CN111973276A - Intervene operation robot and carry tub device from hand - Google Patents

Abstract

The invention relates to a device for feeding a tube from a hand end of an interventional surgery robot to realize the axial feeding and circumferential rotation of the catheter. Feeding mechanism and circumferential rotation mechanism, the conduit penetrates from the center of the left side panel of the casing, and passes through the center of the right side panel of the casing after passing through the axis linear feeding mechanism and the circumferential rotation mechanism respectively, which is consistent with the prior art. In comparison, the present invention has the advantages of two degrees of freedom, safe and simple operation, and the like.

Description

A device for feeding tube from the hand end of an interventional surgical robot

technical field

The invention relates to the field of medical equipment, in particular to a device for feeding a tube from a hand end of an interventional surgery robot.

Background technique

Minimally invasive interventional therapy is carried out under the guidance of images, with minimal trauma (no skin incision, only puncture needle eye), instruments or drugs are inserted into the diseased tissue, and the minimally invasive technique of physical, mechanical or chemical treatment is performed. .

Cardiovascular and cerebrovascular diseases are a general term for cardiovascular and cerebrovascular diseases, which generally refer to ischemic or hemorrhagic diseases of the heart, brain and whole body caused by hyperlipidemia, blood viscosity, atherosclerosis, hypertension, etc. disease. Cardiovascular and cerebrovascular disease is a common disease that seriously threatens human beings. It has the characteristics of high morbidity, high disability and high mortality. Even if the most advanced and perfect treatment methods are used, there are still more than 50% of brain diseases. Vascular accident survivors cannot fully take care of themselves, and the number of people dying from cardiovascular and cerebrovascular diseases in the world ranks first among all causes of death every year. The rapid development of high technology has boosted the development of medical equipment, and the relevant medical machinery research institutions in various places have also promoted the improvement of the level of robotics. Robotic minimally invasive surgery has been accepted by more people because of its great advantages, such as high wire feeding accuracy, and can effectively reduce the impact of doctor's hand shaking on surgery. Therefore, more people enter the medical operating room in various places.

However, the control precision of the existing surgical robot 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.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an interventional surgery robot tube feeding device from the hand end in order to overcome the above-mentioned defects of the prior art.

The object of the present invention can be realized through the following technical solutions:

A device for feeding a tube from a hand end of an interventional surgical robot to realize axial feeding and circumferential rotation of a catheter, the device comprises a cylindrical hollow shell, an axis linear feeding mechanism arranged on a fixed plate in the shell, and Circumferential rotation mechanism, the conduit penetrates from the center of the left side panel of the housing, passes through the axis linear feeding mechanism and the circumferential rotation mechanism respectively, and passes out from the center of the right side panel of the housing.

The axis linear feed mechanism includes a first motor driven by two pairs of rolling wheels in turn, a driving gear, a torque sensor input gear and two pairs of main and driven gears, and the two pairs of main and driven gears are respectively arranged on the torque sensor. On both sides of the input gear, each pair of main and driven gears are respectively driven with the corresponding rolling wheels, and the conduits pass between each pair of rolling wheels and are pre-tightened to realize axial feeding linear motion.

The input end gear of the torque sensor is connected with the input end of the torque sensor to detect the torque signal generated by the different forces on both sides of the input end gear and the output end gear of the torque sensor, and the torque sensor is connected with the controller of the surgical robot .

Each pair of rolling wheels includes a main rolling wheel and a secondary rolling wheel, the edge of the main rolling wheel is concave, the edge of the secondary rolling wheel is convex, and the conduit passes between the concave part and the convex part. .

The gap between the main rolling wheel and the secondary rolling wheel is adjustable to adapt to different types of catheters.

The circumferential rotation mechanism includes a second motor, a main transmission gear and a rotating gear that are sequentially transmitted. The second motor is fixed on the fixed plate, and the rotating gear is fixed on the right side panel, and the center is used for opening. The left end of the fixing plate is connected with the hollow shaft arranged on the left side panel by passing through the circular hole of the guide tube, and can rotate with the hollow shaft to realize the circumferential rotation of the guide tube.

The fixing plate is provided with a conductive slip ring for preventing the wire from being tangled during the circumferential rotation.

The casing comprises a semicircular bottom cover and an upper cover, one end of the bottom cover and the upper cover is hinged to each other, and the other end is fastened to each other.

Compared with the prior art, the present invention has the following advantages:

1. Two degrees of freedom: The tube feeding device designed by the present invention has two degrees of freedom, high positioning accuracy, strong intuitive movement, high overall rigidity of the system, compact size and light weight, which meets the requirements of vascular interventional surgery.

2. Safe and simple operation, simple structure, smooth transmission, no noise, and slippage when overloaded, which can prevent damage to important parts of the machine, and ensure that the catheter is overloaded and slipped when a large resistance is encountered during the operation, thereby effectively preventing The catheter continues to advance inside the blood vessel to puncture the inner wall of the blood vessel. At the same time, the processing, assembling and manufacturing process of the axis linear feeding mechanism is relatively simple, avoiding the use of too many fixtures, and facilitating disinfection and maintenance.

Description of drawings

Figure 1 is a schematic diagram of the drive of the axis linear feed mechanism.

2 is a schematic diagram of the driving of the circumferential rotation mechanism.

Figure 3 is a front view of the structure of the axis linear feed mechanism.

FIG. 4 is a rear view of the structure of the axis linear feeding mechanism.

Fig. 5 is an overall structural diagram of the pipe feeding device.

Description of the marks in the figure:

1. Housing, 2. Conduit, 31, First motor, 32, Driving gear, 33, Torque sensor input gear, 34, Main driven gear, 35, Rolling wheel, 41, Second motor, 42, Main drive Gear, 43, rotating gear, 5, fixed plate, 6, rotating shaft.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Example

According to the requirements of minimally invasive vascular interventional surgery, the catheter (a flexible tube with a certain rigidity) needs to be clamped with an appropriate clamping force before entering the blood vessel (fluid with a certain viscosity), and after entering the blood vessel, it needs to complete linear and rotational movement and a combination of the two. On the basis of ensuring the realization of functions, the tube delivery mechanism of the minimally invasive vascular interventional surgery robot should be as compact, small in size and light in weight as possible. The pipe feeding mechanism needs to realize both linear and rotary motions. In the design process, the subordination relationship between the two linear and rotary motions is comprehensively compared, that is, the linear mechanism is attached to the rotary mechanism and the rotary mechanism is attached to the linear mechanism. It can be seen that the linear mechanism is attached to the The motion form of the rotary mechanism has high motion accuracy, the coaxiality of the catheter and the rotation center is easy to ensure, and the volume is small. Therefore, the motion scheme in which linear motion is attached to rotary motion is selected in the design. In this form of motion, the moving pair and its accessories clamp the conduit, the moving pair is connected with the rotating pair, and the clamp clamps the conduit to perform linear motion. During rotational movement, the conduit rotates according to the axis of the rotating pair. When the linear motion and the rotational motion are combined, that is, the helical motion is performed, the above-mentioned same clamp can still complete the task of clamping the catheter, and in addition, there is no need to switch and perform the catheter clamping action multiple times during the movement.

1. Motion scheme design of axis linear feed mechanism

According to the design requirements of the minimally invasive vascular intervention robot, the catheter needs to perform axial feeding motion after entering the blood vessel. Therefore, during the design process, the rotational motion of the servo motor needs to be converted into the linear motion of the catheter, so as to realize the catheter in the blood vessel. Axial feed linear motion. In mechanism, there are many mechanisms that can convert rotary motion into linear motion. The main mechanisms are crank-slider mechanism, rack and pinion mechanism, cam mechanism, axis linear feed mechanism and screw transmission mechanism. Comprehensively compare some performance parameters of several mechanisms, and the feeding accuracy of the tube feeding device during the linear feeding process of the catheter is relatively high, and during the operation, it is necessary to ensure a certain degree of safety and easy control. Through relevant analysis, in the design The axis linear feed mechanism is adopted. The rolling wheel drive has the advantages of simple structure, stable transmission, no noise, slippage when overloaded, and can prevent damage to important parts in the machine. The inner wall of the blood vessel will be punctured by continuing to advance. At the same time, the processing, assembling and manufacturing process of the axis linear feeding mechanism is relatively simple, avoiding the use of too many fixtures, and facilitating disinfection and maintenance.

The axis linear feeding mechanism is a mechanism that uses the master-slave roller 35 to clamp the feeding catheter 2 with a certain pre-tightening force, and uses the auxiliary transmission to make the master-slave roller 35 rotate to transmit motion and power at the same time. In this design, a pair of master-slave rollers 35 are connected to a pair of master-slave gears 34 through the gear shaft. During operation, the conduit is first pre-pressed between the two master-slave rollers 35, and the first motor 31 drives a pair of master-slave gears 34 to move, and then transmits the motion to the master-slave rollers 35 through the master-slave gears 34, and the master-slave rollers 35 move in the opposite direction, so that the Under the action of friction force, the conduit 2 between them performs linear feed motion as shown in Figure 1.

2. Motion scheme design of circumferential rotating mechanism

According to the requirements of minimally invasive vascular intervention, the catheter must be able to rotate around its own axis according to the doctor's operation during the process of intravascular delivery, so as to ensure the smooth advancement of the catheter in the blood vessel. Based on this requirement, the circumferential rotating part of the pipe feeding mechanism should be designed to realize the function of the pipe rotating around its own axis under the drive of the motor. In the mechanism, the mechanisms that can ensure the rotational movement of the catheter around its own axis mainly include: parallelogram mechanism, gear transmission mechanism, motor shaft directly driven rotation mechanism, turbine worm transmission mechanism, etc. After comprehensive analysis and comparison of the relevant performance parameters of the above-mentioned mechanisms, a gear mechanism is selected to realize the circumferential rotation motion scheme, as shown in Figure 2. The gear mechanism can not only realize the rotation of the catheter around its own axis, but also has an accurate transmission ratio, high transmission efficiency, long service life, safe and reliable operation, and easy to ensure the accuracy of processing. According to the requirements of vascular interventional surgery, the rotating parts of the tube feeding mechanism must meet the characteristics of compact structure, light weight, small volume and few parts.

Through the analysis and comparison of the axial linear feed motion and the circumferential rotation motion scheme, the overall motion scheme of the pipe feeding mechanism is determined, and the master-slave axis linear feed mechanism is selected in the design of the axial linear feed component to realize the corresponding motion transmission. In the design of the circumferential rotating parts, a gear transmission mechanism is selected to realize the corresponding motion transmission function.

The circumferential rotation mechanism includes a second motor 41, a main transmission gear 42 and a rotating gear 43 that are sequentially transmitted. The second motor 41 is fixed on the fixed plate 5, and the rotating gear 43 is fixed on the right side panel, and the center is opened to pass through. In the round hole of the conduit 2, the left end of the fixing plate 5 is connected with the hollow shaft 6 arranged on the left side panel, and can rotate with the hollow shaft 6 to realize the circumferential rotation of the conduit 2.

When it needs to be rotated, the second motor 41 drives the main transmission gear 42. Since the rotating gear 43 meshing with the main transmission gear 42 is fixed on the right side panel, the fixed plate 5 where the second motor 41 is located will rotate, and the hollow The rotating shaft 6 provides a rotational support at the other end.

3. Design of the drive mode of the pipe feeding shaft

In order to realize the axial linear feeding movement and circumferential rotation movement of the catheter in the blood vessel, the tube feeding mechanism of the minimally invasive vascular intervention robot must rely on a drive system composed of a motor, an encoder, and a reducer. According to the requirements of minimally invasive vascular interventional surgery, and based on the characteristics of low speed, high control precision, and easy control during motor selection, the RE series of high-precision DC micromotors produced by Maxon Company in Switzerland was selected. This motor has the characteristics of no cogging, small size, low electromagnetic interference, high reliability, and small inertia rotor to achieve high acceleration performance. At the same time, it is also equipped with high-precision reducer and encoder. The integrated motor, reducer and encoder fully guarantee the reliability and accuracy of the entire drive scheme.

4. Prototype design of the pipe feeding shaft

The tube feeding mechanism of the minimally invasive vascular interventional surgery robot is used as the end effector of the minimally invasive vascular interventional surgery robot. It mainly includes two parts: the axis linear feeding mechanism and the circumferential rotation mechanism. The axis linear feeding mechanism is used to advance the catheter straight line. Advance, the circumferential rotation mechanism is used to change the advancing direction of the catheter in the blood vessel.

During the design process, the structure of the axial feeding component of the minimally invasive vascular interventional robot's tube feeding mechanism is shown in Figures 3 and 4. It mainly includes a set of gear sets, a set of main and driven rollers and an elastic adjustment mechanism. The first motor 31 drives the main transmission gear 32 to move, the torque sensor input gear 33 meshes with the main transmission gear 32, and transmits the power to the torque sensor output gear 33 through the sensor shaft; at the same time, the torque sensor output gear 33 It drives a pair of driving gears meshing with it to rotate synchronously and in the opposite direction, and a pair of driven gears meshing with the driving gear moves under its drive, and transmits the motion to the two pairs of main and driven rollers 35 through the gear shaft. The driven roller 35 rotates in the opposite direction, and drives the movement of the conduit between them, so as to realize the axial feeding linear motion. The elastic adjustment mechanism is used to adjust the gap between the two pairs of main and driven rollers, and is suitable for different types of catheters. The torque sensor is used to detect the torque signal generated by the different forces on both sides of the input end gear and the output end gear of the torque sensor and can provide feedback. The frictional force between the main and driven rollers with the two pairs of concave and convex parts matched with the guide tube will increase correspondingly, and the main and driven gears respectively connected with the main and driven rollers will also be resisted during the rotation process. The first main transmission gear transmits the force to the gear at the output end of the torque sensor that meshes with it. The gears at both ends of the torque sensor are subjected to different forces to generate torque signals. The motor of the operating device of the tube feeding mechanism generates a torque opposite to the operating direction, so that the operator can feel that the catheter is obstructed, so that the operator can stop the catheter intervention or change the direction of the catheter, and avoid the catheter and the blood vessel wall. The large force pierces the blood vessel wall, which ensures the safety of the vascular intervention operation.

The circumferential rotating parts mainly include the outer cover, the upper and lower fixed plates, the rotating gear and the main transmission gear. The motor drives the main transmission gear to move, and at the same time transmits the power to the rotating gear meshing with it, thereby driving the whole circumferential rotation of the pipe feeding mechanism, changing the advancing direction of the catheter. A conductive slip ring is connected to the lower fixing plate, which can effectively avoid the problem of wire entanglement during the overall rotation. In addition, by unscrewing the cover card, the mobile upper cover of the cover can be opened, which is convenient for cleaning, disinfection and maintenance of the inner parts.

Based on the above analysis, it can be seen that the tube feeding mechanism designed by the present invention has two degrees of freedom, high positioning accuracy, strong intuitive movement, high overall system rigidity, compact size and light weight, which meets the requirements of vascular interventional surgery. The overall structure of the minimally invasive vascular interventional surgery robot tube delivery mechanism is shown in Figure 5.

According to the above mechanism design of the axis linear feeding and circumferential rotation module, the overall structure diagram of the minimally invasive vascular interventional surgery robot tube feeding mechanism that meets the requirements is synthesized. The axial linear feeding motion scheme selects the axis linear feeding mechanism. , the circumferential rotation motion scheme selects the gear transmission mechanism.

Claims (8)

1. A device for feeding a tube from a hand end of an interventional surgery robot to realize the axial feeding and circumferential rotation of the catheter (2), characterized in that the device comprises a cylindrical hollow housing (1), a The axis linear feeding mechanism and the circumferential rotation mechanism on the fixed plate (5) in the housing (1), the conduit (2) penetrates from the center of the left panel of the housing (1), and is respectively linearly fed through the axis The mechanism and the circumferential rotation mechanism pass through the center of the right side panel of the casing (1). 2. An interventional surgery robot according to claim 1, wherein the gripping and twisting device from the hand end is characterized in that the axis linear feeding mechanism comprises a first motor ( 31), a driving gear (32), a torque sensor input gear (33) and two pairs of driving and driven gears (34), the two pairs of driving and driven gears (34) are respectively arranged on the torque sensor input gear (33) ) on both sides, each pair of main and driven gears (34) are respectively driven with the corresponding rolling wheels (35), and the guide tube (2) is passed through and pre-tightened between each pair of rolling wheels (35) to achieve linear axial feeding sports. 3. An interventional surgery robot according to claim 2, wherein the twisting device is clamped from the hand end, wherein the torque sensor input end gear (33) is connected to the input end of the torque sensor to detect torque The torque signal is generated by the different forces on both sides of the input gear and the output gear of the sensor, and the torque sensor is connected with the controller of the surgical robot. 4. The gripping and twisting device from the hand end of an interventional surgical robot according to claim 2, wherein each pair of rolling wheels (35) comprises a main rolling wheel and a secondary rolling wheel, and the main rolling wheel (35) The edge of the rolling wheel is concave, the edge of the rolling wheel is convex, and the conduit (2) passes between the concave part and the convex part. 5. The gripping and twisting device from the hand end of an interventional surgery robot according to claim 4, wherein the gap between the main rolling wheel and the secondary rolling wheel is adjustable to adapt to different types of catheter. 6. An interventional surgery robot according to claim 1, characterized in that, the circumferential rotation mechanism comprises a second motor (41), a main transmission gear (42) that are sequentially driven ) and a rotating gear (43), the second motor (41) is fixed on the fixing plate (5), the rotating gear (43) is fixed on the right side panel, and the center is opened to pass through the conduit ( 2), the left end of the fixing plate (5) is connected with the hollow shaft (6) arranged on the left side panel, and can rotate with the hollow shaft (6) to realize the circumferential rotation of the conduit (2). 7. An interventional surgery robot according to claim 1, characterized in that, the fixing plate (5) is provided with a conductive wire for avoiding entanglement during circumferential rotation. slip ring. 8. An interventional surgery robot gripping and twisting device from the hand end according to claim 1, characterized in that the casing (1) comprises a semicircular bottom cover and an upper cover, the bottom cover One end of the cover and the upper cover is hinged to each other, and the other end is fastened to each other.

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