A master control device for vascular interventional surgery robot

Abstract

The invention belongs to the field of interventional surgery robots, and in particular relates to a main-end control device for vascular interventional surgery robots, which includes a surgical control ring, a force-sensing control mechanism, a position detection mechanism and a rotation detection mechanism. The force-sensing control mechanism includes a torque generator, a synchronous Pulley, synchronous idler wheel and synchronous belt, the position detection mechanism includes a magnetic ring guide shaft and a displacement sensor for detecting the position of the surgical control ring on the magnetic ring guide shaft; the rotation detection mechanism is connected with the synchronous belt, and is also connected with the surgical control ring Turn to connect. Based on the present invention, firstly, when the doctor manipulates the surgical control ring, the force feedback can be effectively obtained; secondly, the rotation and pushing actions of the guide wire / catheter can be performed together, and the rotation angle is not limited, which reduces the complexity of the surgical operation; finally , in line with the doctor's habit of operating the guide wire / catheter with two fingers in routine operations for interventional surgery, which reduces the difficulty for doctors to learn robot operation.

Description

technical field [0001] The invention belongs to the field of interventional surgery robots, and in particular relates to a master end control device of a vascular interventional surgery robot. Background technique [0002] At present, the conventional minimally invasive vascular interventional surgery adopts the method that the operator directly manipulates guide wires, catheters and other instruments into the human blood vessels, and under the guidance and monitoring of digital subtraction angiography (DSA), CT and other imaging equipment, the disease The method of treatment, but in this way, the doctor will be exposed to X-ray radiation for a long time during the operation, which will cause great harm to the doctor's body; secondly, the operation time is long, because the doctor wears heavy lead clothing for a long time to operate the operation, it will cause the doctor Physical fatigue and injury. At the same time, doctors will also cause misoperation due to fatigue and p...

AI Technical Summary

Problems solved by technology

[0004] 1. Lack of an effective force feedback module, the doctor cannot effectively perceive the resistance of the guide wire / catheter in the blood vessel during the operation, and lacks the sense of presence during the operation, which may easily cause the guide wire / catheter to puncture the blood vessel and cause the risk of massive bleeding ;

[0005] 2. Cannot perform effective push position detection and rotation position detection, the rotation and push actions of the guide wire cannot be performed together, and the angle of one rotation is limited, these defects increase the complexity of the surgical operation;

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