Master-slave teleoperation vascular intervention surgical robot

Abstract

The invention relates to a master-slave teleoperation vascular intervention surgical robot which comprises a master control mechanism, a slave propulsion mechanism and a PMAC (Programmable Multi-Axis Controller); the master control mechanism serves as the operating end for a doctor; the slave propulsion mechanism serves as an actuating mechanism of the robot, and used in an operating room for replacing the doctor to hold a catheter for completing the motion function of the catheter; and the PMAC is used for realizing information transfer between the master control mechanism and the slave propulsion mechanism, so that the slave catheter propulsion mechanism moves according to the motion information of the master control mechanism. The master-slave teleoperation vascular intervention surgical robot has the advantages that the master-slave teleoperation method is adopted for assisting the doctor to perform the operation, the slave propulsion mechanism realizes the axial feeding and circumferential rotation motion of the catheter, and is used in the operating room for replacing the doctor to hold the catheter, so that the doctor is free from the operating room, and outside the operating room without ray radiation, the master control mechanism realizes the teleoperation of the catheter propulsion mechanism to avoid the doctor from ray radiation; and the operation is stable and reliable, the operation accuracy is high, and the operation quality is favorably improved.

Description

technical field [0001] The invention relates to a medical robot, which belongs to the technical field of medical devices, and specifically relates to a vascular interventional surgery robot adopting a master-slave operation mode, which is used to assist doctors in vascular interventional surgery. Background technique [0002] Modern surgery is developing in the direction of minimally invasive surgery, replacing the traditional "open" surgery, and achieving treatment with minimal trauma. Vascular interventional surgery is one of the important branches. The doctor manipulates the catheter (a kind of rigid flexible tube) to move in the human blood vessel to treat the lesion, so as to achieve the purpose of embolizing malformed blood vessels, dissolving thrombus, and dilating narrow blood vessels. Less trauma, fewer complications, safe and reliable, fast postoperative recovery and other advantages. [0003] In the prior art, the doctor operates the catheter with bare hands, whi...

AI Technical Summary

Problems solved by technology

[0004] At present, foreign countries have developed robots to assist doctors in surgery, but the price is expensive and the operation process is complicated, which is not conducive to doctor training and promotion, and is not an urgently needed technology in China.

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