技术领域Technical Field
本发明涉及一种医疗器械，尤其是一种介入治疗导管导丝输送技术，具体地说是一种基于中空电机和直线电机技术的操控导管-导丝的血管介入手术机器人从手。The present invention relates to a medical device, in particular to an interventional therapy catheter guidewire delivery technology, specifically to a vascular interventional surgery robot slave for controlling a catheter-guidewire based on hollow motor and linear motor technology.
背景技术Background technique
目前，微创血管介入手术因其创伤小、安全性高、患者痛苦轻、术后恢复快、并发症少等特点，成为医学界公认的治疗心血管病和肿瘤的重要手段。将机器人技术与微创血管介入手术相结合, 通过设计专用的手术机器人系统辅助介入医生完成导丝和导管等介入器械的递送是提高介入治疗效果的重要途径之一。At present, minimally invasive vascular intervention surgery has become an important means of treating cardiovascular diseases and tumors recognized by the medical community due to its characteristics of small trauma, high safety, less pain for patients, fast postoperative recovery, and few complications. Combining robotic technology with minimally invasive vascular intervention surgery and designing a dedicated surgical robot system to assist interventional doctors in delivering interventional devices such as guidewires and catheters is one of the important ways to improve the effect of interventional treatment.
血管介入手术前需将相互配套的导丝穿入导管，导丝长于导管，导丝的头端和尾端均露在导管外。血管穿刺成功后，将导丝的头端通过穿刺针针座插进血管后，在导丝的引导下，将导管也送入血管内。在影像的指导下，首先，一只手把持住导管，防止其移动；另一只手操控（或捻旋）导丝的尾端，捻旋导丝一定角度或推送（后撤）导丝一定位移；然后，双手改变操控对象，一只手把持导丝，防止其移动，另一只手操控（推送或后撤或捻旋）导管的尾端，在导丝的引导使导管产生相应的运动。这样交替着操控导丝和导管，导丝始终在导管前面，引导着导管前进，直到导管到达靶血管位置。Before vascular intervention surgery, a matching guidewire needs to be inserted into the catheter. The guidewire is longer than the catheter, and the head and tail ends of the guidewire are exposed outside the catheter. After the vascular puncture is successful, the head end of the guidewire is inserted into the blood vessel through the puncture needle seat, and the catheter is also sent into the blood vessel under the guidance of the guidewire. Under the guidance of the image, first, one hand holds the catheter to prevent it from moving; the other hand controls (or twists) the tail end of the guidewire, twists the guidewire at a certain angle or pushes (withdraws) the guidewire to a certain displacement; then, both hands change the control object, one hand holds the guidewire to prevent it from moving, and the other hand controls (pushes or withdraws or twists) the tail end of the catheter, and the catheter moves accordingly under the guidance of the guidewire. In this way, the guidewire and catheter are manipulated alternately, and the guidewire is always in front of the catheter, guiding the catheter forward until the catheter reaches the target blood vessel.
血管介入手术机器人系统主要包括主手和从手，操作时，医生根据实时影像确知导丝/导管在血管中位置，主手端做出导丝/导管在血管中进一步前移或后撤所需的直线移动或旋转运动，主手将这些运动产生的信号传递给从手，从手端通过电机的驱动复现医生在主手端的操作，完成导丝/导管的直线移动或旋转运动，这不仅提高了手术的精确性，也提高了手术过程的稳定性，更关键的是避免医生长时间暴露在X射线下。The vascular interventional surgical robot system mainly includes a master hand and a slave hand. During operation, the doctor determines the position of the guidewire/catheter in the blood vessel based on real-time images. The master hand makes the linear or rotational movement required for the guidewire/catheter to move further forward or backward in the blood vessel. The master hand transmits the signals generated by these movements to the slave hand. The slave hand reproduces the doctor's operations at the master hand through the drive of the motor to complete the linear or rotational movement of the guidewire/catheter. This not only improves the accuracy of the operation, but also improves the stability of the operation process. More importantly, it avoids the doctor's exposure to X-rays for a long time.
现有的血管介入手术机器人系统一般只能对单一的导管或导丝进行操控，与医生实际上几乎要对导管和导丝同时操控相差较大，几乎无法满足医生临床操作的大部分需求。Existing vascular interventional surgical robot systems can generally only control a single catheter or guidewire, which is very different from the fact that doctors actually have to control both the catheter and the guidewire at the same time, and can hardly meet most of the doctors' clinical operation needs.
超声电机突破了传统电机的概念，没有磁钢和绕组，不依靠电磁感应传递能量。它是利用压电陶瓷的逆压电效应，通过压电陶瓷的伸缩振动模式的转换与耦合以及特殊结构的设计，将材料的微观变形通过共振放大和摩擦耦合转换成转子的宏观运动。超声电机具有低速大扭矩的特点，可直接驱动负载，无需齿轮箱进行降速以提高输出扭矩，结构设计灵活，可方便地设计成中空形式和直线形式。中空型超声电机可以允许导线和光线穿过，直线型超声电机既可以本体固定，摩擦条做直线移动，也可以摩擦条固定，本体做直线运动。这些为血管介入机器人从手的结构设计提供了很多便利。Ultrasonic motors break through the concept of traditional motors. They have no magnets and windings, and do not rely on electromagnetic induction to transfer energy. They use the inverse piezoelectric effect of piezoelectric ceramics. Through the conversion and coupling of the stretching and stretching vibration modes of piezoelectric ceramics and the design of special structures, the microscopic deformation of the material is converted into the macroscopic movement of the rotor through resonance amplification and friction coupling. Ultrasonic motors have the characteristics of low speed and high torque. They can directly drive the load without the need for a gearbox to reduce the speed to increase the output torque. The structural design is flexible and can be easily designed into hollow and linear forms. Hollow ultrasonic motors can allow wires and light to pass through. Linear ultrasonic motors can have the body fixed and the friction strips move in a straight line, or the friction strips fixed and the body moves in a straight line. These provide a lot of convenience for the structural design of the vascular intervention robot.
发明内容Summary of the invention
本发明的目的是针对现有的机械手无法同时实现对导管和导丝的同步控制的问题，设计一种利用中空超声电机作为驱动主体的、能使导管和导丝交替转动前进的操控导管-导丝的血管介入手术机器人从手。The purpose of the present invention is to address the problem that existing manipulators cannot simultaneously achieve synchronous control of catheters and guidewires, and to design a vascular interventional surgery robot slave arm for controlling catheters and guidewires, which uses a hollow ultrasonic motor as a driving body and can make the catheters and guidewires rotate and advance alternately.
本发明的技术方案是：The technical solution of the present invention is:
一种操控导管-导丝的血管介入手术机器人从手，其特征是它包括两个中空超声电机、两个直线超声电机、两个普通电机，直线超声电机带动中空超声电机沿导轨移动从而驱动导丝或导管进行直线运动，两个普通电机分别用于驱动两个锁紧机构夹持导丝和导管；两个锁紧机构分别与对应的中空超声电机的转子固联，导丝和导管分别定位在各自的锁紧机构中并与中空超声电机的旋转中心同轴，且穿过所述的中空超声电机，随着中空超声电机的旋转而转动。套有导丝的导管从一个中空超声电机的中部穿过，并被与这个中空超声电机转子固联的锁紧机构夹持，露在导管尾端外的导丝从另一个中空超声电机的中部穿过，并被与这个中空超声电机转子固联的锁紧机构夹持；以导管/导丝为轴线，这两个中空超声电机串行排列；两个中空超声电机在与各自固联的直线超声电机本体的带动下做直线移动；导管或导丝在中空超声电机和直线超声电机的驱动下，可以同时实现完全解耦的直线位移和轴向转动。A vascular interventional surgical robot slave for controlling a catheter-guidewire is characterized in that it includes two hollow ultrasonic motors, two linear ultrasonic motors, and two ordinary motors. The linear ultrasonic motor drives the hollow ultrasonic motor to move along a guide rail to drive the guidewire or the catheter to perform linear motion. The two ordinary motors are respectively used to drive two locking mechanisms to clamp the guidewire and the catheter; the two locking mechanisms are respectively fixedly connected to the rotors of the corresponding hollow ultrasonic motors, and the guidewire and the catheter are respectively positioned in their respective locking mechanisms and are coaxial with the rotation center of the hollow ultrasonic motor, and pass through the hollow ultrasonic motor and rotate with the rotation of the hollow ultrasonic motor. A catheter with a guide wire passes through the middle of a hollow ultrasonic motor and is clamped by a locking mechanism fixedly connected to the rotor of the hollow ultrasonic motor. The guide wire exposed outside the tail end of the catheter passes through the middle of another hollow ultrasonic motor and is clamped by a locking mechanism fixedly connected to the rotor of the hollow ultrasonic motor. The two hollow ultrasonic motors are arranged in series with the catheter/guide wire as the axis. The two hollow ultrasonic motors move linearly under the drive of the linear ultrasonic motor bodies fixedly connected to each other. Driven by the hollow ultrasonic motor and the linear ultrasonic motor, the catheter or guide wire can simultaneously achieve completely decoupled linear displacement and axial rotation.
所述的锁紧机构包括螺杆和锁紧机构本体，螺杆左右两端分别为左螺旋和右螺旋螺杆，并分别与左旋螺母和右旋螺母旋合，左右螺旋螺杆之间通过螺钉限位使之只能转动而不能轴向移动；左旋螺母、右旋螺母分别与左夹爪和右夹爪连接在一起并通过左铰链轴和右铰链轴与锁紧机构本体连接；当螺杆转动时，由于其左右两端螺纹方向相反，且被螺钉限制，只能旋转而不能移动，并带动左旋螺母和右旋螺母左右移动，左旋螺母和右旋螺母的移动又使夹爪绕铰链轴转动，从而将所夹持的导丝或导管进行夹紧或松开。The locking mechanism comprises a screw and a locking mechanism body, wherein the left and right ends of the screw are respectively a left-handed screw and a right-handed screw, which are respectively screwed with a left-handed nut and a right-handed nut, and the left and right screws are limited by the screw so that they can only rotate but not move axially; the left-handed nut and the right-handed nut are respectively connected with the left clamping jaw and the right clamping jaw and are connected with the locking mechanism body through the left hinge shaft and the right hinge shaft; when the screw rotates, since the left and right ends of the screw have opposite thread directions and are limited by the screw, they can only rotate but not move, and drive the left-handed nut and the right-handed nut to move left and right, and the movement of the left-handed nut and the right-handed nut causes the clamping jaw to rotate around the hinge shaft, thereby clamping or loosening the clamped guide wire or catheter.
所述的锁紧机构设有V型夹持槽，所述的锁紧机构的V型夹持槽的夹持面上贴有仿人手指皮肤的软性材料，并内置推力传感器，以感知推送导丝或导管的推力。The locking mechanism is provided with a V-shaped clamping groove, the clamping surface of which is affixed with a soft material imitating human finger skin, and a thrust sensor is built in to sense the thrust of pushing the guide wire or catheter.
所述的锁紧机构的夹爪上内置压力传感器，以感知夹持导丝或导管夹持力。The clamping jaws of the locking mechanism are provided with a built-in pressure sensor to sense the clamping force of the guide wire or catheter.
所述的直线超声电机驱动用摩擦条与底板侧面固联，直线超声电机本体在与底板固联的直线超声电机移动导向导轨的引导下做直线移动，直线超声电机本体与中空超声电机固联，中空超声电机在与底板固联的中空超声电机移动导向导轨的引导下和直线超声电机同步做直线移动。The linear ultrasonic motor driving friction strip is fixedly connected to the side of the base plate, and the linear ultrasonic motor body moves linearly under the guidance of the linear ultrasonic motor moving guide rail fixedly connected to the base plate. The linear ultrasonic motor body is fixedly connected to the hollow ultrasonic motor, and the hollow ultrasonic motor moves linearly synchronously with the linear ultrasonic motor under the guidance of the hollow ultrasonic motor moving guide rail fixedly connected to the base plate.
所述的中空超声电机配有同轴的中空旋转编码器，以感知导管/导丝的旋转角度；直线超声电机配有直线光栅传感器，以感知导管/导丝的直线位移。The hollow ultrasonic motor is equipped with a coaxial hollow rotary encoder to sense the rotation angle of the catheter/guidewire; the linear ultrasonic motor is equipped with a linear grating sensor to sense the linear displacement of the catheter/guidewire.
所述的导丝或导管不在锁紧机构和中空超声电机内腔中的部分支承在海绵体上或穿过海绵体，海绵体能对导管/导丝起简单的支撑作用，防止导管/导丝严重下垂；海绵体具有可压缩性和复原性，不会对电机的驱动产生阻力，且始终保持对导管/导丝的支撑作用。The part of the guidewire or catheter that is not in the locking mechanism and the inner cavity of the hollow ultrasonic motor is supported on or passes through the spongy body. The spongy body can play a simple supporting role for the catheter/guidewire to prevent the catheter/guidewire from seriously sagging; the spongy body is compressible and resilient, will not produce resistance to the drive of the motor, and always maintains a supporting role for the catheter/guidewire.
本发明的有益效果：Beneficial effects of the present invention:
由于采用超声电机中空的结构形式和直线超声电机特殊的驱动方式，使得血管介入手术机器人从手结构简单，操控方式与临床实践相仿。超声电机的使用不仅避免了电磁电机传动系统中存在齿轮间隙的问题，同时提高了导丝/导管进给时的准确度。如果对相关部件的材料做变换，还可以适用于磁共振介入手术。Due to the hollow structure of the ultrasonic motor and the special driving method of the linear ultrasonic motor, the vascular interventional surgery robot has a simple structure and the control method is similar to clinical practice. The use of ultrasonic motors not only avoids the problem of gear gap in the electromagnetic motor transmission system, but also improves the accuracy of guidewire/catheter feeding. If the materials of related components are changed, it can also be applied to magnetic resonance interventional surgery.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明的结构示意左视图。Fig. 1 is a schematic left side view of the structure of the present invention.
图2为本发明的结构示意俯视图。FIG. 2 is a schematic top view of the structure of the present invention.
图3为本发明的结构示意主视图。FIG. 3 is a schematic front view of the structure of the present invention.
图中：1、底板，2、摩擦条，3、直线超声电机移动导向导轨，4、中空超声电机移动导向导轨，5、挡板，6、锁紧机构本体，7、螺杆，8、左旋螺母，9、左铰链轴，10、左夹爪，11、中空电机转子，12、导丝，13，压力传感器，14、推力传感器，15、右夹爪，16、右铰链轴，17、右旋螺母，18、普通电机，19、电机支架，20、螺钉，32、直线光栅尺，33、直线位移传感器读头，21、导管，22、一号中空超声电机，23、二号中空超声电机，24、一号直线超声电机，25、二号直线超声电机，26、一号海绵体，27、一号锁紧机构，28、二号海绵体，29、二号锁紧机构，30、一号中空旋转编码器，31、二号中空旋转编码器。In the figure: 1, bottom plate, 2, friction strip, 3, linear ultrasonic motor moving guide rail, 4, hollow ultrasonic motor moving guide rail, 5, baffle, 6, locking mechanism body, 7, screw, 8, left-hand nut, 9, left hinge shaft, 10, left clamping jaw, 11, hollow motor rotor, 12, guide wire, 13, pressure sensor, 14, thrust sensor, 15, right clamping jaw, 16, right hinge shaft, 17, right-hand nut, 18, ordinary motor, 19 , motor bracket, 20, screws, 32, linear grating ruler, 33, linear displacement sensor reader, 21, catheter, 22, No. 1 hollow ultrasonic motor, 23, No. 2 hollow ultrasonic motor, 24, No. 1 linear ultrasonic motor, 25, No. 2 linear ultrasonic motor, 26, No. 1 sponge, 27, No. 1 locking mechanism, 28, No. 2 sponge, 29, No. 2 locking mechanism, 30, No. 1 hollow rotary encoder, 31, No. 2 hollow rotary encoder.
具体实施方式Detailed ways
下面结合附图和实施例对本发明作进一步的说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
如图1-3所示，As shown in Figure 1-3,
一种操控导管-导丝的血管介入手术机器人从手，它包括两个中空超声电机22、23、两个直线超声电机24、25、两个普通电机18，直线超声电机带动中空超声电机沿导轨移动从而驱动导丝或导管进行直线运动，两个普通电机分别用于驱动两个锁紧机构27、29夹持导丝12和导管21；两个锁紧机构分别与对应的中空超声电机的转子固联，导丝和导管分别定位在各自的锁紧机构中并与中空超声电机的旋转中心同轴，且穿过所述的中空超声电机，随着中空超声电机的旋转而转动。如图2，3所示，套有导丝的导管从一个中空超声电机的中部穿过，并被与这个中空超声电机转子固联的锁紧机构夹持，露在导管尾端外的导丝从另一个中空超声电机的中部穿过，并被与这个中空超声电机转子固联的锁紧机构夹持；以导管/导丝为轴线，这两个中空超声电机串行排列；两个中空超声电机在与各自固联的直线超声电机本体的带动下做直线移动；导管或导丝在中空超声电机和直线超声电机的驱动下，可以同时实现完全解耦的直线位移和轴向转动。A vascular interventional surgical robot slave for controlling a catheter-guidewire, comprising two hollow ultrasonic motors 22, 23, two linear ultrasonic motors 24, 25, and two ordinary motors 18. The linear ultrasonic motors drive the hollow ultrasonic motors to move along guide rails, thereby driving the guidewires or catheters to perform linear motion. The two ordinary motors are respectively used to drive two locking mechanisms 27, 29 to clamp the guidewire 12 and the catheter 21; the two locking mechanisms are respectively fixedly connected to the rotors of the corresponding hollow ultrasonic motors, the guidewire and the catheter are respectively positioned in their respective locking mechanisms and are coaxial with the rotation center of the hollow ultrasonic motor, and pass through the hollow ultrasonic motor to rotate with the rotation of the hollow ultrasonic motor. As shown in Figures 2 and 3, a catheter with a guidewire passes through the middle of a hollow ultrasonic motor and is clamped by a locking mechanism fixedly connected to the rotor of the hollow ultrasonic motor. The guidewire exposed outside the tail end of the catheter passes through the middle of another hollow ultrasonic motor and is clamped by a locking mechanism fixedly connected to the rotor of the hollow ultrasonic motor. The two hollow ultrasonic motors are arranged in series with the catheter/guidewire as the axis. The two hollow ultrasonic motors move linearly under the drive of the linear ultrasonic motor bodies fixedly connected to each other. Driven by the hollow ultrasonic motor and the linear ultrasonic motor, the catheter or guidewire can simultaneously achieve completely decoupled linear displacement and axial rotation.
所述的锁紧机构包括螺杆和锁紧机构本体，如图1所示，螺杆左右两端分别为左螺旋和右螺旋螺杆，并分别与左旋螺母和右旋螺母旋合，左右螺旋螺杆之间通过螺钉限位使之只能转动而不能轴向移动；左旋螺母、右旋螺母分别与左夹爪和右夹爪连接在一起并通过左铰链轴和右铰链轴与锁紧机构本体连接；当螺杆转动时，由于其左右两端螺纹方向相反，且被螺钉限制，只能旋转而不能移动，并带动左旋螺母和右旋螺母左右移动，左旋螺母和右旋螺母的移动又使夹爪绕铰链轴转动，从而将所夹持的导丝或导管进行夹紧或松开。所述的锁紧机构设有V型夹持槽，所述的锁紧机构的V型夹持槽的夹持面上贴有仿人手指皮肤的软性材料，并内置推力传感器，以感知推送导丝或导管的推力。所述的锁紧机构的夹爪上内置压力传感器，以感知夹持导丝或导管夹持力。所述的直线超声电机驱动用摩擦条与底板侧面固联，直线超声电机本体在与底板固联的直线超声电机移动导向导轨的引导下做直线移动，直线超声电机本体与中空超声电机固联，中空超声电机在与底板固联的中空超声电机移动导向导轨的引导下和直线超声电机同步做直线移动。所述的中空超声电机配有同轴的中空旋转编码器，以感知导管/导丝的旋转角度；直线超声电机配有直线光栅传感器，以感知导管/导丝的直线位移。所述的导丝或导管不在锁紧机构和中空超声电机内腔中的部分支承在海绵体上或穿过海绵体，海绵体能对导管/导丝起简单的支撑作用，防止导管/导丝严重下垂；海绵体具有可压缩性和复原性，不会对电机的驱动产生阻力，且始终保持对导管/导丝的支撑作用。The locking mechanism includes a screw and a locking mechanism body, as shown in FIG1 , the left and right ends of the screw are respectively left-handed and right-handed screws, and are respectively screwed with a left-handed nut and a right-handed nut, and the left and right screws are limited by screws so that they can only rotate but not move axially; the left-handed nut and the right-handed nut are respectively connected to the left clamp and the right clamp and are connected to the locking mechanism body through the left hinge shaft and the right hinge shaft; when the screw rotates, because the left and right ends of the screw have opposite thread directions and are limited by the screws, they can only rotate but not move, and drive the left-handed nut and the right-handed nut to move left and right, and the movement of the left-handed nut and the right-handed nut causes the clamp to rotate around the hinge shaft, thereby clamping or loosening the clamped guide wire or catheter. The locking mechanism is provided with a V-shaped clamping groove, and the clamping surface of the V-shaped clamping groove of the locking mechanism is affixed with a soft material that simulates human finger skin, and a thrust sensor is built in to sense the thrust of pushing the guide wire or catheter. The clamping claw of the locking mechanism is equipped with a built-in pressure sensor to sense the clamping force of the guide wire or catheter. The friction strip for driving the linear ultrasonic motor is fixedly connected to the side of the bottom plate, and the linear ultrasonic motor body moves linearly under the guidance of the linear ultrasonic motor moving guide rail fixedly connected to the bottom plate. The linear ultrasonic motor body is fixedly connected to the hollow ultrasonic motor, and the hollow ultrasonic motor moves linearly synchronously with the linear ultrasonic motor under the guidance of the hollow ultrasonic motor moving guide rail fixedly connected to the bottom plate. The hollow ultrasonic motor is equipped with a coaxial hollow rotary encoder to sense the rotation angle of the catheter/guidewire; the linear ultrasonic motor is equipped with a linear grating sensor to sense the linear displacement of the catheter/guidewire. The part of the guidewire or catheter that is not in the locking mechanism and the inner cavity of the hollow ultrasonic motor is supported on or passes through the sponge. The sponge can play a simple supporting role for the catheter/guidewire to prevent the catheter/guidewire from sagging seriously; the sponge has compressibility and resilience, will not produce resistance to the drive of the motor, and always maintains a supporting role for the catheter/guidewire.
详述如下：Details are as follows:
直线超声电机安装在直线超声电机移动导向导轨3上、中空超声电机安装在中空超声电机移动导向导轨4上，直线超声电机移动导向导轨3、中空超声电机移动导向导轨4分别安置在L形底板1的底面上，摩擦条2贴在L形底板1的竖直立面上。摩擦条2与一号直线超声电机24和二号直线超声电机25的驱动足始终接触，当直线超声电机通电驱动时，由于摩擦条2固定不动，直线超声电机的本体在直线超声电机移动导向导轨3的引导下做直线移动。一号直线超声电机24和二号直线超声电机25的本体分别与一号中空超声电机22和二号中空超声电机23固联，这样一号直线超声电机24可以带动一号中空超声电机22在中空超声电机移动导向导轨4的引导下做直线移动，同理，二号直线超声电机25可以带动二号中空超声电机23在中空超声电机移动导向导轨4的引导下做直线移动。The linear ultrasonic motor is mounted on the linear ultrasonic motor moving guide rail 3, and the hollow ultrasonic motor is mounted on the hollow ultrasonic motor moving guide rail 4. The linear ultrasonic motor moving guide rail 3 and the hollow ultrasonic motor moving guide rail 4 are respectively placed on the bottom surface of the L-shaped bottom plate 1, and the friction strip 2 is attached to the vertical surface of the L-shaped bottom plate 1. The friction strip 2 is always in contact with the driving feet of the first linear ultrasonic motor 24 and the second linear ultrasonic motor 25. When the linear ultrasonic motor is powered on, the friction strip 2 is fixed, and the body of the linear ultrasonic motor moves linearly under the guidance of the linear ultrasonic motor moving guide rail 3. The bodies of the No. 1 linear ultrasonic motor 24 and the No. 2 linear ultrasonic motor 25 are respectively fixedly connected to the No. 1 hollow ultrasonic motor 22 and the No. 2 hollow ultrasonic motor 23, so that the No. 1 linear ultrasonic motor 24 can drive the No. 1 hollow ultrasonic motor 22 to move linearly under the guidance of the hollow ultrasonic motor moving guide rail 4. Similarly, the No. 2 linear ultrasonic motor 25 can drive the No. 2 hollow ultrasonic motor 23 to move linearly under the guidance of the hollow ultrasonic motor moving guide rail 4.
一号锁紧机构27和二号锁紧机构29的结构形式一样。螺杆7左右两端分别为左螺旋和右螺旋螺杆，并分别与左旋螺母8和右旋螺母17旋合。左旋螺母8、右旋螺母17分别与左夹爪10和右夹爪15连接在一起并通过左铰链轴9和右铰链轴16与锁紧机构本体6连接。当螺杆7转动时，由于其左右两端螺纹方向相反，且被螺钉20限制，只能旋转而不能移动，并带动左旋螺母8和右旋螺母17左右移动，螺母的移动又使夹爪绕铰链轴转动，从而可以将导丝12或导管21夹紧或松开。右夹爪15内置压力传感器13，用来感知夹持导丝12或导管21的压紧力。与螺杆7固联的普通电机18可以驱动夹爪夹持导丝12或导管21，当到达一定压力值时，控制普通超声电机18停止转动，以免压坏或过于压紧导丝12或导管21，这样就可以在该从手上操控不同直径的导丝和导管。与夹爪配合夹持导丝12或导管21的是锁紧机构本体6上的V型定位槽，它可定位不同直径的导丝和导管，V型定位槽的定位面贴有类似人手指皮肤的软性材料并内置推力传感器14，可模拟人手指感知导丝或导管在推送时的推力。The structure of the No. 1 locking mechanism 27 is the same as that of the No. 2 locking mechanism 29. The left and right ends of the screw rod 7 are left-handed and right-handed screw rods, respectively, and are screwed together with the left-handed nut 8 and the right-handed nut 17, respectively. The left-handed nut 8 and the right-handed nut 17 are respectively connected to the left clamping jaw 10 and the right clamping jaw 15, and are connected to the locking mechanism body 6 through the left hinge shaft 9 and the right hinge shaft 16. When the screw rod 7 rotates, because the left and right ends of the screw rod have opposite thread directions and are restricted by the screw 20, it can only rotate but not move, and drives the left-handed nut 8 and the right-handed nut 17 to move left and right. The movement of the nut causes the clamping jaw to rotate around the hinge shaft, so that the guide wire 12 or the catheter 21 can be clamped or loosened. The right clamping jaw 15 has a built-in pressure sensor 13 to sense the clamping force of the guide wire 12 or the catheter 21. The common motor 18 connected with the screw rod 7 can drive the clamping claw to clamp the guide wire 12 or the catheter 21. When a certain pressure value is reached, the common ultrasonic motor 18 is controlled to stop rotating to avoid crushing or over-compressing the guide wire 12 or the catheter 21, so that the guide wires and catheters of different diameters can be manipulated by the hand. The V-shaped positioning groove on the locking mechanism body 6 cooperates with the clamping claw to clamp the guide wire 12 or the catheter 21, which can locate the guide wires and catheters of different diameters. The positioning surface of the V-shaped positioning groove is affixed with a soft material similar to the skin of human fingers and has a built-in thrust sensor 14, which can simulate the human finger to sense the thrust of the guide wire or catheter when it is pushed.
一号锁紧机构27用于夹持导管21，二号锁紧机构29用于夹持导丝12。一号锁紧机构27的锁紧机构本体与一号中空超声电机22的转子固联，二号锁紧机构29的锁紧机构本体与二号中空超声电机23的转子固联。导丝12或导管21在锁紧机构本体的V型定位槽定位时的轴线与中空超声电机的转子回转中心线重合。当导丝12或导管21被锁紧机构夹持后，中空超声电机转动时，可模仿人手指对导丝或导管的捻旋动作。The first locking mechanism 27 is used to clamp the catheter 21, and the second locking mechanism 29 is used to clamp the guide wire 12. The locking mechanism body of the first locking mechanism 27 is fixedly connected to the rotor of the first hollow ultrasonic motor 22, and the locking mechanism body of the second locking mechanism 29 is fixedly connected to the rotor of the second hollow ultrasonic motor 23. The axis of the guide wire 12 or the catheter 21 when positioned in the V-shaped positioning groove of the locking mechanism body coincides with the rotation center line of the rotor of the hollow ultrasonic motor. When the guide wire 12 or the catheter 21 is clamped by the locking mechanism, when the hollow ultrasonic motor rotates, it can imitate the twisting action of the guide wire or the catheter by human fingers.
一号海绵体26和二号海绵体28可以对导管/导丝起简单的支撑作用，防止导管/导丝严重下垂。一号海绵体26和二号海绵体28具有很好的可压缩性，几乎不会对电机的驱动产生阻力，一号海绵体26和二号海绵体28又具有很好的复原性，始终保持对导管/导丝的支撑作用。The first corpus cavernosum 26 and the second corpus cavernosum 28 can play a simple supporting role for the catheter/guidewire to prevent the catheter/guidewire from seriously sagging. The first corpus cavernosum 26 and the second corpus cavernosum 28 have good compressibility and almost no resistance to the drive of the motor. The first corpus cavernosum 26 and the second corpus cavernosum 28 also have good recovery and always maintain the supporting role for the catheter/guidewire.
一号中空旋转编码器30和二号中空旋转编码器31分别与一号中空超声电机22和二号中空超声电机23固联，感知导丝或导管的旋转角度。直线光栅尺32贴在底板1上，与直线超声电机本体固联的直线位移传感器读头33可以感知导丝或导管直线位移。The first hollow rotary encoder 30 and the second hollow rotary encoder 31 are respectively connected to the first hollow ultrasonic motor 22 and the second hollow ultrasonic motor 23 to sense the rotation angle of the guidewire or catheter. The linear grating ruler 32 is attached to the bottom plate 1, and the linear displacement sensor reader 33 connected to the linear ultrasonic motor body can sense the linear displacement of the guidewire or catheter.
本发明的工作原理是：The working principle of the present invention is:
一号锁紧机构27夹住导管尾端，二号锁紧机构29夹住导丝尾端。当需要推送导丝12时，二号直线超声电机25的本体的直线移动，可以带动导丝12直线移动，二号中空超声电机23的转动可以带动导丝12旋转运动，这两个自由度的运动是完全解耦的，也可以同时驱动，从而带动导丝12既旋转又直线移动；当需要推送导管21时，一号直线超声电机24的本体的直线移动，可以带动导管21直线移动，一号中空超声电机22的转动可以带动导管21旋转运动，这两个自由度的运动是完全解耦的，也可以同时驱动，从而带动导管21既旋转又直线移动。The No. 1 locking mechanism 27 clamps the tail end of the catheter, and the No. 2 locking mechanism 29 clamps the tail end of the guide wire. When the guide wire 12 needs to be pushed, the linear movement of the body of the No. 2 linear ultrasonic motor 25 can drive the guide wire 12 to move linearly, and the rotation of the No. 2 hollow ultrasonic motor 23 can drive the guide wire 12 to rotate. The two degrees of freedom are completely decoupled and can be driven at the same time, thereby driving the guide wire 12 to rotate and move linearly; when the catheter 21 needs to be pushed, the linear movement of the body of the No. 1 linear ultrasonic motor 24 can drive the catheter 21 to move linearly, and the rotation of the No. 1 hollow ultrasonic motor 22 can drive the catheter 21 to rotate. The two degrees of freedom are completely decoupled and can be driven at the same time, thereby driving the catheter 21 to rotate and move linearly.
本发明未涉及部分均与现有技术相同或可采用现有技术加以实现。The parts not involved in the present invention are the same as the prior art or can be implemented by using the prior art.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711347815.7ACN107961077B (en) | 2017-12-15 | 2017-12-15 | Vascular intervention operation robot slave hand for controlling catheter-guide wire |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711347815.7ACN107961077B (en) | 2017-12-15 | 2017-12-15 | Vascular intervention operation robot slave hand for controlling catheter-guide wire |
| Publication Number | Publication Date |
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| CN107961077A CN107961077A (en) | 2018-04-27 |
| CN107961077Btrue CN107961077B (en) | 2024-07-09 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201711347815.7AActiveCN107961077B (en) | 2017-12-15 | 2017-12-15 | Vascular intervention operation robot slave hand for controlling catheter-guide wire |
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