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Mechanical robot system for precise interventional operation of microfine filaments and tubes

A robot and silk tube technology, applied in the direction of catheters, guide wires, etc., can solve the problems of discontinuous advancement, complex structure, limited travel, etc., to increase the success rate, facilitate sterilization or replacement, and facilitate installation and operation. Effect

Active Publication Date: 2018-11-27
J ROBOTICS MEDICAL LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

And the structure is more complex, the catheter advances with a screw slide, the stroke is limited or the advance is discontinuous, and there is no torque feedback

Method used

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  • Mechanical robot system for precise interventional operation of microfine filaments and tubes
  • Mechanical robot system for precise interventional operation of microfine filaments and tubes
  • Mechanical robot system for precise interventional operation of microfine filaments and tubes

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Embodiment Construction

[0044] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0045] refer to figure 1 As shown, it is a schematic structural diagram of the actuator 3 in a preferred embodiment of the present invention. The actuator shown in the figure includes a catheter 6, a catheter driving module 7, a catheter end installation module 8, a guide wire 9 and a working catheter 10, and a guide wire. Wire and working catheter driving module 11, linear module 12, force sensor 13, slider 14, and linear module driving motor 15. in:

[0046] The catheter driving module 7 is co...

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Abstract

The invention provides a mechanical robot system for precise interventional operation of microfine filaments and tubes. The system includes a main-end device and an execution mechanism, and the main-end device and the execution mechanism adopt a master-slave control pattern to achieve movement of a catheter, a guiding filament and a working catheter. The execution mechanism detects the axial forceof the catheter through a force sensor, current in corresponding magnitude is output by means of a current control pattern of an axial feedback motor of the main-end device, thus corresponding obstruction torque is generated on a rope wheel of the main-end device, and a user can feel the resistance performed on the catheter when pulling a transmission rope of the main-end device. The introduction, retraction and rotation of the catheter, the guiding filament and the working catheter (a sacculus stent) can be achieved stably and precisely. The cooperative movement of the catheter, the guidingfilament and the working catheter can be achieved at the same time, the movement of the catheter, the guiding filament and the working catheter is independent, the force feedback function is improved,the success rate of operations is increased, and a doctor can feel the resistance performed on the catheter and the guiding filament in an operating room in real time.

Description

technical field [0001] The present invention relates to medical equipment, in particular to a surgical robot, and further to a robot mechanical system for precise interventional operation of micro-filament tubes. Background technique [0002] Wire tubes, especially fine guide wires and catheters, are commonly used objects in the fields of medical treatment or precision engineering. In the medical field, by manipulating the rotation and translation motion of the fine silk tube, it can be controlled to move along the patient's blood vessel and reach the designated organ, so as to complete the corresponding treatment task. For example, for cardiovascular diseases, the application of guide wire catheters is very common. [0003] Cardiovascular diseases mainly include coronary heart disease, myocardial infarction, vascular disease, arrhythmia, and congenital heart disease, etc. The treatment methods mainly include drug relief and interventional surgery. Interventional surgery r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61M25/09
CPCA61M25/09041
Inventor 付庄张楠
Owner J ROBOTICS MEDICAL LTD
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