the plane of the axis of the second cylindrical electromagnet 1031 is parallel to the plane of the guide wire 101, and the top of the second cylindrical electromagnet 1031 is magnetically connected with a passive movable block 105 which is used for thread rolling with the active movable block 106.

The utility model discloses well initiative end part, driven end part and clamping part have left side and right side two sets of, and their shape size is unanimous, and the function is the same, only plays in different positions and opportunity. The device is used in a reciprocating propulsion mechanism, two groups of clamping components clamp guide wires, and under the action of the cooperation of a cam group 102 and a gear transmission group 300 (the structure of the gear transmission group is shown in patent document 201911259494.4), two connecting rods in the gear transmission group are respectively connected with two groups of main end connecting pieces, so that the two groups of driving end components can be driven to slide along the length direction of a rectangular bottom plate, and then the clamping components and the clamping components of the driven end components can complete clamping and propulsion; four cams are arranged on the cam shaft, and the cams have certain angle difference, so that at the same time, only one group of cams push the driving end part to enable the guide wire clamping piece to clamp the guide wire 101. Therefore, only when the guide wire is clamped, the tactile force feedback device (a high-precision weighing sensor) can acquire signals, and when the guide wire is loosened, the signals of the sensor do not need to be acquired. The driven end passive block 105 of the propulsion mechanism is used to assist in gripping the guide wire. The PTFE patch 208 is adhered to the vertical surface of the right-angle connecting plate 205, and the PTFE patch 208 is always attached to the cam group 205 under the action of the spring. When the guide wire 101 is clamped by the group of active movable blocks 106 and the group of passive movable blocks 105, and the force of the first electromagnet in the clamping direction of the guide wire is transmitted to the right-angle connecting plate 205 through the U-shaped groove connecting piece 201, the first sliding block 203 and the first miniature linear guide rail 204, the high-precision weighing sensor 202 only measures the force of the guide wire along the axial direction, namely the friction force applied to the guide wire.

The utility model also provides an intervene in operation robot to the frictional force feedback method that the seal wire received, the frictional force feedback device cooperation that the robot received to the seal wire in adopting foretell intervention operation intervenes the reciprocating motion device of operation robot and uses, in the seal wire carries out reciprocating motion, two sets of clamping part press from both sides tight seal wire in turn and remove, the frictional force in the seal wire motion is measured to the atress change signal that sends through detecting high accuracy weighing sensor, thereby the condition of indirect reflection seal wire end atress, then give the timely feedback of doctor to data transmission to robot propulsion mechanism main-end control end.

The utility model discloses well high accuracy weighing sensor precision is less than or equal to 0.01N's weighing sensor.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.

Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

Claims

1. An interventional surgical robot guidewire friction feedback device, comprising: two groups of driving end parts, driven end parts and clamping parts are symmetrically arranged along the guide wire (101);

each set of the active end components includes: the device comprises a U-shaped groove connecting piece (201), a high-precision weighing sensor (202), a first sliding block (203), a first miniature linear guide rail (204), a right-angle connecting plate (205) and a main end connecting piece (209); the top of the main end connecting piece (209) slides in the length direction of a rectangular bottom plate (D) at the main end of the propelling mechanism along the direction parallel to the guide wire (101), the bottom of the right-angle connecting plate (205) is perpendicular to the guide wire (101) and slides in the top of the main end connecting piece (209), the outer side of a vertical plate connected at one end of the main end connecting piece is abutted against a cam shaft (102), the top of the other end of the main end connecting piece is parallel to the guide wire (101) and is fixedly provided with the first miniature linear guide rail (204), the first sliding block (203) slides on the first miniature linear guide rail (204), the U-shaped groove connecting piece (201) is fixed at the top of the first sliding block (203) and is used for offsetting the clamping force of the guide wire (101), the high-precision weighing sensor (202) is arranged perpendicular to the guide wire (101), one end of the high-precision weighing sensor is fixed on the inner side of the vertical plate, and the other end of the high-precision weighing sensor is inserted into a notch of the U-shaped groove connecting piece (201), the width of the notch is larger than the width value of the high-precision weighing sensor (202) and is used for measuring the friction force borne by the guide wire (101), and the side, far away from the notch, of the U-shaped groove connecting piece (201) is fixed with one end of the first clamping part;

each group of the driven end parts comprises a second clamping part corresponding to the first clamping part, and a driven end connecting part (104) corresponding to the main end connecting part (209) and used for clamping and pushing the guide wire (101).

2. The interventional surgical robot guidewire friction force feedback device according to claim 1, wherein each set of the active end components further comprises a second slider (206) and a second micro linear guide (207); the second sliding block (206) is fixed at the bottom of the right-angle connecting plate (205) along the direction perpendicular to the guide wire (101), and the second miniature linear guide rail (207) which slides with the second sliding block (206) is arranged at the top of the main end connecting piece (209).

3. The guide wire friction force feedback device of the interventional surgical robot as set forth in claim 1, wherein each set of the active end parts further comprises a spring and a teflon patch (208), two ends of the spring are respectively fixed between the outer side of a vertical plate and the teflon patch (208) in a hanging manner, and the teflon patch (208) is always abutted against the cam shaft (102).

4. An interventional surgical robotic guidewire friction feedback device according to claim 1, wherein each set of the driven end members further comprises: a third slider (107), a slave end connecting plate (108) and a third micro linear guide rail (109); the slave end connecting plate (108) is arranged opposite to the right-angle connecting plate (205), and the slave end connecting piece (104) is fixed on the side close to the guide wire (101); the top of the third slide block (107) is fixed with the third miniature linear guide rail (109) in a direction parallel to the guide wire (101), and the second clamping part is fixed on the top of the third slide block and can slide on the third miniature linear guide rail (109).

5. The guide wire friction force feedback device of the interventional surgical robot according to claim 4, wherein each set of the first clamping components comprises a first cylindrical electromagnet (103) and an active movable block (106), one end of the axis of the first cylindrical electromagnet (103) perpendicular to the direction of the guide wire (101) is fixed on the U-shaped groove connecting piece (201), and the other end of the axis is magnetically connected with the active movable block (106).

6. The guide wire friction feedback device of an interventional surgical robot according to claim 5, wherein each set of the second clamping members comprises a second cylindrical electromagnet (1031) and a passive movable block (105); the second cylindrical electromagnet (1031) is vertically fixed to the top of the third sliding block (107), the plane of the axis of the second cylindrical electromagnet is parallel to the plane of the guide wire (101), and the top of the second cylindrical electromagnet is magnetically connected with the passive movable block (105) which is used for thread rolling with the active movable block (106).