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Slave hand end tube feeding device of interventional operation robot

A technology for interventional surgery and robotics, applied in surgical robots and other directions, can solve the problems of inability to perform progressive and twisting operations at the same time, low control accuracy, and prolonged operation time, etc., to achieve easy disinfection and maintenance, safe operation, and stable transmission. Effect

Inactive Publication Date: 2020-11-24
FUDAN UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

[0004] However, the control accuracy of the existing surgical robots is not high, and the progressive and twisting operations cannot be performed at the same time, resulting in inconvenient operation and prolonging the operation time

Method used

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  • Slave hand end tube feeding device of interventional operation robot
  • Slave hand end tube feeding device of interventional operation robot
  • Slave hand end tube feeding device of interventional operation robot

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Experimental program
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Embodiment

[0027] According to the requirements of minimally invasive vascular interventional surgery, the catheter (flexible hose with a certain rigidity) needs to be clamped with a suitable clamping force before entering the blood vessel (fluid with a certain viscosity), and it needs to complete the straight line and rotation after entering the blood vessel. Sports and compound sports of the two. On the basis of ensuring the realization of functions, the tube delivery mechanism of minimally invasive vascular interventional surgery robots should be as compact in structure, small in size and light in weight as possible. The pipe feeding mechanism should realize two kinds of linear and rotary motions. In the design process, the affiliation relationship between the two linear and rotary motions is comprehensively compared, that is, the linear mechanism is subordinate to the rotary mechanism and the rotary mechanism is subordinate to the linear mechanism. The linear mechanism is subordinate ...

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Abstract

The invention relates to an interventional operation robot slave hand end tube feeding device which is used for achieving axial feeding and circumferential rotation of a catheter and comprises a cylindrical hollow shell, an axis linear feeding mechanism and a circumferential rotation mechanism, the axis linear feeding mechanism and the circumferential rotation mechanism are arranged on a fixing plate in the shell, and the catheter penetrates in from center of left side panel of shell, passes through the axis linear feeding mechanism and the circumferential rotating mechanism and then penetrates out from the center of right side panel of the shell. Compared with the prior art, the device has the advantages that the device has two degrees of freedom, is safe and simple to operate and the like.

Description

technical field [0001] The invention relates to the field of medical equipment, in particular to a tube delivery device for an interventional surgery robot from the hand. Background technique [0002] Minimally invasive interventional therapy is carried out under the guidance of images, with minimal trauma (no skin incision, only puncture needle eye) to insert instruments or drugs into the diseased tissue, and perform physical, mechanical or chemical treatment on the minimally invasive technology . [0003] Cardiovascular and cerebrovascular diseases are collectively referred to as cardiovascular and cerebrovascular diseases. disease. Cardiovascular and cerebrovascular disease is a common disease that seriously threatens human beings. It has the characteristics of high prevalence, high disability rate and high mortality rate. Even if the most advanced and perfect treatment methods are applied, more than 50% of the brain Survivors of vascular accidents cannot take care of ...

Claims

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Application Information

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IPC IPC(8): A61B34/37
CPCA61B34/37A61B2034/301A61B2034/303
Inventor 王洪波侯超王富豪王旭升罗静静康晓洋李亚峰刘勐
Owner FUDAN UNIV
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