Under-actuated double-finger rotating and twisting clamp holder for operating vascular interventional surgical instrument and clamping method of under-actuated double-finger rotating and twisting clamp holder

Abstract

The invention belongs to the technical field of medicine, and particularly relates to an under-actuated double-finger clamp holder for clamping / rotating and twisting thinner instruments such as guide wires / catheters for vascular intervention, which comprises a box body and a double-finger clamp holder component arranged on one side of a fixed seat, the double-finger clamping device assembly comprises a fixed finger assembly fixedly connected with the fixed base and a movable finger assembly connected with a clamping device base of the fixed finger assembly in a sliding mode through a sliding block assembly. The two parallelogram mechanisms are driven by the two motors, the distance between the fixed finger and the movable finger which are parallel all the time is adjusted according to the kinematics resolving result of the mechanisms, thin objects such as a catheter / guide wire are clamped and twisted, and the higher object rotating speed can be achieved under the requirement for the low rotating speed of the driving motors; and the clamping force measurement assembly composed of the force measurement spring, the force measurement rack, the force measurement gear and the force measurement encoder converts the measurement of the clamping force generated by compressing the force measurement spring into the measurement of the compression amount of the force measurement spring, and has the characteristics of being easier to implement and stable in measurement result.

Description

technical field [0001] The invention belongs to the technical field of medicine, and in particular relates to an underactuated two-finger twist gripper for operating vascular interventional surgical instruments and a gripping method, in particular to a guide wire / catheter used for gripping / twisting vascular intervention, etc. Underactuated two-finger gripper for thinner instruments, vascular interventional surgical instruments are guide wires or catheters. Background technique [0002] Cardiovascular disease is a great threat to human health. According to the statistics of the World Health Report 2020 released by the WHO, in 2016, a total of 17.9 million people died of cardiovascular and cerebrovascular diseases (CVD) in the world, accounting for 44% of the deaths from non-communicable diseases, and the mortality rate far exceeded that of cancer ( 22%), chronic respiratory diseases (9%), diabetes (4%), and the incidence is still on a rapid upward trend, becoming the number ...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the shortcomings of single applicable instrument diameter, unstable instrument clamping, inability to measure and control catheter / guide wire clamping force, and complicated structure existing in the prior art, and to provide a kind of shortcoming for operating vascular interventional surgical instruments. Drive two-finger twisting gripper and gripping method, the gripper is controlled by two motors, simple in structure, capable of gripping very fine objects and a catheter / guide wire gripper capable of gripping force measurement and control

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