[go: up one dir, main page]

WO2018176458A1 - Procédé de commande d'avancement de cathéter et dispositif d'avancement de cathéter pour un robot d'intervention chirurgicale sur un vaisseau - Google Patents

Procédé de commande d'avancement de cathéter et dispositif d'avancement de cathéter pour un robot d'intervention chirurgicale sur un vaisseau Download PDF

Info

Publication number
WO2018176458A1
WO2018176458A1 PCT/CN2017/079270 CN2017079270W WO2018176458A1 WO 2018176458 A1 WO2018176458 A1 WO 2018176458A1 CN 2017079270 W CN2017079270 W CN 2017079270W WO 2018176458 A1 WO2018176458 A1 WO 2018176458A1
Authority
WO
WIPO (PCT)
Prior art keywords
catheter
friction block
horizontal
conduit
sliding
Prior art date
Application number
PCT/CN2017/079270
Other languages
English (en)
Chinese (zh)
Inventor
任岭雪
张一�
严伟玮
王磊
Original Assignee
中国科学院深圳先进技术研究院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国科学院深圳先进技术研究院 filed Critical 中国科学院深圳先进技术研究院
Priority to PCT/CN2017/079270 priority Critical patent/WO2018176458A1/fr
Priority to CN201780000453.6A priority patent/CN107106155B/zh
Publication of WO2018176458A1 publication Critical patent/WO2018176458A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension

Definitions

  • the present invention belongs to the field of medical devices, and in particular, to a catheter push control method for a vascular interventional surgery robot and a catheter pushing device.
  • cardiovascular diseases are becoming more and more serious to the health of the elderly, and people are paying more and more attention to such diseases.
  • the treatment of cardiovascular diseases includes drug therapy and interventional therapy.
  • interventional therapy is a method of directly exposing the lesion and treatment without using a large area file.
  • the operation mode of the interventional therapy is: For a few millimeters, only tiny channels that can be inserted into the catheter, the lesions are locally examined and treated under the guidance of medical imaging equipment to minimize trauma.
  • vascular interventional surgery is mainly done by manual direct operation, which has the following drawbacks: (1) The doctor has long-term work in an X-ray environment, which is very harmful to the body; (2) Strong operational skills, risk Higher, it requires long-term training for specialist surgeons, which is not conducive to the promotion and application of this technology; (3) Due to complicated operation, long operation time, fatigue of doctors and unstable operation of hands, it will directly affect surgery. Quality, which in turn affects the quality of life of patients. These shortcomings limit the wide application of traditional vascular interventional techniques. Therefore, the combination of robotic technology and vascular intervention technology is an effective way to solve the above problems.
  • vascular interventional surgery robot refers to the doctor's guidance under the digital subtraction angiography machine (DSA) to guide the catheter to move in the blood vessels of the human body, to deliver the drug to the lesion, to dissolve the thrombus, expand the narrow blood vessel and the like.
  • DSA digital subtraction angiography machine
  • the guide of the vascular interventional operation robot needs to have the function of pulling back the catheter and more accurate force detection.
  • the catheter pushing device of the existing vascular interventional surgery robot generally has the following deficiencies in the specific application: 1) The linear feeding of the catheter is driven by the rotation of the roller or the pulley, which is easy to cause slippage.
  • Feed accuracy is not high.
  • the electric push rod feeding scheme either causes the device to be oversized, or the designed device is too small in size, and the distance between each pushing the catheter is too short, which is laborious.
  • the direct measurement method is to install a micro force sensor on the catheter head to measure the contact force between the catheter head and the blood vessel, but because the catheter is more Fine, it is not easy to fix the micro force sensor, so the current method of measuring force is only under research and has not been put into practical use.
  • the indirect measurement method is to measure the force of the catheter head by installing the sensor on the part of the catheter protruding from the skin. It is common practice to install the pressure sensor under the moving finger or on the hand wheel, but these installation methods exist.
  • the pressure sensor is mounted on the moving finger by lever force measurement, that is, the contact force between the catheter head and the blood vessel is measured by the principle of the lever, which can effectively eliminate the friction of the transmission mechanism and the mechanism itself.
  • lever force measurement that is, the contact force between the catheter head and the blood vessel is measured by the principle of the lever, which can effectively eliminate the friction of the transmission mechanism and the mechanism itself.
  • the influence of the force on the catheter but if the catheter has multiple bends, the blood vessel will exert pressure on multiple parts of the catheter, which will lead to the failure of the measurement method and affect the accuracy of the measured force signal data. Therefore, the lever method can only be applied to the blood vessel.
  • the contact between the head of the tube and the inner wall of the blood vessel by the lever method is not comprehensive, and the pressure strain gauge of the pressure sensor cannot recognize the torque signal of the catheter, and thus cannot be displayed in the control system; Install the torque sensor between the main and the slave gears, and pass the main and slave gears. Different to generate the torque signal, but the measurement method is susceptible to the force of the transmission member of the device itself, and is not accurate enough.
  • a rotary encoder is installed in the hand wheel to indirectly operate the catheter rotation through the control system.
  • this method uses the human hand to sense the torque and still causes the operator to fatigue, and can not be operated remotely. This is inconsistent with the goal of designing the doctor to operate away from the operating table, so it has no practical value.
  • the object of the present invention is to overcome at least one of the deficiencies of the prior art described above, and provide a catheter push control method for a vascular interventional surgery robot and a catheter push device, which solves the catheter push device measurement of the existing vascular interventional surgery robot.
  • Technical problems with inaccurate force data are a problem solution.
  • a catheter push control method for a vascular interventional surgery robot comprising a force measurement step and a regulation step, wherein the regulation step is: setting a controller for regulating the catheter Pushing a motion parameter during the procedure to prevent the catheter from being punctured during the catheter push;
  • the force measuring step includes:
  • a pressure sensor is disposed on the friction block assembly for clamping and tilting the rotation of the catheter for detecting a pressure of the friction block assembly to the conduit;
  • a torque sensor is provided on the support base for the passage of the conduit for detecting the torque of the conduit.
  • the adjusting step comprises: presetting a critical withstand pressure F0 of the blood vessel in the controller, the controller actually controlling the pressure of the two friction block assemblies on the conduit, so that The resistance f of the catheter during the pushing process is less than or equal to F0.
  • the initial pressure of the friction block assembly to the conduit is defined as F1
  • the pressure of the friction block assembly to the conduit during the pushing process is defined as F2
  • the conduit and the friction block are defined
  • the controller controls the catheter pushing device to slow down the advancement speed of the catheter Simultaneously, the controller controls the two friction block assemblies to slowly increase the pressure on the conduit until the conduit passes the obstacle uniformly, and the controller controls the two friction block assemblies to slowly increase.
  • Fl+u (F2-F1) ⁇ F0 is guaranteed.
  • the friction block assembly includes a friction block and a rubber sheet disposed on the friction block, and a friction coefficient u between the conduit and the friction block assembly is the conduit and the rubber sheet Coefficient of friction between
  • the adjusting step comprises: presetting a critical torque TO of the blood vessel in the controller, and the controller actually controls a speed at which the two friction block assemblies sway the rotation of the catheter, So that the torque T1 measured by the torque sensor is less than or equal to ⁇ .
  • the conduit orbiting device is configured to control the two friction block assemblies to sway the rotation of the conduit
  • the output power is P
  • the radius of the conduit is defined as r
  • the angular velocity of the conduit is defined as w
  • the controller raises the catheter turning device The linear velocity of rotation of the catheter is reduced to reduce the torque of the catheter at the branch or bend of the vessel.
  • an embodiment of the present invention further provides a catheter pushing device for a vascular interventional surgery robot, which comprises two spaced-apart friction block assemblies for driving two friction block assembly clamping catheters or loose catheters or a conduit turning device for rotating the conduit, a conduit propulsion device for driving the conduit orbiting device to drive the two friction block assemblies and the conduit, and a force for measuring the force of the conduit a digital subtraction angiography machine for imaging guidance of movement of the catheter within a blood vessel and for controlling the magnitude of pressure of the two friction block assemblies to the catheter and/or for controlling a friction block assembly that biases a rotation speed of the conduit, the force measurement assembly including a pressure sensor disposed on the friction block assembly and/or disposed on a support base for the conduit to pass through Torque sensor.
  • the ducting device includes a fixing seat mounted on the duct propelling device, and is mounted on the fixing base for regulating a horizontal distance between the two friction block assemblies to realize a clamping Holding or loosening the tensioning mechanism of the catheter and a spinning mechanism mounted on the fixing seat for driving the two friction block assemblies to move up and down to sway the rotation of the catheter; and/or
  • the duct propulsion device includes a fixing plate, a bearing member slidable on the fixing plate, and a propulsion mechanism mounted on the fixing plate for driving the bearing member to linearly reciprocate, the conduit ⁇ a rotating device is mounted on the carrying member, the supporting seat is mounted on the fixing plate; and/or
  • the friction block assembly includes a friction block and a rubber sheet disposed on the friction block, the friction block is coupled to the conduit orbiting device, and the pressure sensor is embedded and mounted on a friction block; And/or,
  • the fixing base comprises a bottom plate mounted on the duct propulsion device, a top plate spaced apart from the bottom plate, and a connection between the bottom plate and the top plate and located at the horizontal sliding member a side panel on the side, the tensioning mechanism is mounted on the top plate, and the orbiting mechanism is mounted on the bottom plate; and/or [0023] the tensioning mechanism includes two sliding seats spaced apart and slidable on the fixing seat, and an adjusting assembly for adjusting a horizontal distance between the two sliding seats, the two friction blocks The components are respectively mounted on the two sliding seats; and/or
  • the spinning mechanism includes a horizontal sliding member slidable on the fixing seat, a horizontal driving assembly mounted on the fixing seat for driving the horizontal sliding member to perform horizontal linear reciprocating movement, and two Connecting to the link assembly between the two friction block assemblies and the horizontal sliding member; and/or,
  • the propulsion mechanism includes a first motor mounted on the fixed plate and a first screw connected between the first motor and the carrying member, and the carrying member passes through the first screw sleeve Threading the first screw or the bearing member is provided with a first threaded hole threadedly engaged with the first screw; and/or
  • the catheter propulsion device further includes a first horizontal sliding structure disposed between the fixing plate and the bearing member; and/or,
  • the rubber sheet is fixed to the friction block by bonding.
  • the adjustment assembly includes a first adjustment structure coupled to one of the carriages and a second adjustment structure coupled to the other of the carriages; and/or,
  • the tensioning mechanism further includes a second horizontal sliding structure disposed between the fixing seat and the sliding seat;
  • the ducting device further includes two vertical sliding structures, wherein one of the vertical sliding structures is disposed between one of the friction block assemblies and one of the sliding blocks, and the other of the vertically guiding guides a sliding structure is disposed between the other of the friction block assembly and the other of the carriages; and/or
  • the horizontal drive assembly includes a second motor mounted on the fixed seat and a second lead screw connected between the second motor and the horizontal sliding member, the horizontal sliding member passing through the second a threaded rod sleeve is threadedly coupled to the second lead screw or the horizontal sliding member is provided with a second threaded hole threadedly engaged with the second threaded rod; and/or
  • the link assembly includes a vertical rod slidably coupled to the horizontal sliding member and a diagonal rod connected between the vertical rod and the friction block assembly, the horizontal sliding member being provided with the a first curved chute slidingly fitted with a pole; and/or,
  • the spinning mechanism further includes a third horizontal sliding structure disposed between the fixing seat and the horizontal sliding member; and/or [0034]
  • the first horizontal sliding structure includes two first horizontal guides spaced apart from each other on the fixed plate, and two first horizontal sliders respectively slidably engaged with the two first horizontal guides. Both ends of the bearing member are respectively mounted on the two first horizontal sliders.
  • the first adjustment structure comprises a mounting seat mounted on the fixing base and an adjusting screw connected between the mounting seat and a sliding seat, the sliding seat passes through the third screw a sleeve threadedly connecting the adjusting screw or having a third threaded hole threadedly engaged with the adjusting screw on the sliding seat; and/or, the second adjusting structure comprises a mounting on the fixing seat a third motor and a third screw connected between the third motor and the other sliding seat, the sliding seat is screwed to the third screw by a fourth screw sleeve or disposed on the sliding seat a fourth threaded bore threadedly engaged with the third lead screw; and/or
  • the second horizontal sliding structure comprises a second horizontal rail disposed on the fixing plate and two second horizontal sliding blocks slidably engaged with the second horizontal rail, and the two sliding seats are respectively installed On the two second horizontal sliders; and/or,
  • the vertical guide sliding structure includes a vertical rail disposed on the sliding seat and a vertical sliding block slidably engaged with the vertical rail, and the friction block assembly is mounted on the vertical sliding block And/or,
  • the bottom end of the pole is slidably mounted in the first curved chute through a first hinge shaft, and the top end of the pole is connected to the bottom end of the diagonal rod through a second hinge shaft, a top end of the diagonal rod is coupled to the friction block assembly by a third hinge;
  • the third horizontal sliding structure includes a third horizontal rail disposed on the fixing seat and a third horizontal sliding block slidably engaged with the third horizontal rail, and the horizontal sliding component is mounted on the On the third horizontal slider; and/or,
  • the bearing member is an inverted "convex" shaped plate-shaped member.
  • one end of the first hinge shaft is rotatably mounted on the fixing seat by a first bearing, and the other end of the first hinge shaft is mounted to the level by two spaced second bearings.
  • the sliding member has a bottom end fixedly coupled to the first hinge shaft and located between the two second bearings.
  • the horizontal sliding component is provided with two second curved chutes respectively located on two sides of the first curved chute, and the two second bearings on both sides of the vertical bar respectively Slidingly mounted in the two second curved chutes.
  • one end of the second hinge shaft is rotatably mounted on the fixing seat by a third bearing,
  • the other end of the two hinge shaft is connected to the top end of the vertical rod and the bottom end of the diagonal rod;
  • one end of the third hinge shaft is fixed on the friction block assembly, and the other end of the third hinge shaft
  • the catheter push control method and the catheter pushing device of the vascular interventional surgery robot provided by the present invention detect the pressure of the clamping pipe of the two friction block assemblies by providing a pressure sensor on the friction block assembly, by using the catheter rotation device
  • the torque sensor is arranged to detect the torque information of the catheter. In this way, the resistance of the catheter head and the torque of the catheter can be measured by the indirect measurement method, and the measurement data is accurate, and the purpose of effectively controlling the movement of the catheter can be achieved.
  • the pressure variation of the catheter head can be controlled by controlling the pressure change of the two friction block assemblies to adjust the amplitude of the force change of the catheter head so as to be in a reasonable interval, and the linear velocity of the rotation of the catheter can be pulsated by the two friction block assemblies.
  • the way to control the torque of the catheter is within a controllable range, thereby effectively preventing the catheter from puncturing the blood vessel due to excessive force or excessive torque.
  • the catheter pushing control method of the present invention can remotely control the medical staff, the harm to the medical staff and the patient is effectively reduced.
  • FIG. 1 is a perspective view of a catheter pushing device of a vascular interventional surgery robot according to an embodiment of the present invention
  • FIG. 2 is a front plan view of a catheter pushing device of a vascular interventional surgery robot according to an embodiment of the present invention
  • FIG. 3 is a top plan view of a catheter pushing device of a vascular interventional surgery robot according to an embodiment of the present invention
  • FIG. 4 is a left side plan view of a catheter pushing device of a vascular interventional surgery robot according to an embodiment of the present invention
  • FIG. 5 is a perspective view of a friction block assembly, a conduit turning device, and a bearing member according to an embodiment of the present invention
  • FIG. 6 is a front view assembly of a friction block assembly, a conduit turning device, and a load bearing member according to an embodiment of the present invention. Schematic plan view.
  • a catheter pushing control method for a vascular interventional surgery robot includes a force measuring step and a regulating step, wherein the adjusting step is: setting a controller (not shown), It is used to regulate the motion parameters during the catheter 2 push process to prevent the blood vessel from being punctured during the catheter 2 push.
  • the force measuring step includes: providing a pressure sensor 51 on the friction block assembly 1 for clamping and tilting the rotation of the catheter 2 for detecting the pressure of the friction block assembly 1 against the catheter 2; A torque sensor 52 through which the conduit 2 passes is used to detect the amount of torque of the conduit 2.
  • the catheter pushing control method of the vascular interventional surgery robot detects the pressure of the two friction block assemblies 1 clamping the catheter 2 by providing the pressure sensor 51 on the friction block assembly 1 through the catheter rotation device 3
  • the torque sensor 52 is provided on the way to detect the torque of the catheter 2, and the measurement data is accurate.
  • the magnitude of the force change of the head of the catheter 2 (the end of the catheter 2 near the torque sensor 52) can be adjusted by controlling the pressure change of the two friction block assemblies 1 to clamp the catheter 2 to make it reasonable.
  • the torque of the conduit 2 can be controlled within a controllable range by the two friction block assemblies 1 swaying the linear velocity of the rotation of the conduit 2, thereby effectively preventing the catheter 2 from being overstressed or excessively torqued. Broken blood vessels.
  • the catheter pushing control method of the present invention allows the medical staff to remotely control, the harm to the medical care and the patient can be effectively reduced.
  • the tube pushing control method has the following supporting structure: two spaced-apart friction block assemblies 1 for clamping the catheter 2 or the loose tube 2 or the tilting tube 2 to rotate, and the pressure sensor 51 is embedded in one of the friction block assemblies 1 a conduit turning device 3 for driving the two friction block assemblies 1 to clamp the conduit 2 or the loose conduit 2 or the tilting conduit 2 to rotate; the conduit propulsion device 4 for driving the conduit turning device 3 to drive the two friction block assemblies 1 And the catheter 2 moves; a digital subtraction angiography machine (not shown) for guiding the movement of the catheter 2 within the blood vessel.
  • the catheter convoluting device 3, the catheter advancing device 4, the digital subtraction angiography machine (DSA), the pressure sensor 51 and the torque sensor 52 are all electrically connected to the controller, the digital subtraction angiography machine, the pressure sensor 51 and the torque sensor 52.
  • the detection information can be fed back to the controller, so that the controller can regulate the catheter tuner 3 and the catheter propulsion device 4, thereby facilitating the phenomenon that the catheter 2 punctures the blood vessel.
  • the adjusting step comprises: presetting a critical withstand pressure F0 of the blood vessel in the controller, and the controller actually controls the pressure of the two friction block assemblies 1 on the catheter 2 so that the catheter 2 is in the pushing process.
  • the resistance f is less than or equal to F0.
  • the pressure sensor 51 is used for detecting the pressure of the two friction block assemblies 1 on the catheter 2, and the controller controls the operation of the catheter rotation device 3 according to the detection information of the pressure sensor 51, thereby ensuring that during the pushing of the catheter 2,
  • the resistance f of the catheter 2 is less than or equal to the critical withstand pressure F0 of the blood vessel, which in turn prevents the catheter 2 from being overstressed and punctures the blood vessel.
  • the initial pressure of the two friction block assemblies 1 to the conduit 2 is defined as F1
  • the pressure of the friction block assembly 1 for the conduit 2 during the pushing process is defined as F2
  • the friction between the conduit 2 and the friction block assembly 1 is defined.
  • the controller controls the catheter propelling device 4 to slow down the advancement speed of the catheter 2, at the same time, control
  • the two friction blocks are controlled to slowly increase the pressure on the conduit 2 until the conduit 2 passes through the obstacle at a constant speed, and in the process of controlling the two friction blocks to slowly increase the pressure on the conduit 2, the Fl+u (F2-F1 is guaranteed). ) ⁇ F0.
  • the controller controls the catheter advancement device 4 to uniformly advance the catheter 2 without encountering an obstacle or a branching or bending of the blood vessel; and if the catheter 2 encounters an obstacle in the blood vessel, Then the controller controls the conduit propulsion device 4 and controls the conduit cyclone device 3 to slowly increase the two frictions
  • the pressure of the block assembly 1 on the catheter 2 is to ensure that the guide wire in the catheter 2 can pass through the balloon after the balloon is released, and in the process, Fl+u (F2-F1) ⁇ F0 is always ensured to effectively prevent the catheter 2 Through the obstacle, the blood vessel is puncture due to excessive force on the head of the catheter 2.
  • the friction block assembly 1 includes a friction block and a rubber sheet disposed on the friction block, and a coefficient of friction u between the tube 2 and the friction block assembly 1 is a coefficient of friction between the tube 2 and the rubber sheet.
  • the rubber sheet has good elasticity and wear resistance, does not crush the duct 2, and can increase the friction and improve the reliability of the friction block assembly 1 to clamp the duct 2.
  • the adjusting step further includes: presetting a critical torque TO of the blood vessel in the controller, and the controller actually controls the speed of the rotation of the two friction block assemblies 1 to rotate the catheter 2, so that the torque sensor 52 measures The torque T1 obtained is less than or equal to T0. Due to the influence of vascular resistance, the actual torque ⁇ 2 of the head of the catheter 2 is slightly larger than the torque T1 measured by the torque sensor 52, so that as long as T1 is less than or equal to ⁇ 0, the bay 1JT2 is necessarily smaller than ⁇ 0.
  • the torque sensor 52 is used to accurately detect the torque of the conduit 2, and the controller controls the operation of the conduit orbiting device 3 based on the detection information of the torque sensor 52, thereby ensuring that the torque sensor 52 is measured during the pushing of the conduit 2.
  • the torque T1 is less than or equal to the critical torque ⁇ 0 of the blood vessel, which in turn can effectively prevent the torque of the head of the catheter 2 from being excessively large and puncture the blood vessel.
  • the conduit tuke device 3 is defined to control the output power of the two friction block assemblies 1 to rotate the conduit 2 to ⁇ , define the radius of the conduit 2 to be r, define the angular velocity of the conduit 2 to be w, define the line of the conduit 2
  • the speed is V
  • P F*r*w
  • T F*r
  • V r* w
  • the power P and the radius r are constant values, the larger the linear velocity V is, the smaller the torque T is.
  • the torque of the head of the catheter 2 can be correspondingly reduced.
  • the controller increases the linear velocity at which the catheter orbiting device 3 twitches the rotation of the catheter 2, In order to reduce the torque of the catheter 2 at the branch or bend of the blood vessel, it is possible to avoid puncture of the blood vessel due to excessive torque of the catheter 2 head.
  • a catheter pushing device for a vascular interventional surgery robot includes two spaced-apart friction block assemblies 1 for driving two friction block assemblies 1 to clamp a catheter 2 or a ducting device 3 for rotating the loose tube 2 or the tilting tube 2, a catheter pushing device 4 for driving the tube turning device 3 to move the two friction block assemblies 1 and the catheter 2, for measuring the force of the catheter 2 Force measurement
  • the assembly 5 a digital subtraction angiography machine for imaging guiding the movement of the catheter 2 in the blood vessel and for controlling the pressure of the two friction block assemblies 1 against the catheter 2 and/or for controlling the two friction block assemblies 1
  • a controller for squeezing the rotational speed of the catheter 2 the force measuring assembly 5 includes a pressure sensor 51 disposed on the friction block assembly 1 and/or a torque sensor 52 disposed on a support base 6 for passage of the catheter 2.
  • the catheter pushing device of the vascular interventional surgery robot provided by the embodiment of the invention can sufficiently measure the resistance of the head of the catheter 2 and the torque of the catheter 2 at the same time, and can also allow the doctor to operate remotely. It reduces the harm of surgery to doctors and patients, and its compact structure, small size, light weight and convenient disinfection make it easy to promote its application in medical treatment.
  • the torque sensor 52 is connected to the conduit 2 by a base hole, and the conduit 2 passes through the torque sensor 52 in a clearance fit manner, so that the torque sensor 52 can be prevented from excessively rubbing against the conduit 2 to damage the torque sensor 52, Thereby, the service life of the torque sensor 52 is sufficiently ensured.
  • the conduit turning device 3 includes a fixing base 31 mounted on the catheter propelling device 4, and is mounted on the fixing base 31 for regulating the two friction block assemblies 1.
  • the horizontal distance between the two further realizes the tensioning mechanism 33 for clamping or loosening the duct 2 and the turning mechanism 33 mounted on the fixed seat 31 for driving the lifting and lowering movement of the two friction block assemblies 1 to sway the rotation of the duct 2.
  • the tensioning mechanism 32 can increase the horizontal distance between the two friction block assemblies 1, and can also reduce the horizontal distance between the two friction block assemblies 1, so that the two friction block assemblies 1 can clamp or loosen the catheter 2, and It is possible to enable the two friction block assemblies 1 to be used for clamping the catheters 2 of different diameters, the clamping of the catheter 2 is also relatively reliable, and the removal and placement of the catheter 2 is also convenient.
  • the rotator mechanism 33 can drive the two friction block assemblies 1 to move up and down, so that the catheter 2 can be rotated, and the problem of elastic sliding does not occur by using the gyration method, and the motor can be prevented from directly driving the sensor to drive the catheter 2 The problem of the winding of the sensor by the rotation ultimately ensures the continuous and reliable rotation of the catheter 2.
  • the fixing base 31 includes a bottom plate 311 mounted on the duct propelling device 4, a top plate 312 spaced above the bottom plate 311, and connected to The side plate 313 is disposed between the bottom plate 311 and the top plate 312 and located on the side of the horizontal sliding member 331.
  • the stretching mechanism 32 is mounted on the top plate 312, and the swing mechanism 33 is mounted on the bottom plate 311.
  • the bottom plate 311, the side plates 313 and the top plate 312 may be integrally formed
  • the tensioning mechanism 32 includes two sliding seats 321 which are spaced apart and are slidable on the fixing base 31 and are used for adjusting the two slidings.
  • the horizontal distance adjusting component 322 between the seats 321 and the two friction block assemblies 1 are respectively mounted on the two sliding blocks 321 .
  • the two sliders 321 are mounted on the top plate 312 at a specific interval.
  • the horizontal distance between the two sliding blocks 321 is adjusted by the adjusting component 322, and the horizontal distance between the two friction block assemblies 1 can be adjusted, thereby clamping or loosening the two friction block assemblies 1 to the catheter 2, and Clamping of conduits 2 of different diameters can be achieved by adjustment of the adjustment assembly 322.
  • the adjustment assembly 322 includes a first adjustment structure 3221 connected to one slide 321 and a second adjustment structure 3222 connected to the other slide 321 .
  • the two carriages 321 are respectively driven and driven by two different adjustment structures, which are convenient to adjust and facilitate the clamping of the conduits 2 of different diameters.
  • the carriage 321 connected to the first adjustment structure 3221 is described as a first carriage
  • the carriage 321 connected to the second adjustment structure 3222 is described as a second carriage.
  • the first adjusting structure 3221 includes a mounting seat 32211 mounted on the fixing base 31 and connecting between the mounting seat 32211 and the first sliding seat. Adjustment screw 32212.
  • the first carriage can be driven to move toward or away from the second carriage, so that clamping of the conduits 2 of different diameters can be achieved.
  • the first sliding seat 321 is screwed to the adjusting screw 32212 by the third screw sleeve 3223, and the third screw sleeve 3223 is provided with an adjusting screw.
  • the third screw sleeve 3223 is fixed to the first sliding seat by screwing or screwing.
  • the connection between the first sliding seat and the adjusting screw 32212 is realized by the third screw sleeve 3223, so that the threaded structure is not processed on the first sliding seat, which can reduce the manufacturing difficulty of the first sliding seat, and Helps reduce the cost of future maintenance of the equipment.
  • the third threaded hole which is screwed with the adjusting screw 32212 can be directly disposed on the first sliding seat, that is, the first sliding seat can also be directly set as the screw seat which is screwed to the adjusting screw 32212.
  • the second adjusting structure 3222 includes a third motor 32221 mounted on the fixed plate 41 and a third motor 32221 and a second sliding seat. Between the third screw 32222. Specifically, a third reduction gear box may be further disposed between the third motor 32221 and the third screw 32222.
  • the third motor 322 21 can be operated in the forward and reverse directions, and the third motor 32221 is operated to drive the third screw 32222 to rotate. The rotation of the third screw 32222 can drive the second slider to move linearly.
  • the third screw 32222 is driven by the third motor 32221 to control the pressure of the two friction block assemblies 1 on the catheter 2.
  • the second sliding seat is screwed to the third screw 32222 by the fourth screw sleeve 3224, and the fourth screw sleeve 3224 is provided with
  • the third screw rod 32222 is screwed with the internal thread
  • the fourth screw sleeve 3224 is fixedly fixed to the second sliding seat by screwing or screwing.
  • the connection between the second sliding seat and the third screw 32222 is realized by the fourth screw sleeve 3224, so that the threaded structure is not processed on the second sliding seat, which can reduce the manufacturing difficulty of the second sliding seat. And it will help reduce the future maintenance cost of the equipment.
  • the fourth threaded hole which is screwed with the third screw 32222 can be directly disposed on the second sliding seat, that is, the second sliding seat can also be directly screwed to the third screw 32222. Screw seat.
  • the tensioning mechanism 32 further includes a second horizontal sliding structure 323 disposed between the fixed seat 31 and the sliding seat 321 .
  • the arrangement of the second horizontal sliding structure 323 can further improve the stability and smoothness of the horizontal movement of the sliding seat 321 .
  • the second horizontal sliding structure 323 includes a second horizontal rail 3231 disposed on the fixing base 31 and two slidings with the second horizontal rail 3231.
  • the second horizontal slider 3 232 is matched, and the two sliding seats 321 are respectively mounted on the two second horizontal sliders 3232.
  • the second horizontal guide 3231 is specifically mounted on the top plate 312.
  • the second horizontal rail 3231 can be integrally formed with the fixing base 31, that is, the second horizontal rail 3231 is a part of the fixing base 31; or the second horizontal rail 3231 can also be separately formed with the fixing base 31 and then screwed.
  • connection mode is mounted on the fixing base 31, the screw connection is reliable, the disassembly and assembly is convenient, and the disassembly and disinfection is convenient.
  • the sliding seat 321 can be specifically mounted on the second horizontal sliding block 3232 by screws, which is reliable in fastening, convenient in disassembly and assembly, and convenient for disassembly and disinfection.
  • the arrangement of the second horizontal guide 3231 and the second horizontal slider 3 232 can support the positioning of the slider 321 on the one hand, and reduce the frictional resistance during the horizontal movement of the slider 321 on the other hand.
  • the ducting device 3 further includes two vertical sliding structures 34, wherein a vertical sliding structure 34 is disposed on a friction block assembly 1 Between one slide 321 and another slide 321 is disposed between the other friction block assembly 1 and the other slide 321 .
  • the vertical guide sliding structure 34 is arranged to further improve the stability and smoothness of the horizontal movement of the friction block assembly 1 Sex.
  • the vertical guide structure 34 includes a vertical rail 341 disposed on the carriage 321 and a vertical slider slidably engaged with the vertical rail 341.
  • the friction block assembly 1 is mounted on the vertical slider 342.
  • the vertical rail 341 can be integrally formed with the sliding block 321 , that is, the vertical rail 341 is a part of the sliding seat 321 ;
  • the vertical rail 341 can also be formed separately from the sliding seat 321 and then connected by screw connection or the like. The method is installed on the sliding seat 321 , the screw connection is fast and reliable, the disassembly and assembly is convenient, and the disassembly and disinfection is convenient.
  • the friction block can be specifically mounted on the vertical slider 342 by screws, which is reliable in fastening, convenient to disassemble and assemble, and convenient for disassembly and disinfection.
  • the arrangement of the vertical rail 341 and the vertical slider 342 can support the positioning of the friction block on the one hand, and reduce the frictional resistance during the lifting and lowering movement of the friction block on the other hand.
  • the swing mechanism 33 includes a horizontal sliding member 331 slidable on the fixing base 31, and is mounted on the fixing base 31 for driving horizontal sliding.
  • the member 331 performs a horizontal linear reciprocating horizontal drive assembly 332 and two link assemblies 333 respectively coupled between the two friction block assemblies 1 and the horizontal slide member 331.
  • the horizontal driving assembly 332 drives the horizontal sliding member 331 to move horizontally, and the two-link assembly 333 coupled to the horizontal sliding member 331 can drive the two friction block assemblies 1 to move up and down, thereby achieving the purpose of pivoting the catheter 2.
  • the horizontal driving assembly 332 includes a second motor 3321 mounted on the fixing base 31 and connected between the second motor 3321 and the horizontal sliding member 331.
  • the second screw 33 22, the second motor 3321 is specifically mounted on the bottom plate 311.
  • a second reduction gear box may also be provided between the second motor 3321 and the second lead screw 3322.
  • the second motor 3321 can be operated in the forward and reverse directions.
  • the second motor 3321 operates ⁇ to drive the second screw 3322 to rotate, and the second screw 3322 rotates to drive the horizontal sliding member 331 to move linearly.
  • the rotational speed of the second motor 3321 by adjusting the rotational speed of the second motor 3321, the speed at which the two friction block assemblies 1 sway the catheter 2 can be controlled.
  • the horizontal sliding member 331 is screwed to the second screw rod 3322 by the second screw sleeve 335, and the second screw sleeve 335 is provided with
  • the second screw rod 3322 is screwed with the internal thread
  • the second screw sleeve 335 is fixed to the horizontal sliding member 331 by screwing or screwing.
  • the connection between the horizontal sliding member 331 and the second screw rod 3322 is realized by the second screw sleeve 335, so that the horizontal sliding member 331 does not need to be processed to manufacture a thread structure, which can help reduce the manufacturing difficulty of the horizontal sliding member 331. And it will help reduce the future maintenance cost of the equipment.
  • a second threaded hole that is threadedly engaged with the second screw 3322 may be directly disposed on the horizontal sliding member 331, that is, the horizontal sliding member 331 may be directly set as a screw seat that is screwed to the second screw 3322.
  • the link assembly 333 includes a vertical rod 3331 slidably coupled to the horizontal sliding member 331 and is coupled between the vertical rod 3331 and the friction block assembly 1.
  • the slanting rod 3332 has a first curved sliding groove 3311 which is slidably engaged with the vertical rod 3331.
  • the bottom end of the upright 3331 is slidably supported in the first curved chute 3311, and the first curved chute 3311 has an arcuate surface that is in sliding engagement with the upright 3331.
  • the uprights 3331 are vertically disposed rods, and the inclined rods 3332 are obliquely disposed at an angle to the vertical direction.
  • the horizontal sliding member 331 moves horizontally, and a relative sliding occurs between the vertical rod 3331 and the horizontal sliding member 331.
  • the curved surface of the first curved sliding groove 3311 drives the vertical rod 3331 to rise or fall, and the lifting and lowering movement of the vertical rod 3331 Further, the slanting rod 3332 drives the raising or lowering movement of the friction block assembly 1 to achieve the purpose of swaying the rotation of the duct 2 by the friction block assembly 1.
  • the bottom end of the vertical rod 3331 is slidably mounted in the first curved chute 3311 through the first hinge shaft 30 1 .
  • the top end of the 3331 is connected to the bottom end of the diagonal rod 3 332 through the second hinge shaft 302, and the top end of the diagonal rod 3332 is connected to the friction block through the third hinge shaft 303.
  • the connection between the bottom end of the upright 3331 and the first curved chute 3311 is a sliding connection, that is, the bottom end of the upright 3331 is slidable within the first arc chute 3311.
  • connection between the vertical rod 3331 and the first hinge shaft 301 and the second hinge shaft 302 is a fixed connection, that is, the relative rotation between the vertical rod 3331 and the first hinge shaft 301 and the second hinge shaft 302 is not possible;
  • connection between the 3332 and the second hinge shaft 302 and the third hinge shaft 303 is a rotational connection, that is, relative rotation between the diagonal rod 3332 and the second hinge shaft 302 and the third hinge shaft 303 can occur.
  • one end of the first hinge shaft 301 is rotatably mounted on the fixing base 31 by a first bearing, and the other end of the first hinge shaft 310 is mounted on the horizontal sliding member 331 by two spaced second bearings.
  • the bottom end of the pole 3331 is fixedly coupled to the first hinge shaft 301 and located between the two second bearings.
  • the second bearing is disposed to support the first hinge shaft 301 by the horizontal sliding member 331, and to prevent the first hinge shaft 301 from interfering with the sliding of the horizontal sliding member 331.
  • the bottom end of the upright 3331 can be connected to the first hinge shaft 301 by a screw connection or an interference fit, which can prevent relative rotation between the vertical rod 3331 and the first hinge shaft 301, thereby ensuring horizontal sliding.
  • the curved surface of the horizontal sliding member 331 can effectively drive the up or down movement of the upright 3331.
  • two horizontal sliding members 331 are respectively located.
  • the second curved chutes 3312 on both sides of the first curved chute 3311 and the two second bearings on both sides of the vertical rod 3331 are slidably mounted in the two second curved chutes 3312, respectively.
  • the arrangement of the second curved chute 3312 can be used for positioning and positioning of the second bearing on the one hand, and can ensure that the second bearing does not interfere with the movement of the horizontal sliding member 331 during horizontal movement of the horizontal sliding member 331 on the other hand.
  • one end of the second hinge shaft 302 is rotatably mounted on the fixing seat 31 through the third bearing, and the other end of the second hinge shaft 302 is passed through the top end of the connecting rod 3331 and the bottom end of the diagonal rod 3332;
  • One end of the third hinge shaft 303 is fixed to the friction block assembly 1, and the other end of the third hinge shaft 303 is passed through the top end of the connection diagonal rod 3332.
  • the third hinge shaft 303 is specifically fixed to the friction block by a threaded connection.
  • the top end of the vertical rod 3331 is fixedly connected to the second hinge shaft 302 by a screw connection or a hard fit.
  • the bottom end of the diagonal rod 3332 is mounted on the second hinge shaft 302 through the fourth bearing, and the top end of the diagonal rod 3332 passes through the fifth.
  • the bearing is mounted on the third hinge shaft 303
  • the spinning mechanism 33 further includes a third horizontal sliding structure 334 disposed between the fixed seat 31 and the horizontal sliding member 331.
  • the arrangement of the third horizontal guide structure 334 can further improve the stability and smoothness of the horizontal movement of the horizontal sliding member 331.
  • the third horizontal sliding structure 334 includes a third horizontal rail 3341 disposed on the fixing base 31 and a sliding fit with the third horizontal rail 3341.
  • the third horizontal slider 3342 and the horizontal sliding member 331 are mounted on the third horizontal slider 3342.
  • the third horizontal guide 3341 is specifically mounted on the bottom plate 311.
  • the third horizontal rail 3341 can be integrally formed with the bottom plate 311, that is, the third horizontal rail 334 1 can be a part of the bottom plate 311; or the third horizontal rail 3341 can be separately formed from the bottom plate 311 and then connected by screws.
  • the connection mode is mounted on the bottom plate 311.
  • the horizontal sliding member 331 is specifically preferably mounted to the third horizontal slider 3342 by screw connection, which is reliable in fastening and convenient to assemble and disassemble.
  • the arrangement of the third horizontal guide 3341 and the third horizontal slider 3342 can support the horizontal sliding member 331 on the one hand, and reduce the frictional resistance received during the horizontal movement of the horizontal sliding member 331 on the other hand.
  • the duct propulsion device 4 includes a fixing plate 41, a bearing member 42 slidable on the fixing plate 41, and a mounting plate 41 for driving the carrier member 42.
  • the linear reciprocating propulsion mechanism 43 is attached to the carrier member 42 and the support base 6 is attached to the fixing plate 41.
  • the ducting device 3 is specifically mounted to the carrier member 42 via a bottom plate 311.
  • the propulsion mechanism 43 drives the carrying member 42 to move horizontally, and the conduit turning device 3 mounted on the carrying member 42 can drive the conduit 2 -
  • the horizontal movement is performed to achieve the purpose of swaying the rotation of the catheter 2.
  • the support base 6 is preferably mounted on the fixing plate 41 by screws, which is convenient for disassembly and assembly.
  • the horizontal movement direction of the propulsion mechanism 43 driving the bearing member 42 and the horizontal movement direction of the horizontal driving assembly 332 driving the horizontal sliding member 331 are perpendicular to each other, and the stretching mechanism 32 drives the horizontal movement direction and the horizontal driving of the friction block assembly 1.
  • the assembly 332 drives the horizontal moving directions of the horizontal sliding members 331 to be parallel to each other.
  • the horizontal sliding member 331 is located above the carrier member 42, and the friction block assembly 1 is located above the horizontal sliding member 331.
  • the propulsion mechanism 43 includes a first motor 41 mounted on the fixed plate 41 and a first screw connected between the first motor 431 and the carrier member 42. 432.
  • the first motor 431 is specifically mounted on the fixing plate 41.
  • a first reduction gear box may be disposed between the first motor 431 and the first lead screw 432.
  • the first motor 431 can be operated in the forward and reverse directions.
  • the first motor 431 is operated to drive the first screw 432 to rotate, and the first screw 432 is rotated to drive the carrier member 42 to move linearly.
  • the pushing speed of the duct 2 can be controlled by adjusting the rotational speed of the first motor 431.
  • the push-pull of the catheter 2 in the blood vessel is achieved by a combination of the motor and the screw rod, and the amount of feed per feed is sufficiently large.
  • the carrier member 42 is screwed to the first screw rod 432 by the first screw sleeve 44, and the first screw sleeve 44 is provided with the thread of the first screw rod 432.
  • the mating internal thread, the first screw sleeve 44 is fixedly mounted to the carrier member 42 by screwing or screwing.
  • the connection between the bearing member 42 and the first screw rod 432 is realized by the first screw sleeve 44.
  • the threaded structure is not required to be processed on the bearing member 42, which can reduce the manufacturing difficulty of the bearing member 42 and is beneficial to the manufacturing. Reduce the cost of future maintenance of the equipment.
  • the first threaded hole which is screwed with the first screw rod 4 32 can be directly disposed on the bearing member 42, that is, the bearing member 42 can also be directly screwed to the first screw rod 432. Screw seat.
  • the catheter advancement device 4 further includes a first horizontal guide structure 45 disposed between the fixed plate 41 and the carrier member 42.
  • the arrangement of the first horizontal guide structure 45 can further improve the stability and smoothness of the horizontal movement of the bearing member 42.
  • the first horizontal sliding structure 45 includes two first horizontal rails 451 and two and two horizontal rails respectively disposed on the fixing plate 41.
  • the first horizontal slider 452 of the sliding joint is 451, and two ends of the bearing member 42 are respectively mounted on the two first horizontal sliders 452.
  • First level The guide rail 451 can be integrally formed with the fixing plate 41, that is, the first horizontal rail 451 can be a part of the solid bottom plate 311; or the first horizontal rail 451 can also be separately formed with the fixing plate 41 and then connected by screws or the like.
  • the bearing member 42 is specifically mounted on the first horizontal slider 452 by screw connection, which is reliable in fastening and convenient to disassemble.
  • the arrangement of the first horizontal rail 451 and the first horizontal slider 425 can support the bearing member 42 on the one hand and reduce the frictional resistance during the horizontal movement of the bearing member 42 on the other hand.
  • the bearing member 42 is an inverted "convex" shaped plate-shaped member, which has a simple structure and is advantageous for ensuring the reliability of the bearing member 42 being connected to the first screw 432 and the two first sliders.
  • the friction block assembly 1 includes a friction block and a rubber sheet disposed on the friction block, the friction block is coupled to the conduit turning device 3, and the pressure sensor 51 is embedded in a friction block.
  • the rubber sheet has good elasticity and wear resistance, does not crush the duct 2, and can increase the friction and improve the reliability of the friction block assembly 1 to clamp the duct 2.
  • the rubber sheet is fixed to the friction block by bonding, the disassembly and assembly is convenient, the installation is stable and reliable, and the rubber piece can be prevented from being mounted by using other fasteners to cause the rotation or clamping of the catheter 2 to be clamped or tilted.
  • the firmware crushes the conduit 2.
  • the catheter pushing device of the vascular interventional surgery robot provided by the embodiment of the invention has the advantages of compact structure, small volume, light weight, convenient disinfection, and convenient application in medical treatment.
  • the horizontal distance between the two friction block assemblies 1 is adjusted by the tensioning mechanism 32 to drive the two friction block assemblies 1 to clamp or loosen the catheter 2, so that the embodiment of the present invention can be made
  • the catheter pushing device of the vascular interventional robot can be adapted to adapt to the catheter 2 of different diameters, and it is convenient to take out and insert the catheter 2, and the clamping catheter 2 is also more reliable; on the other hand, the two friction blocks are driven up and down by the gyro mechanism 33.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Hematology (AREA)
  • Anesthesiology (AREA)
  • Biophysics (AREA)
  • Pulmonology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé de commande d'avancement de cathéter et un dispositif d'avancement de cathéter pour un robot d'intervention chirurgicale sur un vaisseau, le procédé de commande d'avancement de cathéter comprenant une étape de mesure de force et une étape de réglage et de commande. L'étape de réglage et de commande comprend la fourniture d'un dispositif de commande pour ajuster et commander des paramètres de mouvement d'un cathéter (2) pendant son avancement, afin d'empêcher le cathéter (2) de percer un vaisseau pendant son avancement. L'étape de mesure de force consiste à : fournir, sur un composant de bloc de frottement (1) pour serrer et tordre le cathéter (2) pour tourner, un capteur de pression (51) pour mesurer la force de pression exercée par le composant de bloc de frottement (1) sur le cathéter (2); et fournir, sur une base de support (6), un capteur de couple (52) qui permet au cathéter (2) de passer à travers celui-ci et sert à mesurer le couple sur le cathéter (2). Ce procédé de mesure indirecte peut mesurer, en même temps, la résistance à la pointe du cathéter (2) et le couple sur le cathéter (2), de façon à atteindre l'objectif de commande de déplacement efficace du cathéter (2). Le procédé de mesure indirecte permet une commande à distance par un médecin, réduisant significativement les risques chirurgicaux pour le personnel médical et un patient.
PCT/CN2017/079270 2017-04-01 2017-04-01 Procédé de commande d'avancement de cathéter et dispositif d'avancement de cathéter pour un robot d'intervention chirurgicale sur un vaisseau WO2018176458A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2017/079270 WO2018176458A1 (fr) 2017-04-01 2017-04-01 Procédé de commande d'avancement de cathéter et dispositif d'avancement de cathéter pour un robot d'intervention chirurgicale sur un vaisseau
CN201780000453.6A CN107106155B (zh) 2017-04-01 2017-04-01 血管介入手术机器人的导管推送控制方法及导管推送设备

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/079270 WO2018176458A1 (fr) 2017-04-01 2017-04-01 Procédé de commande d'avancement de cathéter et dispositif d'avancement de cathéter pour un robot d'intervention chirurgicale sur un vaisseau

Publications (1)

Publication Number Publication Date
WO2018176458A1 true WO2018176458A1 (fr) 2018-10-04

Family

ID=59664529

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/079270 WO2018176458A1 (fr) 2017-04-01 2017-04-01 Procédé de commande d'avancement de cathéter et dispositif d'avancement de cathéter pour un robot d'intervention chirurgicale sur un vaisseau

Country Status (2)

Country Link
CN (1) CN107106155B (fr)
WO (1) WO2018176458A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3115670A1 (fr) * 2020-10-29 2022-05-06 BEIJING WEMED MEDICAL EQUIPMENT Co.,Ltd. Un dispositif et un procede de retour de force de friction d'un fil de guidage pour une intervention chirurgicale robotisee
US11744659B2 (en) 2019-07-19 2023-09-05 Corindus, Inc. Load sensing of elongated medical device in robotic actuation
JP2023539964A (ja) * 2021-08-10 2023-09-21 深▲セン▼市▲愛▼博医▲療▼机器人有限公司 力検出機能付きのインターベンション手術支援ロボットのスレーブ側のガイドワイヤカテーテル駆動装置
JP2024530548A (ja) * 2022-08-08 2024-08-23 深▲セン▼愛博合創医療机器人有限公司 インターベンション手術ロボットのスレーブ端駆動装置及び細長い医療器具の送出方法

Families Citing this family (44)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107106244B (zh) * 2017-04-01 2020-06-12 中国科学院深圳先进技术研究院 血管介入手术机器人的导管捻旋装置
WO2018176458A1 (fr) * 2017-04-01 2018-10-04 中国科学院深圳先进技术研究院 Procédé de commande d'avancement de cathéter et dispositif d'avancement de cathéter pour un robot d'intervention chirurgicale sur un vaisseau
CN107744616B (zh) * 2017-08-31 2024-07-19 首都医科大学附属北京天坛医院 一种导管控制器及其使用方法
CN107496007A (zh) * 2017-09-27 2017-12-22 孙华景 一种电磁式冲击波骨科治疗装置
CN107661562B (zh) * 2017-10-20 2020-04-10 贾伟 可精确进给的手术中导管固定装置及其工作方法
CN107569286A (zh) * 2017-10-24 2018-01-12 广西南宁栩兮科技有限公司 一种高精度医疗用机械手
CN108158656B (zh) * 2017-11-27 2024-02-27 深圳爱博合创医疗机器人有限公司 血管腔内介入手术机器人导丝/导管操作扭矩检测装置
WO2019113867A1 (fr) * 2017-12-14 2019-06-20 深圳先进技术研究院 Fil-guide de robot chirurgical d'intervention sur vaisseau sanguin et appareil d'actionnement de cathéter
CN108114360B (zh) * 2017-12-19 2020-06-16 深圳先进技术研究院 血管介入手术导丝/导管递送装置
WO2019119259A1 (fr) * 2017-12-19 2019-06-27 深圳先进技术研究院 Dispositif distributeur de fil-guide/cathéter pour opération d'intervention vasculaire
CN108283757B (zh) * 2018-01-19 2020-11-13 武汉联影智融医疗科技有限公司 介入导管、介入导管的引导头、介入系统及方法
CN108245765A (zh) * 2018-01-23 2018-07-06 齐振勇 一种用于输血的导管推送装置
CN108704214B (zh) * 2018-04-28 2021-11-30 燕山大学 微创血管介入手术机器人导管/导丝旋转机构及推进装置
CN108670306A (zh) * 2018-06-16 2018-10-19 深圳北芯生命科技有限公司 介入式医疗器械的回撤系统
CN109008931B (zh) * 2018-08-09 2019-12-31 天津大学 机器人操作输尿管软镜防弯曲机构
US11406334B2 (en) * 2018-08-31 2022-08-09 Philips Image Guided Therapy Corporation Intravascular device movement speed guidance and associated devices, systems, and methods
CN109330661A (zh) * 2018-10-17 2019-02-15 深圳达芬奇创新科技有限公司 一种血管深处血脂垃圾医疗清理机构
CN109568767B (zh) * 2018-11-23 2021-05-18 田文静 一种外科护理导管辅助插管机
CN109939332B (zh) * 2019-03-11 2021-06-29 南京航空航天大学 一种具有三维力感知能力的血管介入手术用捻旋装置
CN109938749B (zh) * 2019-04-03 2021-09-14 李�浩 一种动脉位置检测装置及其使用方法
CN110009962B (zh) * 2019-04-16 2023-10-10 西南石油大学 基于运动缩放的血管介入手术训练系统
CN110327116B (zh) * 2019-07-09 2020-06-30 中国科学院自动化研究所 血管介入手术机器人的导管递送装置
CN110236680B (zh) * 2019-07-10 2020-07-21 北京唯迈医疗设备有限公司 一种介入手术机器人往复运动装置
CN110840566B (zh) * 2019-11-07 2021-06-29 北京唯迈医疗设备有限公司 介入手术机器人导丝夹紧和搓动装置
CN110859673A (zh) * 2019-11-07 2020-03-06 北京唯迈医疗设备有限公司 介入手术机器人往复推拉导丝和测距装置
CN110721380B (zh) * 2019-11-18 2022-07-05 北京大学人民医院(北京大学第二临床医学院) 一种可自主实施气管插管的装置
CN110859674B (zh) * 2019-11-26 2020-11-20 北京唯迈医疗设备有限公司 一种介入手术机器人主端控制装置
CN111035453B (zh) * 2019-11-27 2025-02-11 北京理工大学 一种用于血管腔内介入手术机器人的导管体外防弯曲装置
CN111012995B (zh) * 2019-11-27 2022-04-19 南京医科大学 一种稳定性好的介入医学用治疗主推装置
CN111329582B (zh) 2020-03-17 2021-04-13 上海奥朋医疗科技有限公司 血管介入用弹性聚拢自对中平板夹持机械手指
CN111743631A (zh) * 2020-06-29 2020-10-09 宜昌市中心人民医院(三峡大学第一临床医学院、三峡大学附属中心人民医院) 微创介入连续体手术机器人及其操作方法
CN111939433A (zh) * 2020-08-19 2020-11-17 深圳海医达高分子科技有限公司 一种医用导管装置
CN112120791B (zh) * 2020-09-30 2021-12-31 中国科学院深圳先进技术研究院 一种血管介入手术机器人主端操控装置
CN112168360B (zh) * 2020-10-09 2025-02-18 生一科技(北京)有限公司 导管输送机构
CN112827054A (zh) * 2021-01-07 2021-05-25 冯俊波 一种适用于大血管手术的插管推进装置
CN112932675B (zh) * 2021-03-15 2022-12-20 上海交通大学 一种多维力觉反馈的管线操纵装置
CN113289201A (zh) * 2021-05-06 2021-08-24 深圳高性能医疗器械国家研究院有限公司 一种血管介入手术辅助执行装置
CN113350661B (zh) * 2021-06-24 2023-01-24 安徽省立医院(中国科学技术大学附属第一医院) 一种基于影像辅助的心血管手术插管装置
CN115400326B (zh) * 2021-09-18 2024-09-17 瀚芯医疗科技(深圳)有限公司 支撑装置及介入式医疗系统
CN113951946B (zh) * 2021-10-22 2023-11-17 中国科学院自动化研究所 血管介入器械推送装置及方法
CN114246686B (zh) * 2021-12-24 2025-08-12 天津科技大学 一种末端微动误差补偿的介入手术机械手
CN114796797B (zh) * 2022-04-01 2023-12-29 北京唯迈医疗设备有限公司 一种导引导管和造影导管的控制装置
CN116196110A (zh) * 2023-04-28 2023-06-02 北京唯迈医疗设备有限公司 一种可自动调节夹紧力的球囊支架导管推送装置
CN119075146A (zh) * 2024-10-18 2024-12-06 徐州市中心医院 一种血管介入手术机器人的导管递送装置及递送方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060089533A1 (en) * 2003-04-14 2006-04-27 Softscope Medical Technologies, Inc. Self-propellable endoscopic apparatus and method
US20100204646A1 (en) * 2009-02-11 2010-08-12 Gianni Plicchi Robotic manipulator for the remote maneuvering of catheters
CN101879346A (zh) * 2010-07-03 2010-11-10 燕山大学 微创血管介入手术机器人导管捻旋装置
CN102462536A (zh) * 2010-11-18 2012-05-23 无锡佑仁科技有限公司 一种用于血管介入手术机器人的导管推进操作装置
CN203935213U (zh) * 2014-05-16 2014-11-12 天津理工大学 一种主从微创血管介入手术辅助系统从操作器装置
CN106535808A (zh) * 2014-06-12 2017-03-22 罗博凯思公司 用于引导细长柔性医疗器械的机器人化模块
CN107106155A (zh) * 2017-04-01 2017-08-29 中国科学院深圳先进技术研究院 血管介入手术机器人的导管推送控制方法及导管推送设备

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6817973B2 (en) * 2000-03-16 2004-11-16 Immersion Medical, Inc. Apparatus for controlling force for manipulation of medical instruments
US8052636B2 (en) * 2004-03-05 2011-11-08 Hansen Medical, Inc. Robotic catheter system and methods
CN202640107U (zh) * 2012-04-13 2013-01-02 梁宏光 一种布轮自动抛光机
CN102706889B (zh) * 2012-05-31 2015-08-12 东莞市新泽谷机械制造股份有限公司 料盘装卸方便的视觉检测设备
CN103239791B (zh) * 2013-04-28 2015-06-17 北京航空航天大学 一种心血管介入手术中的实时导管介入信息测量装置
CN104287841B (zh) * 2014-11-10 2016-05-04 上海速介机器人科技有限公司 血管介入手术机器人导丝导管操纵装置及其控制方法
CN104644270B (zh) * 2015-02-05 2016-09-07 北京航空航天大学 一种基于反向丝杠的导管操纵装置
CN105606358B (zh) * 2016-03-25 2018-05-22 航天科技控股集团股份有限公司 一种全自动仪表指针拉力检测装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060089533A1 (en) * 2003-04-14 2006-04-27 Softscope Medical Technologies, Inc. Self-propellable endoscopic apparatus and method
US20100204646A1 (en) * 2009-02-11 2010-08-12 Gianni Plicchi Robotic manipulator for the remote maneuvering of catheters
CN101879346A (zh) * 2010-07-03 2010-11-10 燕山大学 微创血管介入手术机器人导管捻旋装置
CN102462536A (zh) * 2010-11-18 2012-05-23 无锡佑仁科技有限公司 一种用于血管介入手术机器人的导管推进操作装置
CN203935213U (zh) * 2014-05-16 2014-11-12 天津理工大学 一种主从微创血管介入手术辅助系统从操作器装置
CN106535808A (zh) * 2014-06-12 2017-03-22 罗博凯思公司 用于引导细长柔性医疗器械的机器人化模块
CN107106155A (zh) * 2017-04-01 2017-08-29 中国科学院深圳先进技术研究院 血管介入手术机器人的导管推送控制方法及导管推送设备

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11744659B2 (en) 2019-07-19 2023-09-05 Corindus, Inc. Load sensing of elongated medical device in robotic actuation
FR3115670A1 (fr) * 2020-10-29 2022-05-06 BEIJING WEMED MEDICAL EQUIPMENT Co.,Ltd. Un dispositif et un procede de retour de force de friction d'un fil de guidage pour une intervention chirurgicale robotisee
JP2023539964A (ja) * 2021-08-10 2023-09-21 深▲セン▼市▲愛▼博医▲療▼机器人有限公司 力検出機能付きのインターベンション手術支援ロボットのスレーブ側のガイドワイヤカテーテル駆動装置
EP4154838A4 (fr) * 2021-08-10 2023-10-18 Shenzhen Institute of Advanced Biomedical Robot Co., Ltd. Dispositif d'entraînement de fil-guide/cathéter d'extrémité esclave de robot chirurgical d'intervention doté d'une fonction de mesure de force
JP7452902B2 (ja) 2021-08-10 2024-03-19 深▲セン▼愛博合創医療机器人有限公司 力検出機能付きのインターベンション手術支援ロボットのスレーブ側のガイドワイヤカテーテル駆動装置
US20240206998A1 (en) * 2021-08-10 2024-06-27 Shenzhen Institute Of Advanced Biomedical Robot Co., Ltd. Slave-end guidewire/catheter driving apparatus of interventional surgical robot with force detection function
JP2024530548A (ja) * 2022-08-08 2024-08-23 深▲セン▼愛博合創医療机器人有限公司 インターベンション手術ロボットのスレーブ端駆動装置及び細長い医療器具の送出方法
JP7575500B2 (ja) 2022-08-08 2024-10-29 深▲セン▼愛博合創医療机器人有限公司 インターベンション手術ロボットのスレーブ端駆動装置及び細長い医療器具の送出方法

Also Published As

Publication number Publication date
CN107106155B (zh) 2020-06-12
CN107106155A (zh) 2017-08-29

Similar Documents

Publication Publication Date Title
WO2018176458A1 (fr) Procédé de commande d'avancement de cathéter et dispositif d'avancement de cathéter pour un robot d'intervention chirurgicale sur un vaisseau
CN107106244B (zh) 血管介入手术机器人的导管捻旋装置
CN111110989B (zh) 一种血管介入手术导丝导管推进装置
CN113995940B (zh) 一种微创血管介入手术机器人执行装置
US11154689B2 (en) Vascular interventional instrument control device with double guide wires or balloons
CN108704214B (zh) 微创血管介入手术机器人导管/导丝旋转机构及推进装置
WO2021008076A1 (fr) Dispositif chirurgical d'intervention vasculaire
CN103083783B (zh) 一种基于带夹持的血管介入手术导管或导丝操纵装置
CN104042259B (zh) 一种主从微创血管介入手术辅助系统从操作器装置
CN103157170B (zh) 一种基于两点夹持的血管介入手术导管或导丝操纵装置
CN113827342B (zh) 一种微创血管介入手术机器人导丝递送旋捻装置
CN107019526B (zh) 一种用于前列腺介入的超声探头位姿调整装置
CN108514448A (zh) 血管介入手术机器人导丝、导管操控装置
WO2014127598A1 (fr) Dispositif de commande de conduit ou fil-guide pour opération interventionnelle sur un vaisseau sanguin
CN114082081B (zh) 一种摩擦轮旋转式的血管介入手术机器人
CN113974787B (zh) 血管介入器械搓捻装置及方法
CN105709325A (zh) 一种介入导管输送操作装置
CN111970988A (zh) 机器人手术系统及其机器人臂推车
CN113951946B (zh) 血管介入器械推送装置及方法
CN115517769A (zh) 一种用于肝癌治疗的微创介入手术机器人执行装置
CN116059500A (zh) 一种自动控制导管运动的输送装置及其输送方法
CN110464295A (zh) 用于头颈外科的可控式防移动装置
CN204261173U (zh) 介入导管输送操作装置
CN218739819U (zh) 一种血管介入用辅助装置
CN214596393U (zh) 一种头部偏转调节床

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17904179

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17904179

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 03/02/2020).

122 Ep: pct application non-entry in european phase

Ref document number: 17904179

Country of ref document: EP

Kind code of ref document: A1