Robot operating device for minimally invasive vascular intervention operation

Abstract

The invention belongs to the field of medical rehabilitation equipment, and particularly relates to a robot operating device for a minimally invasive vascular intervention operation. The device comprises a base, a force sense control mechanism and a position control mechanism. The force sense control mechanism comprises a first support, a motor, a torque sensor, a first belt wheel, a first position encoder, a linear guide rail, an operating rod support, an operating rod, a second position encoder, a touch switch, a second support, a second belt wheel and a first belt. The position control mechanism comprises a first support frame, a rotating rod, an operating hand wheel assembly, a second belt, a third belt wheel, a second support frame, a fourth belt wheel, a third position encoder, a third belt, a magnetic powder brake, a fifth belt wheel and a fourth position encoder. The device can simulate an operation action of a doctor on a microcatheter / guide wire during an operation accordingto the doctor's operation requirements during the operation, and can switch between a force control mode and a position control mode according to actual situation during the operation, so that the force sense of presence is more real.

Description

technical field [0001] The invention belongs to the technical field of medical rehabilitation equipment, and in particular relates to a robot operating device for minimally invasive vascular interventional surgery. Background technique [0002] Cardiovascular disease is a major killer that threatens the health of residents, and the incidence rate continues to rise. One of the current means of treating cardiovascular disease is to use a guide wire to deliver implants to unclog blood vessels. Traditional minimally invasive vascular surgery mainly uses skilled doctors to insert surgical instruments such as catheters, guide wires, microcatheters and balloons manually under the monitoring and guidance of X-ray images or other grayscale images. However, because the bending radius of the front end of the existing catheter is fixed, and the blood vessels in the human body are curved, narrow, irregular, and have many branches, there is a certain risk when the doctor performs the ins...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the common clumsiness and dexterity of the operating devices in the prior art, and provide a robot operating device for minimally invasive vascular interventional surgery with functions of position control and force sense control

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