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Main hand end operating mechanism of vascular minimally invasive interventional surgery robot

A surgical robot and minimally invasive intervention technology, applied in the field of medical robotics, can solve the problems of no force feedback, large size, and inconvenient operation, etc., and achieve the effect of alleviating the tension of occupying space, speeding up the learning process, and simple and practical structure

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

AI Technical Summary

Problems solved by technology

The main operator of the ZUSE system is an operating system that was successfully commercialized in the early days, but due to its relatively large size and inconvenient operation, it was later replaced by Da Vinc, and it is still a very popular main operator today, but these two There is no force feedback function in the main hand of this operation

Method used

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  • Main hand end operating mechanism of vascular minimally invasive interventional surgery robot
  • Main hand end operating mechanism of vascular minimally invasive interventional surgery robot
  • Main hand end operating mechanism of vascular minimally invasive interventional surgery robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0025] Example 1: A master-slave isomorphic vascular minimally invasive interventional surgery robot system, including a medical image navigation system, a master hand operating mechanism and a slave hand delivery mechanism containing a catheter / guide wire, the master hand operating mechanism passes The feedback force mechanism collects the doctor's operation information and transmits it to the slave hand delivery mechanism, and the slave hand delivery mechanism completes the intervention operation on the catheter / guide wire by tracking the position information of the master hand operation mechanism; the system is master-slave isomorphic , with force feedback, master-slave position tracking control functions, and the system's slave-hand delivery mechanism adopts a clamping claw mechanism that can be thrown and the clamping force can be adjusted.

[0026] Further, in this embodiment, as Figure 1-3 Shown: The feedback force mechanism of the system realizes the force feedback fu...

Embodiment 2

[0029] refer to Figures 1 to 3 , a master-slave isomorphic vascular minimally invasive interventional surgery robot system, including a medical image navigation system, a master hand operating mechanism and a slave hand delivery mechanism containing a catheter / guide wire, and the master hand operating mechanism passes a feedback force mechanism Collect the doctor's operation information and send it to the slave hand delivery mechanism, and the slave hand delivery mechanism completes the intervention operation on the catheter / guide wire by tracking the position information of the master hand operation mechanism; Feedback, master-slave position tracking control functions, and the system's slave hand-end delivery mechanism adopts a clamping claw mechanism that can be thrown and the clamping force is adjustable.

[0030] Further, in this embodiment, as Figure 1-3 Shown: The feedback force mechanism of the system realizes the force feedback function through the magnetic powder b...

Embodiment 3

[0033] refer to Figure 1-3 , the principle is the same as that of Embodiment 1 and Embodiment 2, and further: the angular velocity of the disposable throwable clamping claw is the same as the linear velocity of the guide wire when it rotates, and the angular velocity of the guide wire is:

[0034]

[0035] In the formula, ω 2 — Angular velocity of catheter / guide wire (rad / s);

[0036] ν c ——Line speed of clamping claw (mm / s);

[0037] r 3 - Clamping claw radius (mm).

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Abstract

The invention relates to a main hand end operating mechanism of a vascular minimally invasive interventional surgery robot. The main hand end operating mechanism is used for collecting hand instructions of a doctor and sending the hand instructions to a main control system. The main hand end operating mechanism is characterized by comprising a bottom plate (307), a magnetic powder brake (301) anda hand instruction operating assembly, wherein the magnetic powder brake (301) and the hand instruction operating assembly are fixed to the bottom plate (307); the magnetic powder brake (301) is fixedto the bottom plate (307) through a U-shaped magnetic powder brake base (302); an encoder (303) used for being connected with the main control system is arranged at one end of a rotating shaft of themagnetic powder brake (301); and the rotating shaft of the magnetic powder brake (301) is in transmission connection with the hand instruction operating assembly through a synchronous belt (306). Compared with the prior art, the main hand end operating mechanism has the advantages of being easy and convenient to operate, facilitating force feedback, being small in occupied space and the like.

Description

technical field [0001] The invention relates to the technical field of medical robots, in particular to a main hand operating mechanism of a vascular minimally invasive interventional surgery robot. Background technique [0002] At present, with the improvement of people's living standards, the mortality rate of cardiovascular disease accounts for one of the main causes of human death, and it is increasing year by year. Generally, interventional operations will cause serious injuries to doctors. It is urgent to introduce robot technology to assist doctors to complete Vascular minimally invasive interventional surgery has become an urgent demand in the global medical device market. In view of the severe current situation of cardiovascular disease, scholars and doctors from all over the world have done a lot of research work on the prevention of cardiovascular disease. With the rapid development of basic medicine, medical technology, interventional equipment, image navigation...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/37A61B34/00
CPCA61B34/37A61B34/73A61B2034/303
Inventor 王旭升王洪波甘中学罗静静侯超王富豪刘勐李亚峰
Owner FUDAN UNIV
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